+ python -m lidar_slam --no-model /working/e4daa603-b8b1-4de6-adda-93946f368fd5 Lidar SLAM 0.0.15 ===================================================== The recording path: /working/e4daa603-b8b1-4de6-adda-93946f368fd5 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 0.02592 Adjusted end_distance from 9.223372036854776e+18 to 371.79592 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.02592 meters Centerline goodness : 0.110908 Centerline is valid? [0, False] SLAMing on 0.05592 meters Centerline goodness : 0.105014 Centerline is valid? [False, False] Translation: X:0.03, Y:0.00, Z:0.00 [[ 9.99968521e-01 7.59591509e-03 -2.29315433e-03 2.59368447e-02] [-7.59640939e-03 9.99971125e-01 -2.06924050e-04 3.27994201e-04] [ 2.29151634e-03 2.24337275e-04 9.99997349e-01 9.83835162e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.08592 meters Centerline goodness : 0.078644 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.00, Z:-0.00 [[ 9.99969942e-01 7.37848788e-03 -2.38198130e-03 2.65220491e-02] [-7.37772274e-03 9.99972730e-01 3.29847421e-04 -3.97310060e-03] [ 2.38435012e-03 -3.12263909e-04 9.99997109e-01 -3.86621953e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.11592 meters Centerline goodness : 0.094719 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.00, Z:-0.01 [[ 9.99980505e-01 5.57263974e-03 -2.81685647e-03 3.23337371e-02] [-5.57499277e-03 9.99984117e-01 -8.28178352e-04 -4.88404497e-03] [ 2.81219659e-03 8.43866161e-04 9.99995690e-01 -7.00630615e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.14592 meters Centerline goodness : 0.096020 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.01, Z:-0.00 [[ 9.99987931e-01 -2.55981670e-03 -4.19357900e-03 5.27243465e-02] [ 2.56287238e-03 9.99996454e-01 7.23444842e-04 -7.13062136e-03] [ 4.19171224e-03 -7.34183718e-04 9.99990945e-01 -2.85062983e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.17592 meters Centerline goodness : 0.099454 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.01, Z:-0.00 [[ 0.99998728 -0.0027989 -0.00419536 0.05359585] [ 0.00280393 0.99999536 0.00119237 -0.01038865] [ 0.004192 -0.00120412 0.99999049 -0.00364372] [ 0. 0. 0. 1. ]] SLAMing on 0.20592 meters Centerline goodness : 0.143301 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.01, Z:-0.00 [[ 0.99998621 -0.00302775 -0.0042907 0.05418123] [ 0.00303518 0.9999939 0.00172768 -0.01451027] [ 0.00428544 -0.00174068 0.9999893 -0.00464237] [ 0. 0. 0. 1. ]] SLAMing on 0.23592 meters Centerline goodness : 0.099315 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.02, Z:-0.01 [[ 0.99998481 -0.00324645 -0.00445515 0.05501747] [ 0.00325637 0.99999223 0.00222133 -0.01833298] [ 0.00444791 -0.0022358 0.99998761 -0.00606851] [ 0. 0. 0. 1. ]] SLAMing on 0.26592 meters Centerline goodness : 0.140505 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.02, Z:-0.02 [[ 0.9999759 -0.00379437 -0.00581431 0.0659926 ] [ 0.00380946 0.9999894 0.00258659 -0.02228347] [ 0.00580444 -0.00260868 0.99997975 -0.01764127] [ 0. 0. 0. 1. ]] SLAMing on 0.29592 meters Centerline goodness : 0.141664 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.03, Z:-0.01 [[ 0.99998181 -0.00402302 -0.00449327 0.05713205] [ 0.00403635 0.99998747 0.00296258 -0.02552822] [ 0.00448129 -0.00298067 0.99998552 -0.00915007] [ 0. 0. 0. 1. ]] SLAMing on 0.32592 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 0.35591999999999996 meters Centerline goodness : 0.076559 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.03, Z:-0.02 [[ 9.99994092e-01 8.69858202e-04 -3.32550354e-03 4.28754052e-02] [-8.70621172e-04 9.99999595e-01 -2.27989360e-04 -2.93432314e-02] [ 3.32530387e-03 2.30883267e-04 9.99994445e-01 -1.99655305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.38592 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 0.41592 meters Centerline goodness : 0.209814 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.03, Z:-0.01 [[ 0.99997505 -0.00471507 -0.00525966 0.08020338] [ 0.00469488 0.99998159 -0.00384495 -0.02815558] [ 0.00527769 0.00382016 0.99997878 -0.00804841] [ 0. 0. 0. 1. ]] SLAMing on 0.44592 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 0.47591999999999995 meters Centerline goodness : 0.130256 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.03, Z:-0.00 [[ 0.99997876 -0.00640821 0.00119111 0.11418815] [ 0.00641308 0.99997091 -0.00413003 -0.02644088] [-0.00116461 0.00413758 0.99999076 -0.00165478] [ 0. 0. 0. 1. ]] SLAMing on 0.5059199999999999 meters Centerline goodness : 0.118273 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.04, Z:-0.04 [[ 0.99998537 -0.00460876 0.00283308 0.12720494] [ 0.00459551 0.99997856 0.00466533 -0.03813594] [-0.00285453 -0.00465224 0.9999851 -0.04215638] [ 0. 0. 0. 1. ]] SLAMing on 0.53592 meters Centerline goodness : 0.130768 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.04, Z:-0.04 [[ 0.9999719 -0.00695396 0.00280045 0.12436527] [ 0.00694674 0.99997254 0.00257957 -0.03937426] [-0.00281831 -0.00256005 0.99999275 -0.0380513 ] [ 0. 0. 0. 1. ]] SLAMing on 0.56592 meters Centerline goodness : 0.119749 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.04, Z:-0.05 [[ 9.99999985e-01 -1.34349725e-04 -1.06517296e-04 1.18500909e-01] [ 1.34334975e-04 9.99999981e-01 -1.38464023e-04 -3.85802207e-02] [ 1.06535896e-04 1.38449712e-04 9.99999985e-01 -5.41623017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.59592 meters Centerline goodness : 0.113995 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.04, Z:-0.07 [[ 9.99999478e-01 -4.71576620e-04 -9.06110021e-04 1.28540399e-01] [ 4.71839182e-04 9.99999847e-01 2.89576950e-04 -4.23954620e-02] [ 9.05973324e-04 -2.90004337e-04 9.99999548e-01 -6.57848069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.62592 meters Centerline goodness : 0.128062 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.04, Z:-0.05 [[ 9.99948238e-01 -3.80085990e-05 -1.01744600e-02 1.39413096e-01] [-1.08858467e-06 9.99992617e-01 -3.84264589e-03 -3.56859407e-02] [ 1.01745309e-02 3.84245806e-03 9.99940855e-01 -4.73588975e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6559200000000001 meters Centerline goodness : 0.120373 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.04, Z:-0.06 [[ 9.99935446e-01 -2.46789070e-04 -1.13596849e-02 1.50270906e-01] [ 2.01131844e-04 9.99991899e-01 -4.02020047e-03 -3.55749779e-02] [ 1.13605850e-02 4.01765615e-03 9.99927395e-01 -5.91331355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6859199999999999 meters Centerline goodness : 0.117331 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.04, Z:-0.07 [[ 0.99991942 -0.0011356 -0.01264347 0.16126132] [ 0.00108391 0.99999103 -0.0040946 -0.04036436] [ 0.01264801 0.00408056 0.99991168 -0.07034061] [ 0. 0. 0. 1. ]] SLAMing on 0.7159199999999999 meters Centerline goodness : 0.104683 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.04, Z:-0.07 [[ 0.99992467 -0.00286533 -0.01193464 0.15636067] [ 0.00279896 0.99998055 -0.00557413 -0.04082454] [ 0.01195038 0.0055403 0.99991324 -0.06536151] [ 0. 0. 0. 1. ]] SLAMing on 0.7459199999999999 meters Centerline goodness : 0.107936 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.05, Z:-0.06 [[ 9.99930824e-01 -9.93687332e-04 -1.17200728e-02 1.52702315e-01] [ 9.61726018e-04 9.99995805e-01 -2.73237839e-03 -4.65856814e-02] [ 1.17227388e-02 2.72091787e-03 9.99927584e-01 -6.06829055e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7759199999999999 meters Centerline goodness : 0.121033 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.05, Z:-0.07 [[ 0.99992184 -0.00115736 -0.01244914 0.1628504 ] [ 0.00112286 0.99999551 -0.00277738 -0.046878 ] [ 0.0124523 0.00276319 0.99991865 -0.07236036] [ 0. 0. 0. 1. ]] SLAMing on 0.80592 meters Centerline goodness : 0.121033 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.05, Z:-0.07 [[ 0.99992184 -0.00115736 -0.01244914 0.1628504 ] [ 0.00112286 0.99999551 -0.00277738 -0.046878 ] [ 0.0124523 0.00276319 0.99991865 -0.07236036] [ 0. 0. 0. 1. ]] SLAMing on 0.83592 meters Centerline goodness : 0.107324 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.05, Z:-0.07 [[ 0.99997859 -0.00272092 -0.00595148 0.19696489] [ 0.00270237 0.99999147 -0.0031238 -0.04760779] [ 0.00595993 0.00310765 0.99997741 -0.06535502] [ 0. 0. 0. 1. ]] SLAMing on 0.86592 meters Centerline goodness : 0.108523 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.05, Z:-0.06 [[ 9.99985430e-01 -7.86829271e-04 -5.34046431e-03 1.92638048e-01] [ 7.84939019e-04 9.99999629e-01 -3.56035886e-04 -5.22212343e-02] [ 5.34074247e-03 3.51838760e-04 9.99985676e-01 -6.05617093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.89592 meters Centerline goodness : 0.122668 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.05, Z:-0.07 [[ 9.99977674e-01 -7.44478155e-04 -6.64056301e-03 2.03656654e-01] [ 7.41792465e-04 9.99999642e-01 -4.06890864e-04 -5.12849807e-02] [ 6.64086355e-03 4.01955860e-04 9.99977868e-01 -7.23646614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9259199999999999 meters Centerline goodness : 0.107798 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.05, Z:-0.06 [[ 0.99999623 -0.0024998 0.00113726 0.2308635 ] [ 0.00250138 0.9999959 -0.00139124 -0.04737772] [-0.00113378 0.00139408 0.99999839 -0.05954954] [ 0. 0. 0. 1. ]] SLAMing on 0.9559199999999999 meters Centerline goodness : 0.120794 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.05, Z:-0.07 [[ 9.99996851e-01 -2.30309695e-03 9.96954798e-04 2.40267310e-01] [ 2.30423005e-03 9.99996699e-01 -1.13690703e-03 -4.62498880e-02] [-9.94333100e-04 1.13920066e-03 9.99998857e-01 -7.11742799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9859199999999999 meters Centerline goodness : 0.125344 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.04, Z:-0.07 [[ 0.99998907 -0.00391121 -0.00256024 0.28961458] [ 0.00390709 0.99999107 -0.00161358 -0.04438333] [ 0.00256653 0.00160356 0.99999542 -0.069342 ] [ 0. 0. 0. 1. ]] SLAMing on 1.01592 meters Centerline goodness : 0.777390 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.05, Z:-0.08 [[ 0.99998343 -0.00414852 -0.00399116 0.30072005] [ 0.0041426 0.99999031 -0.00149126 -0.04566718] [ 0.00399731 0.00147471 0.99999092 -0.08100701] [ 0. 0. 0. 1. ]] SLAMing on 1.04592 meters Centerline goodness : 0.786077 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.04, Z:-0.07 [[ 9.99990085e-01 9.93608219e-04 -4.34090883e-03 3.15915821e-01] [-1.01765460e-03 9.99984132e-01 -5.54078773e-03 -4.04792359e-02] [ 4.33533458e-03 5.54515034e-03 9.99975228e-01 -7.05400232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.07592 meters Centerline goodness : 0.110979 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.04, Z:-0.08 [[ 9.99989545e-01 9.45426751e-04 -4.47403265e-03 3.26787297e-01] [-9.68409179e-04 9.99986334e-01 -5.13747312e-03 -4.22647020e-02] [ 4.46911441e-03 5.14175210e-03 9.99976794e-01 -8.25575631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.10592 meters Centerline goodness : 0.772954 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.04, Z:-0.07 [[ 0.99996651 -0.00190717 -0.00795837 0.36348661] [ 0.00186136 0.99998168 -0.00575893 -0.04046018] [ 0.00796921 0.00574392 0.99995175 -0.07008051] [ 0. 0. 0. 1. ]] SLAMing on 1.1359199999999998 meters Centerline goodness : 0.300850 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.04, Z:-0.08 [[ 0.99996449 -0.00228144 -0.00811235 0.37484508] [ 0.00223688 0.99998238 -0.00549809 -0.04324962] [ 0.00812475 0.00547975 0.99995198 -0.08189506] [ 0. 0. 0. 1. ]] SLAMing on 1.1659199999999998 meters Centerline goodness : 0.098285 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.04, Z:-0.08 [[ 0.99994654 0.00401661 -0.00952788 0.39431964] [-0.00408941 0.9999625 -0.00763335 -0.0396066 ] [ 0.00949686 0.0076719 0.99992547 -0.0757588 ] [ 0. 0. 0. 1. ]] SLAMing on 1.1959199999999999 meters Centerline goodness : 0.181309 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.04, Z:-0.08 [[ 0.99993488 0.00538348 -0.0100621 0.40054806] [-0.00544141 0.99996873 -0.00573828 -0.04345289] [ 0.01003089 0.00579265 0.99993291 -0.0820791 ] [ 0. 0. 0. 1. ]] SLAMing on 1.22592 meters Centerline goodness : 0.041414 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.05, Z:-0.08 [[ 0.9999604 -0.00354705 -0.00816137 0.42151741] [ 0.00351352 0.99998534 -0.00411915 -0.0488306 ] [ 0.00817586 0.00409031 0.99995821 -0.08117775] [ 0. 0. 0. 1. ]] SLAMing on 1.25592 meters Centerline goodness : 0.068450 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.05, Z:-0.09 [[ 0.99995108 -0.00397776 -0.00905667 0.43421222] [ 0.00394387 0.99998517 -0.00375609 -0.05357896] [ 0.00907148 0.00372019 0.99995193 -0.09336953] [ 0. 0. 0. 1. ]] SLAMing on 1.28592 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 1.31592 meters Centerline goodness : 0.054576 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.06, Z:-0.10 [[ 0.99995023 -0.00291615 -0.00954071 0.44079701] [ 0.00290185 0.99999465 -0.00151238 -0.06158667] [ 0.00954506 0.00148461 0.99995334 -0.09931583] [ 0. 0. 0. 1. ]] SLAMing on 1.3459199999999998 meters Centerline goodness : 0.113146 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.07, Z:-0.10 [[ 9.99951043e-01 -3.01653117e-03 -9.42402313e-03 4.41919054e-01] [ 3.00825462e-03 9.99995077e-01 -8.92291341e-04 -6.52179870e-02] [ 9.42666836e-03 8.63897796e-04 9.99955195e-01 -1.00534524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3759199999999998 meters Centerline goodness : 0.115220 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.07, Z:-0.11 [[ 9.99941563e-01 -3.20422226e-03 -1.03249026e-02 4.54314788e-01] [ 3.20098863e-03 9.99994822e-01 -3.29698341e-04 -6.99092684e-02] [ 1.03259056e-02 2.96629178e-04 9.99946642e-01 -1.12138821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4059199999999998 meters Centerline goodness : 0.129547 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.07, Z:-0.11 [[ 9.99948905e-01 -2.74960738e-03 -9.72765086e-03 4.56790129e-01] [ 2.75392883e-03 9.99996115e-01 4.30877265e-04 -7.33432565e-02] [ 9.72642832e-03 -4.57644508e-04 9.99952592e-01 -1.13342032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4359199999999999 meters Centerline goodness : 0.131204 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.07, Z:-0.11 [[ 9.99951463e-01 -2.57619756e-03 -9.50972105e-03 4.57480725e-01] [ 2.58373271e-03 9.99996358e-01 7.80161592e-04 -7.48036406e-02] [ 9.50767656e-03 -8.04694302e-04 9.99954477e-01 -1.14337480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.46592 meters Centerline goodness : 0.125298 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.08, Z:-0.13 [[ 0.99993904 -0.00228964 -0.01080114 0.46850594] [ 0.00230384 0.9999965 0.00130225 -0.07590739] [ 0.01079812 -0.00132705 0.99994082 -0.12543323] [ 0. 0. 0. 1. ]] SLAMing on 1.49592 meters Centerline goodness : 0.121072 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.07, Z:-0.13 [[ 9.99897395e-01 6.40114914e-03 -1.28149836e-02 4.94693959e-01] [-6.38905617e-03 9.99979105e-01 9.84376154e-04 -7.43653457e-02] [ 1.28210170e-02 -9.02399503e-04 9.99917400e-01 -1.25254635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.52592 meters Centerline goodness : 0.124715 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.07, Z:-0.13 [[ 0.99989892 0.00667859 -0.01255139 0.49556831] [-0.0066648 0.99997714 0.00113977 -0.07444119] [ 0.01255871 -0.00105601 0.99992058 -0.12645019] [ 0. 0. 0. 1. ]] SLAMing on 1.55592 meters Centerline goodness : 0.122849 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.04, Z:-0.16 [[ 0.99766983 -0.0548481 -0.04057835 0.77364175] [ 0.05436476 0.99843754 -0.01292118 -0.0422517 ] [ 0.04122365 0.01068504 0.99909281 -0.16085658] [ 0. 0. 0. 1. ]] SLAMing on 1.58592 meters Centerline goodness : 0.141280 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.05, Z:-0.17 [[ 0.99789647 -0.04984765 -0.04144703 0.78031347] [ 0.04957733 0.99874194 -0.00752505 -0.0468016 ] [ 0.04176999 0.00545439 0.99911236 -0.16692872] [ 0. 0. 0. 1. ]] SLAMing on 1.6159199999999998 meters Centerline goodness : 0.125023 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.04, Z:-0.16 [[ 0.99819027 -0.04197239 -0.04306405 0.80253213] [ 0.04159803 0.99908876 -0.00955319 -0.03719641] [ 0.04342578 0.00774453 0.99902664 -0.16293121] [ 0. 0. 0. 1. ]] SLAMing on 1.6459199999999998 meters Centerline goodness : 0.137065 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.03, Z:-0.17 [[ 0.99874295 -0.03768915 -0.033046 0.80109181] [ 0.03749049 0.99927512 -0.00661114 -0.03186015] [ 0.03327122 0.00536392 0.99943197 -0.17227742] [ 0. 0. 0. 1. ]] SLAMing on 1.6759199999999999 meters Centerline goodness : 0.145846 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.03, Z:-0.18 [[ 0.99879046 -0.03585207 -0.03364877 0.8072316 ] [ 0.0356932 0.99934868 -0.00531048 -0.03014198] [ 0.03381725 0.00410303 0.99941961 -0.17837895] [ 0. 0. 0. 1. ]] SLAMing on 1.7059199999999999 meters Centerline goodness : 0.161620 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.03, Z:-0.18 [[ 0.99885741 -0.03411042 -0.0334718 0.81387799] [ 0.03398888 0.99941341 -0.00419358 -0.02715991] [ 0.03359521 0.00305111 0.99943086 -0.18427631] [ 0. 0. 0. 1. ]] SLAMing on 1.73592 meters Centerline goodness : 0.185750 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.03, Z:-0.19 [[ 0.99888789 -0.03261289 -0.03404968 0.82003658] [ 0.03252951 0.99946627 -0.00299997 -0.02669625] [ 0.03412935 0.00188901 0.99941564 -0.19020627] [ 0. 0. 0. 1. ]] SLAMing on 1.76592 meters Centerline goodness : 0.176219 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.03, Z:-0.20 [[ 9.98912602e-01 -3.12071523e-02 -3.46370810e-02 8.25573073e-01] [ 3.11606340e-02 9.99512617e-01 -1.88215946e-03 -2.63680315e-02] [ 3.46789364e-02 8.00799397e-04 9.99398184e-01 -1.95123527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.79592 meters Centerline goodness : 0.159446 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.02, Z:-0.20 [[ 9.99179080e-01 -3.28892663e-02 -2.36529359e-02 8.27560225e-01] [ 3.28705521e-02 9.99458921e-01 -1.17966661e-03 -2.23175653e-02] [ 2.36789361e-02 4.01213140e-04 9.99719534e-01 -2.04219693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8259199999999998 meters Centerline goodness : 0.153039 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.02, Z:-0.21 [[ 9.99383475e-01 -3.23992812e-02 -1.35261145e-02 8.21124599e-01] [ 3.24049786e-02 9.99474800e-01 2.02199996e-04 -2.26727904e-02] [ 1.35124594e-02 -6.40388784e-04 9.99908497e-01 -2.09192036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8559199999999998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 1.8859199999999998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 1.9159199999999998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 1.9459199999999999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 1.97592 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 2.00592 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 2.03592 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 2.06592 meters Centerline goodness : 0.124016 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.06, Z:-0.21 [[ 0.99739273 -0.067515 0.02548445 0.90600926] [ 0.06761635 0.99770647 -0.00313542 -0.05717854] [-0.02521431 0.00485041 0.9996703 -0.21007092] [ 0. 0. 0. 1. ]] SLAMing on 2.09592 meters Centerline goodness : 0.701402 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.07, Z:-0.21 [[ 0.99786666 -0.05898189 0.02798696 0.92744686] [ 0.05905491 0.99825313 -0.00178897 -0.06544728] [-0.02783255 0.00343792 0.99960669 -0.21106122] [ 0. 0. 0. 1. ]] SLAMing on 2.1259200000000003 meters Centerline goodness : 0.191486 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.06, Z:-0.21 [[ 0.99819197 -0.05154001 0.03092591 0.94330345] [ 0.05167194 0.99865804 -0.00348152 -0.06427758] [-0.03070497 0.00507322 0.99951562 -0.20668652] [ 0. 0. 0. 1. ]] SLAMing on 2.15592 meters Centerline goodness : 0.177629 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.07, Z:-0.21 [[ 0.99848849 -0.04255668 0.0347802 0.96460195] [ 0.04266319 0.99908681 -0.00232544 -0.06912764] [-0.03464947 0.00380576 0.99939228 -0.21014171] [ 0. 0. 0. 1. ]] SLAMing on 2.1859200000000003 meters Centerline goodness : 0.519289 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.07, Z:-0.21 [[ 0.99871148 -0.03381937 0.0378369 0.98299431] [ 0.03394816 0.99941977 -0.00276623 -0.06871287] [-0.0377214 0.00404716 0.9992801 -0.20865153] [ 0. 0. 0. 1. ]] SLAMing on 2.21592 meters Centerline goodness : 0.165075 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.07, Z:-0.21 [[ 9.98831993e-01 -2.37430730e-02 4.20822649e-02 1.00587449e+00] [ 2.37780756e-02 9.99717207e-01 -3.31351309e-04 -7.37855778e-02] [-4.20624970e-02 1.33159956e-03 9.99114094e-01 -2.14655350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.24592 meters Centerline goodness : 0.154755 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.07, Z:-0.21 [[ 9.98939439e-01 -1.47064423e-02 4.36316070e-02 1.02635294e+00] [ 1.47602516e-02 9.99890646e-01 -9.11342265e-04 -7.19401012e-02] [-4.36134331e-02 1.55438923e-03 9.99047272e-01 -2.14202819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.27592 meters Centerline goodness : 0.141321 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.07, Z:-0.21 [[ 0.9990644 -0.00577846 0.0428594 1.04912067] [ 0.00586877 0.99998082 -0.00198157 -0.0682523 ] [-0.04284713 0.00223125 0.99907915 -0.21406494] [ 0. 0. 0. 1. ]] SLAMing on 2.30592 meters Centerline goodness : 0.120093 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.07, Z:-0.23 [[ 9.99141641e-01 -3.47430284e-03 4.12784589e-02 1.06396217e+00] [ 3.45097411e-03 9.99993843e-01 6.36397798e-04 -6.84684450e-02] [-4.12804158e-02 -4.93400647e-04 9.99147479e-01 -2.30434099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.33592 meters Centerline goodness : 0.131244 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.07, Z:-0.24 [[ 9.99210392e-01 -2.93033787e-03 3.96232866e-02 1.07421379e+00] [ 2.89674317e-03 9.99995395e-01 9.05237800e-04 -6.65821381e-02] [-3.96257567e-02 -7.89744533e-04 9.99214279e-01 -2.41329322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.36592 meters Centerline goodness : 0.120073 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.06, Z:-0.25 [[ 9.99259180e-01 -2.56566443e-03 3.83993327e-02 1.08453011e+00] [ 2.52702978e-03 9.99996251e-01 1.05463043e-03 -6.46733320e-02] [-3.84018946e-02 -9.56812885e-04 9.99261917e-01 -2.53095082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3959200000000003 meters Centerline goodness : 0.120685 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.06, Z:-0.25 [[ 9.99083312e-01 -3.22184899e-04 4.28069176e-02 1.12172727e+00] [ 2.35289830e-04 9.99997902e-01 2.03495336e-03 -5.80563884e-02] [-4.28074834e-02 -2.02301591e-03 9.99081291e-01 -2.50986198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.42592 meters Centerline goodness : 0.113364 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.05, Z:-0.26 [[ 9.99147954e-01 1.81115439e-04 4.12714554e-02 1.13220432e+00] [-2.59652751e-04 9.99998166e-01 1.89759258e-03 -5.41166847e-02] [-4.12710361e-02 -1.90669200e-03 9.99146169e-01 -2.62477515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.45592 meters Centerline goodness : 0.119161 Centerline is valid? [False, False] Translation: X:1.16, Y:-0.05, Z:-0.27 [[ 0.99916442 -0.0060015 0.04042822 1.1583471 ] [ 0.00581522 0.99997194 0.00472358 -0.05256123] [-0.04045544 -0.00448453 0.99917128 -0.26631328] [ 0. 0. 0. 1. ]] SLAMing on 2.48592 meters Centerline goodness : 0.113993 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.05, Z:-0.28 [[ 0.99922915 -0.00573604 0.03883551 1.16897682] [ 0.00558009 0.99997593 0.00412284 -0.04772797] [-0.03885822 -0.00390296 0.99923711 -0.27769563] [ 0. 0. 0. 1. ]] SLAMing on 2.51592 meters Centerline goodness : 0.112726 Centerline is valid? [False, False] Translation: X:1.18, Y:-0.04, Z:-0.29 [[ 0.99929203 -0.0053175 0.03724471 1.17962474] [ 0.00519609 0.99998087 0.00335591 -0.04142793] [-0.03726184 -0.00316001 0.99930054 -0.28929338] [ 0. 0. 0. 1. ]] SLAMing on 2.54592 meters Centerline goodness : 0.128798 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.03, Z:-0.29 [[ 0.9992952 -0.01118839 0.03583194 1.2070872 ] [ 0.01099369 0.99992374 0.0056261 -0.03359082] [-0.03589216 -0.00522821 0.99934199 -0.29369322] [ 0. 0. 0. 1. ]] SLAMing on 2.57592 meters Centerline goodness : 0.128335 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.03, Z:-0.30 [[ 0.99935361 -0.01094625 0.03424248 1.21784928] [ 0.010784 0.99992975 0.0049193 -0.02798039] [-0.03429393 -0.00454685 0.99940145 -0.30449594] [ 0. 0. 0. 1. ]] SLAMing on 2.6059200000000002 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 2.63592 meters Centerline goodness : 0.068457 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.02, Z:-0.32 [[ 0.99917965 -0.02189353 0.03406907 1.25412533] [ 0.02179316 0.99975701 0.00331463 -0.02239451] [-0.03413336 -0.00256944 0.99941398 -0.31865962] [ 0. 0. 0. 1. ]] SLAMing on 2.66592 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 2.69592 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 2.72592 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 2.75592 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 2.78592 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 2.81592 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 2.84592 meters Centerline goodness : 0.121982 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.04, Z:-0.32 [[ 0.99850501 -0.04573714 0.02993094 1.37615067] [ 0.04579971 0.99894965 -0.00140787 -0.03534246] [-0.02983511 0.00277659 0.99955098 -0.3215243 ] [ 0. 0. 0. 1. ]] SLAMing on 2.8759200000000003 meters Centerline goodness : 0.108086 Centerline is valid? [False, False] Translation: X:1.37, Y:-0.04, Z:-0.30 [[ 0.99808761 -0.04641373 0.04082758 1.36542531] [ 0.0467676 0.99887569 -0.00775493 -0.04453829] [-0.04042174 0.00964951 0.99913611 -0.29533626] [ 0. 0. 0. 1. ]] SLAMing on 2.90592 meters Centerline goodness : 0.129991 Centerline is valid? [False, False] Translation: X:1.37, Y:-0.04, Z:-0.30 [[ 0.99851905 -0.03405149 0.04242889 1.36896888] [ 0.03463501 0.99931424 -0.01309446 -0.04369408] [-0.04195391 0.01454459 0.99901368 -0.29860271] [ 0. 0. 0. 1. ]] SLAMing on 2.93592 meters Centerline goodness : 0.136545 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.06, Z:-0.30 [[ 0.99879154 -0.02688403 0.04114255 1.39341674] [ 0.02742693 0.99954328 -0.01268847 -0.05633547] [-0.04078264 0.01380155 0.99907272 -0.29730695] [ 0. 0. 0. 1. ]] SLAMing on 2.96592 meters Centerline goodness : 0.148297 Centerline is valid? [False, False] Translation: X:1.42, Y:-0.06, Z:-0.30 [[ 0.9990003 -0.02207724 0.03887148 1.41815726] [ 0.0227425 0.99960092 -0.01675619 -0.05791663] [-0.03848603 0.01762347 0.99910372 -0.29839114] [ 0. 0. 0. 1. ]] SLAMing on 2.99592 meters Centerline goodness : 0.124182 Centerline is valid? [False, False] Translation: X:1.44, Y:-0.08, Z:-0.30 [[ 0.99918513 -0.01537608 0.03731823 1.4420403 ] [ 0.01596772 0.99975068 -0.01560785 -0.07603456] [-0.03706894 0.01619102 0.99918154 -0.29638191] [ 0. 0. 0. 1. ]] SLAMing on 3.02592 meters Centerline goodness : 0.147659 Centerline is valid? [False, False] Translation: X:1.44, Y:-0.09, Z:-0.30 [[ 0.99916825 -0.01560668 0.03767293 1.44349335] [ 0.01614726 0.99977037 -0.0140879 -0.08588143] [-0.03744441 0.01468449 0.99919081 -0.29665192] [ 0. 0. 0. 1. ]] SLAMing on 3.05592 meters Centerline goodness : 0.128131 Centerline is valid? [False, False] Translation: X:1.47, Y:-0.10, Z:-0.29 [[ 0.99930442 -0.00852699 0.03630393 1.46639729] [ 0.00900447 0.99987483 -0.01300932 -0.10276704] [-0.03618846 0.01332717 0.99925611 -0.29459563] [ 0. 0. 0. 1. ]] SLAMing on 3.08592 meters Centerline goodness : 0.133418 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.11, Z:-0.31 [[ 0.99940405 -0.01657641 0.03027808 1.51113325] [ 0.01681618 0.99982909 -0.00768133 -0.11452641] [-0.03014557 0.00818592 0.999512 -0.30912734] [ 0. 0. 0. 1. ]] SLAMing on 3.11592 meters Centerline goodness : 0.124711 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.13, Z:-0.30 [[ 9.98927420e-01 -2.40723685e-02 3.95541520e-02 1.50844956e+00] [ 2.40342942e-02 9.99710101e-01 1.43788926e-03 -1.34743245e-01] [-3.95772987e-02 -4.85690880e-04 9.99216394e-01 -2.99215397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1459200000000003 meters Centerline goodness : 0.125413 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.14, Z:-0.31 [[ 0.9988122 -0.01764076 0.04542027 1.51410302] [ 0.01794141 0.99981969 -0.00622023 -0.14246873] [-0.04530235 0.00702774 0.9989486 -0.30838536] [ 0. 0. 0. 1. ]] SLAMing on 3.17592 meters Centerline goodness : 0.141114 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.16, Z:-0.30 [[ 0.99825617 -0.02471899 0.05360593 1.51404566] [ 0.02459675 0.99969313 0.00293905 -0.16147658] [-0.05366213 -0.0016154 0.99855784 -0.29961233] [ 0. 0. 0. 1. ]] SLAMing on 3.20592 meters Centerline goodness : 0.132726 Centerline is valid? [False, False] Translation: X:1.53, Y:-0.17, Z:-0.30 [[ 9.97889075e-01 -1.99647419e-02 6.17964668e-02 1.52669547e+00] [ 1.99308208e-02 9.99800682e-01 1.16534563e-03 -1.71781097e-01] [-6.18074155e-02 6.87686343e-05 9.98088092e-01 -3.01576807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.23592 meters Centerline goodness : 0.157104 Centerline is valid? [False, False] Translation: X:1.53, Y:-0.18, Z:-0.30 [[ 9.97893313e-01 -1.97465424e-02 6.17981328e-02 1.52876479e+00] [ 1.96466494e-02 9.99804513e-01 2.22372740e-03 -1.78307333e-01] [-6.18299630e-02 -1.00491646e-03 9.98086192e-01 -3.01466957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.26592 meters Centerline goodness : 0.140616 Centerline is valid? [False, False] Translation: X:1.53, Y:-0.18, Z:-0.30 [[ 0.99789745 -0.01949423 0.06181139 1.53087567] [ 0.01932539 0.99980771 0.00332829 -0.18489952] [-0.06186439 -0.00212676 0.9980823 -0.30152648] [ 0. 0. 0. 1. ]] SLAMing on 3.29592 meters Centerline goodness : 0.141389 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.19, Z:-0.31 [[ 0.99824386 -0.01293156 0.05780982 1.56742038] [ 0.01305299 0.99991332 -0.00172331 -0.18553453] [-0.05778252 0.00247488 0.99832613 -0.30995993] [ 0. 0. 0. 1. ]] SLAMing on 3.32592 meters Centerline goodness : 0.135343 Centerline is valid? [False, False] Translation: X:1.60, Y:-0.18, Z:-0.32 [[ 0.99842904 -0.00791055 0.05546968 1.59639025] [ 0.00834321 0.99993652 -0.00757255 -0.18140204] [-0.05540625 0.00802345 0.99843166 -0.3168103 ] [ 0. 0. 0. 1. ]] SLAMing on 3.3559200000000002 meters Centerline goodness : 0.136819 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.19, Z:-0.32 [[ 0.99865039 -0.00802701 0.05131245 1.64848784] [ 0.00836926 0.99994412 -0.00645857 -0.18975502] [-0.05125774 0.0068793 0.99866176 -0.32043009] [ 0. 0. 0. 1. ]] SLAMing on 3.38592 meters Centerline goodness : 0.137904 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.20, Z:-0.32 [[ 9.98682779e-01 -1.39194350e-02 4.93857932e-02 1.67461224e+00] [ 1.40063561e-02 9.99900906e-01 -1.41439221e-03 -1.99111148e-01] [-4.93612118e-02 2.10424415e-03 9.98778776e-01 -3.23686489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.41592 meters Centerline goodness : 0.162319 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.21, Z:-0.32 [[ 0.99849517 -0.01641738 0.05232459 1.71104226] [ 0.01664297 0.99985397 -0.00387842 -0.20553788] [-0.05225327 0.00474342 0.9986226 -0.31970282] [ 0. 0. 0. 1. ]] SLAMing on 3.44592 meters Centerline goodness : 0.141261 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.21, Z:-0.33 [[ 0.9974348 -0.02358996 0.06758201 1.72852268] [ 0.02383081 0.9997122 -0.00275983 -0.2076992 ] [-0.06749745 0.00436328 0.99770991 -0.33011599] [ 0. 0. 0. 1. ]] SLAMing on 3.47592 meters Centerline goodness : 0.148321 Centerline is valid? [False, False] Translation: X:1.75, Y:-0.20, Z:-0.33 [[ 0.99767499 -0.01736415 0.06590218 1.7524584 ] [ 0.01790737 0.9998103 -0.00766105 -0.20473847] [-0.06575665 0.00882337 0.99779668 -0.33159275] [ 0. 0. 0. 1. ]] SLAMing on 3.50592 meters Centerline goodness : 0.146890 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.21, Z:-0.33 [[ 0.99793273 -0.01557617 0.06235094 1.79828474] [ 0.01606032 0.99984459 -0.00727117 -0.20501136] [-0.062228 0.00825752 0.9980278 -0.33325796] [ 0. 0. 0. 1. ]] SLAMing on 3.53592 meters Centerline goodness : 0.140412 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.21, Z:-0.34 [[ 0.99820949 -0.01480605 0.05795345 1.85124628] [ 0.01514314 0.99987085 -0.00538173 -0.21242648] [-0.05786628 0.00624969 0.99830478 -0.33703545] [ 0. 0. 0. 1. ]] SLAMing on 3.56592 meters Centerline goodness : 0.139774 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.22, Z:-0.34 [[ 0.99831345 -0.00868479 0.05740053 1.87537147] [ 0.00915655 0.99992639 -0.0079609 -0.22021255] [-0.05732717 0.00847307 0.99831949 -0.33864654] [ 0. 0. 0. 1. ]] SLAMing on 3.59592 meters Centerline goodness : 0.150006 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.23, Z:-0.35 [[ 9.98413189e-01 -1.19687572e-02 5.50259208e-02 1.90509844e+00] [ 1.20156092e-02 9.99927674e-01 -5.20685452e-04 -2.29237038e-01] [-5.50157091e-02 1.18102918e-03 9.98484791e-01 -3.46970116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.62592 meters Centerline goodness : 0.137777 Centerline is valid? [False, False] Translation: X:1.93, Y:-0.23, Z:-0.35 [[ 0.99854837 -0.00571761 0.05355795 1.92851209] [ 0.00600766 0.99996814 -0.00525634 -0.22718121] [-0.05352619 0.00557047 0.99855091 -0.34784656] [ 0. 0. 0. 1. ]] SLAMing on 3.65592 meters Centerline goodness : 0.137931 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.24, Z:-0.36 [[ 9.98634614e-01 -9.41107368e-03 5.13842256e-02 1.95968224e+00] [ 9.30486210e-03 9.99954050e-01 2.30584125e-03 -2.38776014e-01] [-5.14035650e-02 -1.82456976e-03 9.98676296e-01 -3.56002733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.68592 meters Centerline goodness : 0.138013 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.23, Z:-0.36 [[ 0.99872148 -0.00344061 0.05043371 1.98123835] [ 0.00361689 0.99998766 -0.00340455 -0.23449158] [-0.05042137 0.00358261 0.99872161 -0.35503402] [ 0. 0. 0. 1. ]] SLAMing on 3.71592 meters Centerline goodness : 0.140329 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.24, Z:-0.36 [[ 0.99881563 -0.006594 0.04820647 2.01169546] [ 0.00642863 0.99997291 0.00358481 -0.24110391] [-0.0482288 -0.00327066 0.99883096 -0.3629596 ] [ 0. 0. 0. 1. ]] SLAMing on 3.74592 meters Centerline goodness : 0.139216 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.24, Z:-0.37 [[ 9.98822459e-01 -8.25250732e-03 4.78078616e-02 2.01659668e+00] [ 8.16931005e-03 9.99964758e-01 1.93537465e-03 -2.41040298e-01] [-4.78221484e-02 -1.54253842e-03 9.98854675e-01 -3.68030115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.77592 meters Centerline goodness : 0.175118 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.24, Z:-0.37 [[ 9.99341629e-01 -4.70272971e-03 3.59748987e-02 2.04628384e+00] [ 4.74546847e-03 9.99988132e-01 -1.10272140e-03 -2.37695193e-01] [-3.59692860e-02 1.27271314e-03 9.99352085e-01 -3.70616729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.80592 meters Centerline goodness : 0.165961 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.24, Z:-0.37 [[ 0.9993251 -0.00940902 0.03550791 2.06892957] [ 0.00926505 0.99994819 0.00421694 -0.24449962] [-0.03554575 -0.00388511 0.9993605 -0.37121145] [ 0. 0. 0. 1. ]] SLAMing on 3.83592 meters Centerline goodness : 0.167711 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.24, Z:-0.38 [[ 0.99931906 -0.01079172 0.03528385 2.07295833] [ 0.0107074 0.99993935 0.00257783 -0.24295659] [-0.03530953 -0.00219828 0.99937401 -0.37568113] [ 0. 0. 0. 1. ]] SLAMing on 3.86592 meters Centerline goodness : 0.174534 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.24, Z:-0.38 [[ 0.99938007 -0.00421277 0.0349532 2.0950351 ] [ 0.0043232 0.9999859 -0.0030846 -0.23565291] [-0.03493971 0.00323379 0.99938419 -0.37549728] [ 0. 0. 0. 1. ]] SLAMing on 3.89592 meters Centerline goodness : 0.177460 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.24, Z:-0.38 [[ 9.99403627e-01 -2.17056914e-03 3.44627321e-02 2.10033740e+00] [ 2.18007984e-03 9.99997595e-01 -2.38395831e-04 -2.38335746e-01] [-3.44621318e-02 3.13385166e-04 9.99405955e-01 -3.79803073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.92592 meters Centerline goodness : 0.169188 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.24, Z:-0.39 [[ 9.99445515e-01 -1.64807248e-03 3.32557740e-02 2.11009959e+00] [ 1.63071226e-03 9.99998520e-01 5.49137323e-04 -2.39121126e-01] [-3.32566298e-02 -4.94602236e-04 9.99446723e-01 -3.88976377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.95592 meters Centerline goodness : 0.167029 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.24, Z:-0.39 [[ 0.99943804 -0.00632647 0.03291789 2.13259259] [ 0.00615189 0.99996648 0.00540219 -0.24347124] [-0.03295096 -0.00519665 0.99944346 -0.38970232] [ 0. 0. 0. 1. ]] SLAMing on 3.98592 meters Centerline goodness : 0.954072 Centerline is valid? [False, True] Translation: X:2.15, Y:-0.24, Z:-0.39 [[ 9.99425862e-01 -6.18283274e-04 3.38757248e-02 2.15037432e+00] [ 6.66596981e-04 9.99998777e-01 -1.41492898e-03 -2.35408393e-01] [-3.38748085e-02 1.43669807e-03 9.99425051e-01 -3.87263300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.0159199999999995 meters Centerline goodness : 0.915382 Centerline is valid? [True, False] Translation: X:2.17, Y:-0.24, Z:-0.39 [[ 0.99937628 -0.00458036 0.03501518 2.16913852] [ 0.00443878 0.99998166 0.00411991 -0.23916558] [-0.0350334 -0.00396191 0.99937829 -0.38555704] [ 0. 0. 0. 1. ]] SLAMing on 4.04592 meters Centerline goodness : 0.963956 Centerline is valid? [False, True] Translation: X:2.17, Y:-0.24, Z:-0.38 [[ 0.99935723 -0.00472918 0.03553542 2.16870342] [ 0.00457914 0.99998026 0.00430254 -0.24028923] [-0.03555507 -0.00413705 0.99935916 -0.38468219] [ 0. 0. 0. 1. ]] SLAMing on 4.07592 meters Centerline goodness : 0.967031 Centerline is valid? [True, True] Translation: X:2.14, Y:-0.20, Z:-0.45 [[ 0.99821026 0.04805425 0.03559595 2.13633652] [-0.0482193 0.99882957 0.00379239 -0.20339177] [-0.03537204 -0.00550201 0.99935907 -0.44748483] [ 0. 0. 0. 1. ]] SLAMing on 4.10592 meters Centerline goodness : 0.907661 Centerline is valid? [True, False] Translation: X:2.13, Y:-0.21, Z:-0.45 [[ 0.99815209 0.03851653 0.04699882 2.12930763] [-0.03911785 0.99916324 0.01194222 -0.21381734] [-0.04649952 -0.01375864 0.99882356 -0.44579047] [ 0. 0. 0. 1. ]] SLAMing on 4.13592 meters Centerline goodness : 0.970991 Centerline is valid? [False, True] Translation: X:2.15, Y:-0.21, Z:-0.45 [[ 0.99844404 0.03086909 0.0464392 2.14921729] [-0.03149506 0.99942184 0.01280838 -0.21491772] [-0.04601697 -0.01425105 0.998839 -0.44540029] [ 0. 0. 0. 1. ]] SLAMing on 4.16592 meters Centerline goodness : 0.975274 Centerline is valid? [True, True] Translation: X:2.21, Y:-0.23, Z:-0.40 [[ 0.99886516 0.0093198 0.04670687 2.20783913] [-0.00982229 0.99989621 0.01054043 -0.22998545] [-0.04660378 -0.01098724 0.99885303 -0.39911633] [ 0. 0. 0. 1. ]] SLAMing on 4.19592 meters Centerline goodness : 0.536558 Centerline is valid? [True, False] Translation: X:2.21, Y:-0.23, Z:-0.40 [[ 0.99888621 0.00540859 0.04687312 2.20767618] [-0.00567472 0.99996852 0.0055464 -0.22597279] [-0.04684164 -0.00580621 0.99888545 -0.39912037] [ 0. 0. 0. 1. ]] SLAMing on 4.22592 meters Centerline goodness : 0.976462 Centerline is valid? [False, True] Translation: X:2.23, Y:-0.23, Z:-0.40 [[ 9.98928542e-01 -2.22362776e-03 4.62257905e-02 2.22756597e+00] [ 1.92399979e-03 9.99976859e-01 6.52531818e-03 -2.26095537e-01] [-4.62392306e-02 -6.42938816e-03 9.98909704e-01 -3.97356423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.25592 meters Centerline goodness : 0.466507 Centerline is valid? [True, False] Translation: X:2.25, Y:-0.23, Z:-0.39 [[ 0.99883294 -0.01039326 0.04716707 2.24642395] [ 0.01002828 0.99991797 0.00796823 -0.22989469] [-0.04724602 -0.00748592 0.99885523 -0.39489689] [ 0. 0. 0. 1. ]] SLAMing on 4.28592 meters Centerline goodness : 0.692224 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.22, Z:-0.39 [[ 9.98841392e-01 -4.23954056e-03 4.79364145e-02 2.26560688e+00] [ 4.15142342e-03 9.99989506e-01 1.93761926e-03 -2.24435121e-01] [-4.79441260e-02 -1.73636996e-03 9.98848510e-01 -3.93385462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.31592 meters Centerline goodness : 0.553296 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.23, Z:-0.39 [[ 0.99873975 -0.01198819 0.04873604 2.28368721] [ 0.01181 0.99992249 0.00394242 -0.22875225] [-0.04877953 -0.00336188 0.99880391 -0.39000156] [ 0. 0. 0. 1. ]] SLAMing on 4.3459200000000004 meters Centerline goodness : 0.541790 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.22, Z:-0.39 [[ 9.99197455e-01 -6.63617428e-03 3.95019909e-02 2.31024064e+00] [ 6.60673565e-03 9.99977792e-01 8.75739646e-04 -2.24717341e-01] [-3.95069252e-02 -6.14057614e-04 9.99219108e-01 -3.88975638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.37592 meters Centerline goodness : 0.507337 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.23, Z:-0.39 [[ 9.99178685e-01 -6.91519453e-03 3.99266289e-02 2.31013376e+00] [ 6.84821948e-03 9.99974905e-01 1.81397869e-03 -2.29380620e-01] [-3.99381709e-02 -1.53906253e-03 9.99200968e-01 -3.87305556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.40592 meters Centerline goodness : 0.989118 Centerline is valid? [False, True] Translation: X:2.33, Y:-0.23, Z:-0.38 [[ 9.99249840e-01 1.51316374e-03 3.86971340e-02 2.32879271e+00] [-1.46378417e-03 9.99998078e-01 -1.30435332e-03 -2.27003658e-01] [-3.86990333e-02 1.24673060e-03 9.99250134e-01 -3.82493999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.43592 meters Centerline goodness : 0.991516 Centerline is valid? [True, True] Translation: X:2.36, Y:-0.23, Z:-0.38 [[ 9.99268059e-01 -3.87497452e-04 3.82517372e-02 2.35993786e+00] [ 2.52690837e-04 9.99993741e-01 3.52896768e-03 -2.32649600e-01] [-3.82528652e-02 -3.51671883e-03 9.99261903e-01 -3.79584522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.46592 meters Centerline goodness : 0.993554 Centerline is valid? [True, True] Translation: X:2.39, Y:-0.24, Z:-0.38 [[ 9.99268242e-01 2.23640181e-04 3.82482827e-02 2.39264782e+00] [-3.60311960e-04 9.99993575e-01 3.56642299e-03 -2.39482870e-01] [-3.82472394e-02 -3.57759455e-03 9.99261902e-01 -3.77271904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.49592 meters Centerline goodness : 0.985899 Centerline is valid? [True, True] Translation: X:2.42, Y:-0.24, Z:-0.38 [[ 0.99925696 0.00471408 0.03825318 2.42002686] [-0.00485199 0.99998206 0.00351322 -0.23626915] [-0.03823593 -0.00369621 0.9992619 -0.3811404 ] [ 0. 0. 0. 1. ]] SLAMing on 4.52592 meters Centerline goodness : 0.996096 Centerline is valid? [True, True] Translation: X:2.45, Y:-0.25, Z:-0.39 [[ 0.9992641 -0.00328486 0.03821616 2.45361887] [ 0.00313751 0.99998741 0.00391506 -0.24556117] [-0.03822854 -0.00379227 0.99926183 -0.38553637] [ 0. 0. 0. 1. ]] SLAMing on 4.55592 meters Centerline goodness : 0.998091 Centerline is valid? [True, True] Translation: X:2.50, Y:-0.26, Z:-0.41 [[ 0.99886158 -0.02851851 0.03823926 2.49928719] [ 0.02839908 0.99958995 0.00366288 -0.26169012] [-0.03832804 -0.00257275 0.9992619 -0.40618763] [ 0. 0. 0. 1. ]] SLAMing on 4.58592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:2.52, Y:-0.26, Z:-0.39 [[ 9.99158680e-01 -1.43179544e-02 3.84308248e-02 2.52052785e+00] [ 1.42694152e-02 9.99897005e-01 1.53703800e-03 -2.59036117e-01] [-3.84488739e-02 -9.87359460e-04 9.99260081e-01 -3.94074693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.61592 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:2.55, Y:-0.26, Z:-0.39 [[ 0.9992614 -0.00329377 0.03828595 2.54998716] [ 0.00317706 0.99999012 0.00310877 -0.259591 ] [-0.03829581 -0.00298483 0.99926199 -0.38859481] [ 0. 0. 0. 1. ]] SLAMing on 4.64592 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:2.58, Y:-0.26, Z:-0.39 [[ 0.99926416 -0.00288094 0.03824697 2.58320235] [ 0.00274788 0.99998999 0.00353098 -0.25662934] [-0.03825676 -0.00342329 0.99926208 -0.38973334] [ 0. 0. 0. 1. ]] SLAMing on 4.67592 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:2.61, Y:-0.26, Z:-0.39 [[ 0.99924865 -0.00626057 0.03824848 2.61396507] [ 0.00613059 0.99997503 0.00351455 -0.25794127] [-0.03826953 -0.00327742 0.99926208 -0.39314513] [ 0. 0. 0. 1. ]] SLAMing on 4.70592 meters Centerline goodness : 0.998168 Centerline is valid? [True, True] Translation: X:2.64, Y:-0.26, Z:-0.39 [[ 9.99268062e-01 1.23063473e-03 3.82338436e-02 2.64297516e+00] [-1.37210729e-03 9.99992309e-01 3.67417209e-03 -2.63417508e-01] [-3.82290280e-02 -3.72394376e-03 9.99262065e-01 -3.92455295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.73592 meters Centerline goodness : 0.998911 Centerline is valid? [True, True] Translation: X:2.68, Y:-0.27, Z:-0.39 [[ 9.99269412e-01 1.36909622e-03 3.81938296e-02 2.68012825e+00] [-1.52735501e-03 9.99990368e-01 4.11469894e-03 -2.67465920e-01] [-3.81878283e-02 -4.17002833e-03 9.99261878e-01 -3.90602190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.76592 meters Centerline goodness : 0.981835 Centerline is valid? [True, True] Translation: X:2.67, Y:-0.28, Z:-0.40 [[ 0.99916681 0.0142108 0.03825894 2.67074225] [-0.01435099 0.99989127 0.00339192 -0.27770349] [-0.03820658 -0.00393815 0.9992621 -0.39965546] [ 0. 0. 0. 1. ]] SLAMing on 4.79592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.74, Y:-0.28, Z:-0.40 [[ 0.99922385 0.01100564 0.03782299 2.74068595] [-0.0113239 0.99990217 0.00821047 -0.28478742] [-0.03772893 -0.00863241 0.99925072 -0.39508829] [ 0. 0. 0. 1. ]] SLAMing on 4.82592 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:2.77, Y:-0.29, Z:-0.40 [[ 9.99167318e-01 1.39936757e-02 3.83255415e-02 2.76624753e+00] [-1.40897886e-02 9.99898228e-01 2.23883948e-03 -2.85223010e-01] [-3.82903114e-02 -2.77697401e-03 9.99262799e-01 -3.97539703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.85592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:2.80, Y:-0.28, Z:-0.40 [[ 0.9990907 0.01885228 0.03824085 2.79897933] [-0.01898992 0.99981443 0.00323902 -0.2848437 ] [-0.03817269 -0.00396226 0.9992633 -0.39799315] [ 0. 0. 0. 1. ]] SLAMing on 4.88592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:2.83, Y:-0.28, Z:-0.40 [[ 0.99898216 0.02392013 0.03824216 2.83143737] [-0.02406084 0.9997053 0.0032234 -0.28204065] [-0.03815379 -0.00414026 0.9992633 -0.39809308] [ 0. 0. 0. 1. ]] SLAMing on 4.91592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:2.86, Y:-0.28, Z:-0.40 [[ 0.99870229 0.03363291 0.03824345 2.86434614] [-0.03378006 0.99942414 0.00320802 -0.27756306] [-0.03811353 -0.00449572 0.9992633 -0.39853404] [ 0. 0. 0. 1. ]] SLAMing on 4.94592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.90, Y:-0.27, Z:-0.40 [[ 0.99855172 0.03783907 0.03824474 2.89692261] [-0.03798868 0.99927307 0.0031926 -0.27327931] [-0.03809613 -0.00464084 0.9992633 -0.39961525] [ 0. 0. 0. 1. ]] SLAMing on 4.97592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.93, Y:-0.27, Z:-0.40 [[ 0.99813411 0.04759796 0.03824562 2.92879228] [-0.04775422 0.99885405 0.00318201 -0.26536602] [-0.03805034 -0.00500246 0.9992633 -0.40150456] [ 0. 0. 0. 1. ]] SLAMing on 5.00592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.97, Y:-0.26, Z:-0.40 [[ 0.99702094 0.06698079 0.03824689 2.96990157] [-0.06715042 0.99773784 0.00316665 -0.25956191] [-0.03794827 -0.00572551 0.9992633 -0.40291167] [ 0. 0. 0. 1. ]] SLAMing on 5.03592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.00, Y:-0.25, Z:-0.41 [[ 9.96554729e-01 7.35351954e-02 3.83568439e-02 2.99931353e+00] [-7.36595674e-02 9.97281751e-01 1.83752682e-03 -2.48746471e-01] [-3.81174576e-02 -4.65654457e-03 9.99262416e-01 -4.05282153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.06592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:3.04, Y:-0.25, Z:-0.41 [[ 9.95041625e-01 9.17753228e-02 3.83334587e-02 3.03802697e+00] [-9.19236285e-02 9.95763802e-01 2.12066239e-03 -2.45900522e-01] [-3.79764461e-02 -5.63389797e-03 9.99262753e-01 -4.08974864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.09592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:3.05, Y:-0.23, Z:-0.41 [[ 9.96986075e-01 6.74040959e-02 3.84116514e-02 3.05242969e+00] [-6.74985966e-02 9.97718686e-01 1.16721743e-03 -2.28032624e-01] [-3.82453471e-02 -3.75643208e-03 9.99261318e-01 -4.09981573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.12592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.09, Y:-0.23, Z:-0.41 [[ 0.99639927 0.0756717 0.03823982 3.09412544] [-0.0758493 0.99711412 0.00321317 -0.23317599] [-0.03788632 -0.00610206 0.99926342 -0.41049178] [ 0. 0. 0. 1. ]] SLAMing on 5.15592 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:3.11, Y:-0.22, Z:-0.40 [[ 9.97307048e-01 6.25151266e-02 3.83472332e-02 3.11322703e+00] [-6.26347411e-02 9.98034661e-01 1.92466630e-03 -2.19062092e-01] [-3.81515471e-02 -4.32135229e-03 9.99262621e-01 -4.04725536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.18592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:3.15, Y:-0.22, Z:-0.40 [[ 0.99766713 0.05655885 0.03822815 3.14852796] [-0.05672729 0.99838414 0.003335 -0.22021963] [-0.03797776 -0.0054958 0.99926347 -0.40472176] [ 0. 0. 0. 1. ]] SLAMing on 5.21592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.19, Y:-0.22, Z:-0.41 [[ 9.96756748e-01 7.07911269e-02 3.82701215e-02 3.18621250e+00] [-7.09510807e-02 9.97475765e-01 2.83602509e-03 -2.18604222e-01] [-3.79727533e-02 -5.54213362e-03 9.99263406e-01 -4.10851945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.24592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:3.21, Y:-0.21, Z:-0.41 [[ 9.97806860e-01 5.39627022e-02 3.83340114e-02 3.21249980e+00] [-5.40817283e-02 9.98534358e-01 2.07406772e-03 -2.10676247e-01] [-3.81659052e-02 -4.14268859e-03 9.99262829e-01 -4.07350757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.27592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:3.25, Y:-0.21, Z:-0.41 [[ 9.97834174e-01 5.35032991e-02 3.82669353e-02 3.24506227e+00] [-5.36519240e-02 9.98555583e-01 2.86684148e-03 -2.08962004e-01] [-3.80582764e-02 -4.91372710e-03 9.99263440e-01 -4.08617999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.3059199999999995 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:3.28, Y:-0.21, Z:-0.41 [[ 9.96996745e-01 6.73249578e-02 3.82732259e-02 3.28325311e+00] [-6.74807702e-02 9.97716667e-01 2.79244164e-03 -2.08470217e-01] [-3.79978344e-02 -5.36676199e-03 9.99263410e-01 -4.13940754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.33592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.31, Y:-0.20, Z:-0.41 [[ 9.97821002e-01 5.36923111e-02 3.83455719e-02 3.31037157e+00] [-5.38059494e-02 9.98549532e-01 1.93697043e-03 -2.00753656e-01] [-3.81859525e-02 -3.99596968e-03 9.99262661e-01 -4.12640502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.36592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.34, Y:-0.20, Z:-0.42 [[ 9.97948337e-01 5.13134116e-02 3.82890310e-02 3.33727152e+00] [-5.14503960e-02 9.98672166e-01 2.60025657e-03 -1.97273876e-01] [-3.81047615e-02 -4.56490753e-03 9.99263323e-01 -4.17045209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.39592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.38, Y:-0.19, Z:-0.42 [[ 9.97226237e-01 6.38610249e-02 3.82309024e-02 3.37873342e+00] [-6.40325679e-02 9.97942425e-01 3.27825449e-03 -1.91427318e-01] [-3.79428868e-02 -5.71718425e-03 9.99263554e-01 -4.16158892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.42592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.40, Y:-0.19, Z:-0.42 [[ 9.98028777e-01 4.96811342e-02 3.83450683e-02 3.39904615e+00] [-4.97913471e-02 9.98757788e-01 1.92404401e-03 -1.87264688e-01] [-3.82018469e-02 -3.82950390e-03 9.99262705e-01 -4.18501500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.45592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.43, Y:-0.18, Z:-0.42 [[ 9.98268464e-01 4.47044247e-02 3.82307206e-02 3.43113654e+00] [-4.48616372e-02 9.98987878e-01 3.26385016e-03 -1.81358006e-01] [-3.80461179e-02 -4.97329140e-03 9.99263609e-01 -4.21196286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.48592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:3.47, Y:-0.18, Z:-0.42 [[ 9.98388509e-01 4.19375163e-02 3.82312676e-02 3.46592826e+00] [-4.20924925e-02 9.99108408e-01 3.25743088e-03 -1.75531488e-01] [-3.80605723e-02 -4.86143090e-03 9.99263609e-01 -4.16900286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.51592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.49, Y:-0.18, Z:-0.43 [[ 9.98675194e-01 3.43942255e-02 3.82739454e-02 3.49498377e+00] [-3.45247103e-02 9.99400052e-01 2.75333573e-03 -1.76014694e-01] [-3.81562842e-02 -4.07108497e-03 9.99263491e-01 -4.25792000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.54592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.53, Y:-0.17, Z:-0.43 [[ 9.98794839e-01 3.07759864e-02 3.82322971e-02 3.52823482e+00] [-3.09224070e-02 9.99516523e-01 3.24420798e-03 -1.73800376e-01] [-3.81139689e-02 -4.42253284e-03 9.99263612e-01 -4.27424698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.57592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.56, Y:-0.17, Z:-0.43 [[ 9.98878701e-01 2.79201484e-02 3.82335685e-02 3.56073445e+00] [-2.80639360e-02 9.99600914e-01 3.22915367e-03 -1.71477059e-01] [-3.81281516e-02 -4.29851724e-03 9.99263612e-01 -4.28750342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.60592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.59, Y:-0.17, Z:-0.43 [[ 9.98971753e-01 2.43625643e-02 3.82348408e-02 3.59446631e+00] [-2.45032064e-02 9.99694585e-01 3.21401875e-03 -1.73410561e-01] [-3.81448615e-02 -4.14759014e-03 9.99263612e-01 -4.29025685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.63592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.63, Y:-0.17, Z:-0.43 [[ 9.98974557e-01 2.42464059e-02 3.82354023e-02 3.62725705e+00] [-2.43867108e-02 9.99697455e-01 3.20732430e-03 -1.72656666e-01] [-3.81460683e-02 -4.13647107e-03 9.99263612e-01 -4.29841384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.66592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.67, Y:-0.17, Z:-0.43 [[ 9.98580206e-01 3.70880988e-02 3.82366906e-02 3.66791413e+00] [-3.72371040e-02 9.99301361e-01 3.19189185e-03 -1.69558683e-01] [-3.80915957e-02 -4.61118364e-03 9.99263613e-01 -4.26473481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.69592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.70, Y:-0.17, Z:-0.43 [[ 9.98368364e-01 4.23119414e-02 3.83446065e-02 3.69917922e+00] [-4.24152206e-02 9.99098294e-01 1.88360217e-03 -1.66531758e-01] [-3.82303321e-02 -3.50692376e-03 9.99262800e-01 -4.28310432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.72592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.72, Y:-0.17, Z:-0.43 [[ 9.98553172e-01 3.77157577e-02 3.83286293e-02 3.72173823e+00] [-3.78230383e-02 9.99282293e-01 2.07745708e-03 -1.66396075e-01] [-3.82227677e-02 -3.52415658e-03 9.99263029e-01 -4.32223543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.75592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.76, Y:-0.16, Z:-0.43 [[ 9.97592634e-01 5.78525953e-02 3.82362761e-02 3.76214483e+00] [-5.80163465e-02 9.98310549e-01 3.18607799e-03 -1.61346848e-01] [-3.79873549e-02 -5.39673698e-03 9.99263647e-01 -4.28885205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.78592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.80, Y:-0.15, Z:-0.43 [[ 9.96717619e-01 7.13062707e-02 3.83328037e-02 3.79631470e+00] [-7.14357858e-02 9.97443159e-01 2.01796856e-03 -1.53490499e-01] [-3.80908990e-02 -4.74967877e-03 9.99262990e-01 -4.32056070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.81592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.83, Y:-0.15, Z:-0.43 [[ 9.97262380e-01 6.32177666e-02 3.83570112e-02 3.82551856e+00] [-6.33303639e-02 9.97991124e-01 1.72639485e-03 -1.46306186e-01] [-3.81708179e-02 -4.15083211e-03 9.99262608e-01 -4.31135555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.84592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.85, Y:-0.14, Z:-0.43 [[ 9.97717578e-01 5.56013687e-02 3.83160869e-02 3.85297604e+00] [-5.57268536e-02 9.98443597e-01 2.21397303e-03 -1.37293975e-01] [-3.81333517e-02 -4.34415477e-03 9.99263216e-01 -4.29215174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.87592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.89, Y:-0.13, Z:-0.43 [[ 9.97240560e-01 6.36149502e-02 3.82675190e-02 3.88758321e+00] [-6.37678928e-02 9.97960862e-01 2.78822976e-03 -1.25559448e-01] [-3.80121132e-02 -5.22077486e-03 9.99263640e-01 -4.32007811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.90592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.91, Y:-0.12, Z:-0.44 [[ 9.97589112e-01 5.78690633e-02 3.83031995e-02 3.91250451e+00] [-5.80019091e-02 9.98313670e-01 2.36523252e-03 -1.19586557e-01] [-3.81017339e-02 -4.58118890e-03 9.99263364e-01 -4.36917363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.93592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.95, Y:-0.11, Z:-0.44 [[ 9.96702366e-01 7.15751180e-02 3.82282174e-02 3.95270364e+00] [-7.17510318e-02 9.97417285e-01 3.24794701e-03 -1.10490813e-01] [-3.78970126e-02 -5.98015051e-03 9.99263756e-01 -4.35410597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.96592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.98, Y:-0.10, Z:-0.43 [[ 9.97463047e-01 5.99877916e-02 3.83266770e-02 3.98020964e+00] [-6.01117928e-02 9.98189463e-01 2.09020465e-03 -9.55016745e-02] [-3.81318984e-02 -4.38878716e-03 9.99263077e-01 -4.34944668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.99592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.01, Y:-0.09, Z:-0.44 [[ 9.97518261e-01 5.90957914e-02 3.82754057e-02 4.00600688e+00] [-5.92417630e-02 9.98240040e-01 2.68985413e-03 -8.89455282e-02] [-3.80490835e-02 -4.95068113e-03 9.99263608e-01 -4.41431392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.02592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.05, Y:-0.08, Z:-0.44 [[ 9.96211566e-01 7.81114843e-02 3.82244814e-02 4.04907687e+00] [-7.82933835e-02 9.96924956e-01 3.28287530e-03 -7.52796982e-02] [-3.78505092e-02 -6.26316232e-03 9.99263785e-01 -4.40098899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.0559199999999995 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:4.07, Y:-0.06, Z:-0.44 [[ 9.97689785e-01 5.60579592e-02 3.83744407e-02 4.06530284e+00] [-5.61567693e-02 9.98420835e-01 1.50101488e-03 -6.39026525e-02] [-3.82296973e-02 -3.65253182e-03 9.99262303e-01 -4.44132194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.08592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.10, Y:-0.05, Z:-0.44 [[ 9.97898312e-01 5.23262865e-02 3.82219528e-02 4.09803272e+00] [-5.24895234e-02 9.98616091e-01 3.27914173e-03 -5.45577962e-02] [-3.79974717e-02 -5.27850209e-03 9.99263894e-01 -4.44175416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.11592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:4.14, Y:-0.05, Z:-0.44 [[ 9.97678561e-01 5.63602429e-02 3.82231900e-02 4.13777297e+00] [-5.65258366e-02 9.98395799e-01 3.26465572e-03 -4.56338212e-02] [-3.79778756e-02 -5.41767482e-03 9.99263894e-01 -4.41511749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.14592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.17, Y:-0.03, Z:-0.44 [[ 9.98263950e-01 4.47206832e-02 3.83294570e-02 4.16791885e+00] [-4.48300955e-02 9.98992625e-01 1.99939011e-03 -3.17179949e-02] [-3.82014308e-02 -3.71423229e-03 9.99263156e-01 -4.41856108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.17592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.20, Y:-0.03, Z:-0.44 [[ 9.98385789e-01 4.19325940e-02 3.83076270e-02 4.20150846e+00] [-4.20497719e-02 9.99112966e-01 2.25793982e-03 -2.56982161e-02] [-3.81789655e-02 -3.86512200e-03 9.99263442e-01 -4.44003952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.20592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.22, Y:-0.02, Z:-0.45 [[ 9.98909153e-01 2.66669794e-02 3.83324347e-02 4.22384830e+00] [-2.67619065e-02 9.99639904e-01 1.96535025e-03 -2.46076221e-02] [-3.82662214e-02 -2.98905538e-03 9.99263109e-01 -4.50333933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.23592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.26, Y:-0.02, Z:-0.45 [[ 9.99226366e-01 9.27025421e-03 3.82195226e-02 4.25577036e+00] [-9.40246754e-03 9.99950413e-01 3.28101817e-03 -2.19305835e-02] [-3.81872115e-02 -3.63783768e-03 9.99263981e-01 -4.54676572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.26592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:4.29, Y:-0.02, Z:-0.45 [[ 9.99263699e-01 3.35802650e-03 3.82201888e-02 4.29404877e+00] [-3.48565841e-03 9.99988568e-01 3.27323890e-03 -1.93570611e-02] [-3.82087603e-02 -3.40405134e-03 9.99263981e-01 -4.51278163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.29592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.32, Y:-0.02, Z:-0.46 [[ 9.99115336e-01 -1.73728423e-02 3.82979015e-02 4.32075581e+00] [ 1.72949974e-02 9.99847638e-01 2.36300647e-03 -2.49868340e-02] [-3.83331185e-02 -1.69855390e-03 9.99263572e-01 -4.59924085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.32592 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:4.35, Y:-0.03, Z:-0.46 [[ 9.98925432e-01 -2.62168308e-02 3.82185574e-02 4.35327376e+00] [ 2.61102213e-02 9.99653669e-01 3.28602113e-03 -3.16660399e-02] [-3.82914702e-02 -2.28459509e-03 9.99264001e-01 -4.60374148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.35592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.39, Y:-0.03, Z:-0.46 [[ 9.98872568e-01 -2.81573624e-02 3.82198348e-02 4.38575841e+00] [ 2.80527370e-02 9.99601092e-01 3.27109632e-03 -3.27807157e-02] [-3.82966941e-02 -2.19523741e-03 9.99264001e-01 -4.62043385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.38592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.42, Y:-0.04, Z:-0.46 [[ 9.98931362e-01 -2.59861645e-02 3.82211168e-02 4.42327530e+00] [ 2.58805296e-02 9.99659740e-01 3.25604814e-03 -3.85405300e-02] [-3.82927239e-02 -2.26338586e-03 9.99264001e-01 -4.56158792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.41592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.45, Y:-0.04, Z:-0.47 [[ 9.98778798e-01 -3.12277052e-02 3.82850325e-02 4.45084649e+00] [ 3.11546967e-02 9.99511443e-01 2.50223457e-03 -4.15378138e-02] [-3.83444671e-02 -1.30642026e-03 9.99263727e-01 -4.65086568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.44592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.48, Y:-0.04, Z:-0.47 [[ 9.98753749e-01 -3.20958099e-02 3.82205257e-02 4.48438326e+00] [ 3.19945240e-02 9.99482731e-01 3.25890291e-03 -4.43051060e-02] [-3.83053525e-02 -2.03199398e-03 9.99264015e-01 -4.67449477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.47592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.52, Y:-0.05, Z:-0.47 [[ 9.98723152e-01 -3.30324604e-02 3.82220225e-02 4.51815559e+00] [ 3.29325319e-02 9.99452321e-01 3.24125157e-03 -5.04868191e-02] [-3.83081557e-02 -1.97836501e-03 9.99264015e-01 -4.67946336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.50592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.55, Y:-0.05, Z:-0.47 [[ 9.98738064e-01 -3.25767329e-02 3.82235092e-02 4.55136364e+00] [ 3.24771445e-02 9.99467280e-01 3.22362418e-03 -4.73591140e-02] [-3.83081619e-02 -1.97816575e-03 9.99264015e-01 -4.69232048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.53592 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:4.58, Y:-0.05, Z:-0.47 [[ 9.98754420e-01 -3.20696240e-02 3.82249711e-02 4.58409021e+00] [ 3.19703305e-02 9.99483676e-01 3.20619489e-03 -4.86232808e-02] [-3.83080561e-02 -1.98013635e-03 9.99264015e-01 -4.70080642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.56592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.62, Y:-0.05, Z:-0.47 [[ 9.98764202e-01 -3.17617593e-02 3.82264239e-02 4.61725399e+00] [ 3.16629059e-02 9.99493518e-01 3.18877878e-03 -4.98730870e-02] [-3.83083441e-02 -1.97447843e-03 9.99264015e-01 -4.70782036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.59592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.65, Y:-0.06, Z:-0.46 [[ 9.98855223e-01 -2.87553872e-02 3.82278757e-02 4.65251023e+00] [ 2.86550067e-02 9.99584330e-01 3.17127897e-03 -5.52931612e-02] [-3.83031768e-02 -2.07222853e-03 9.99264015e-01 -4.63761676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.62592 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:4.68, Y:-0.06, Z:-0.47 [[ 9.98823742e-01 -2.97791293e-02 3.82666310e-02 4.68118364e+00] [ 2.96973883e-02 9.99555281e-01 2.70286253e-03 -6.29777063e-02] [-3.83301020e-02 -1.56326427e-03 9.99263909e-01 -4.74255120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.65592 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:4.72, Y:-0.06, Z:-0.47 [[ 9.98883830e-01 -2.77438012e-02 3.82279486e-02 4.71544357e+00] [ 2.76427516e-02 9.99612841e-01 3.16947283e-03 -6.49484292e-02] [-3.83010816e-02 -2.10920947e-03 9.99264018e-01 -4.68865535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.68592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.75, Y:-0.07, Z:-0.48 [[ 9.98835865e-01 -2.93826838e-02 3.82566625e-02 4.74614293e+00] [ 2.92961256e-02 9.99566795e-01 2.82131496e-03 -6.84567405e-02] [-3.83229873e-02 -1.69725858e-03 9.99263963e-01 -4.77596933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.71592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.78, Y:-0.07, Z:-0.48 [[ 9.98857844e-01 -2.86628237e-02 3.82289033e-02 4.77942360e+00] [ 2.85629042e-02 9.99587010e-01 3.15743761e-03 -7.49020524e-02] [-3.83036163e-02 -2.06190283e-03 9.99264020e-01 -4.79008551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.74592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.81, Y:-0.08, Z:-0.48 [[ 9.98868628e-01 -2.82826089e-02 3.82303362e-02 4.81213127e+00] [ 2.81830776e-02 9.99597846e-01 3.13999200e-03 -7.54234325e-02] [-3.83037689e-02 -2.05899097e-03 9.99264020e-01 -4.80113896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.77592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.85, Y:-0.08, Z:-0.48 [[ 9.98923443e-01 -2.62733010e-02 3.82317682e-02 4.84739311e+00] [ 2.61729720e-02 9.99652553e-01 3.12245911e-03 -7.97464234e-02] [-3.83005219e-02 -2.11845861e-03 9.99264020e-01 -4.75010697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.8059199999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.88, Y:-0.08, Z:-0.48 [[ 9.98928335e-01 -2.60339085e-02 3.82677016e-02 4.87633673e+00] [ 2.59503186e-02 9.99659643e-01 2.67952009e-03 -8.34496173e-02] [-3.83244352e-02 -1.68358949e-03 9.99263931e-01 -4.82944067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.83592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:4.91, Y:-0.09, Z:-0.48 [[ 9.99054233e-01 -2.07099314e-02 3.82326850e-02 4.91247908e+00] [ 2.06060175e-02 9.99782836e-01 3.11003454e-03 -8.78882229e-02] [-3.82887908e-02 -2.31926980e-03 9.99264024e-01 -4.79022522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.86592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.94, Y:-0.09, Z:-0.49 [[ 9.99008320e-01 -2.27275254e-02 3.82862465e-02 4.94007953e+00] [ 2.26504027e-02 9.99740452e-01 2.44698457e-03 -8.87795199e-02] [-3.83319233e-02 -1.57735904e-03 9.99263817e-01 -4.85636824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.89592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.97, Y:-0.09, Z:-0.48 [[ 9.99052278e-01 -2.08035265e-02 3.82329523e-02 4.97423666e+00] [ 2.06999263e-02 9.99780916e-01 3.10361132e-03 -8.67399360e-02] [-3.82891421e-02 -2.30925066e-03 9.99264034e-01 -4.80805118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.92592 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:5.01, Y:-0.09, Z:-0.49 [[ 9.99048634e-01 -2.09481562e-02 3.82492009e-02 5.00546017e+00] [ 2.08523446e-02 9.99778354e-01 2.90219778e-03 -9.49286871e-02] [-3.83015188e-02 -2.10185121e-03 9.99264017e-01 -4.87931244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.95592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.04, Y:-0.10, Z:-0.49 [[ 9.99057457e-01 -2.05492574e-02 3.82351411e-02 5.03846821e+00] [ 2.04464896e-02 9.99786214e-01 3.07691833e-03 -9.86523677e-02] [-3.82901954e-02 -2.29224379e-03 9.99264032e-01 -4.88565603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.98592 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:5.08, Y:-0.10, Z:-0.48 [[ 9.99071693e-01 -1.98424343e-02 3.82364970e-02 5.07602448e+00] [ 1.97397969e-02 9.99800469e-01 3.05997642e-03 -1.04827571e-01] [-3.82895850e-02 -2.30235513e-03 9.99264033e-01 -4.82244194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.0159199999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.11, Y:-0.11, Z:-0.48 [[ 9.99069873e-01 -1.98186956e-02 3.82963250e-02 5.11020777e+00] [ 1.97447566e-02 9.99802389e-01 2.30799340e-03 -1.05985363e-01] [-3.83344987e-02 -1.54969506e-03 9.99263761e-01 -4.83461254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.04592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.14, Y:-0.11, Z:-0.49 [[ 9.98848922e-01 -2.88603841e-02 3.83133053e-02 5.13622632e+00] [ 2.88012263e-02 9.99582963e-01 2.09521079e-03 -1.13463834e-01] [-3.83577958e-02 -9.89328863e-04 9.99263579e-01 -4.93424225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.07592 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:5.17, Y:-0.11, Z:-0.49 [[ 9.98945493e-01 -2.54183550e-02 3.82336121e-02 5.17343691e+00] [ 2.53188885e-02 9.99674670e-01 3.08357170e-03 -1.14615077e-01] [-3.82995529e-02 -2.11228749e-03 9.99264070e-01 -4.87995479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.10592 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:5.21, Y:-0.12, Z:-0.49 [[ 9.98964664e-01 -2.45717365e-02 3.82861621e-02 5.20644680e+00] [ 2.44966005e-02 9.99696959e-01 2.43043483e-03 -1.19319751e-01] [-3.83342799e-02 -1.49003769e-03 9.99263860e-01 -4.87217950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.13592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.24, Y:-0.12, Z:-0.49 [[ 9.99019060e-01 -2.22664466e-02 3.82769376e-02 5.23988389e+00] [ 2.21852393e-02 9.99750638e-01 2.54506586e-03 -1.20406868e-01] [-3.83240624e-02 -1.69338628e-03 9.99263928e-01 -4.89516785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.16592 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:5.27, Y:-0.12, Z:-0.49 [[ 9.99023625e-01 -2.20375231e-02 3.82902723e-02 5.27225539e+00] [ 2.19624728e-02 9.99755964e-01 2.37961272e-03 -1.21251939e-01] [-3.83333688e-02 -1.53634026e-03 9.99263825e-01 -4.91746417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.19592 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:5.31, Y:-0.12, Z:-0.49 [[ 9.99042217e-01 -2.11865831e-02 3.82854662e-02 5.30575421e+00] [ 2.11086401e-02 9.99774213e-01 2.43896416e-03 -1.22062027e-01] [-3.83284951e-02 -1.62847404e-03 9.99263866e-01 -4.93340049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.2259199999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.33, Y:-0.13, Z:-0.50 [[ 9.98983966e-01 -2.37681970e-02 3.82897917e-02 5.33316171e+00] [ 2.36941877e-02 9.99716407e-01 2.38556923e-03 -1.25952993e-01] [-3.83356336e-02 -1.47589990e-03 9.99263829e-01 -5.01171563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.25592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.37, Y:-0.12, Z:-0.50 [[ 9.99042775e-01 -2.12595513e-02 3.82304107e-02 5.36613284e+00] [ 2.11558694e-02 9.99771338e-01 3.11457774e-03 -1.23816663e-01] [-3.82878834e-02 -2.30279881e-03 9.99264097e-01 -4.99981195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.28592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.40, Y:-0.12, Z:-0.49 [[ 9.99155336e-01 -1.50647368e-02 3.82317665e-02 5.40227135e+00] [ 1.49571770e-02 9.99883336e-01 3.09784536e-03 -1.17769679e-01] [-3.82739744e-02 -2.52338942e-03 9.99264097e-01 -4.94823612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.31592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.43, Y:-0.11, Z:-0.50 [[ 9.99143086e-01 -1.57386102e-02 3.82804128e-02 5.43033705e+00] [ 1.56546140e-02 9.99874351e-01 2.49300748e-03 -1.14371107e-01] [-3.83148394e-02 -1.89160610e-03 9.99263927e-01 -5.03262126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.34592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.46, Y:-0.11, Z:-0.51 [[ 9.99181492e-01 -1.32120410e-02 3.82333382e-02 5.46263377e+00] [ 1.31038930e-02 9.99909403e-01 3.07785414e-03 -1.09069232e-01] [-3.82705391e-02 -2.57432932e-03 9.99264099e-01 -5.06126087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.37592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.50, Y:-0.10, Z:-0.51 [[ 9.99188456e-01 -1.26704568e-02 3.82346518e-02 5.49559813e+00] [ 1.25625391e-02 9.99916402e-01 3.06144894e-03 -1.04927416e-01] [-3.82702454e-02 -2.57864013e-03 9.99264099e-01 -5.07444409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.40592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.53, Y:-0.10, Z:-0.51 [[ 9.99183258e-01 -1.30701324e-02 3.82359578e-02 5.52876822e+00] [ 1.29631307e-02 9.99911339e-01 3.04504932e-03 -1.01824235e-01] [-3.82723670e-02 -2.54690458e-03 9.99264099e-01 -5.07683903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.43592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.56, Y:-0.10, Z:-0.51 [[ 9.99170445e-01 -1.40119074e-02 3.82372680e-02 5.56169426e+00] [ 1.39062224e-02 9.99898717e-01 3.02850753e-03 -9.90188061e-02] [-3.82758304e-02 -2.49425927e-03 9.99264099e-01 -5.08296803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.46592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.59, Y:-0.10, Z:-0.51 [[ 9.99148977e-01 -1.54639282e-02 3.82385652e-02 5.59478823e+00] [ 1.53599293e-02 9.99877493e-01 3.01203939e-03 -9.51436157e-02] [-3.82804586e-02 -2.42213442e-03 9.99264099e-01 -5.08707643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.49592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.63, Y:-0.09, Z:-0.51 [[ 9.99175925e-01 -1.36082067e-02 3.82398649e-02 5.62731248e+00] [ 1.35034873e-02 9.99904337e-01 2.99544677e-03 -9.10983774e-02] [-3.82769694e-02 -2.47660677e-03 9.99264099e-01 -5.10902796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.52592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.66, Y:-0.09, Z:-0.51 [[ 9.99198163e-01 -1.18593387e-02 3.82411606e-02 5.66030012e+00] [ 1.17539783e-02 9.99926483e-01 2.97881285e-03 -8.73615819e-02] [-3.82736760e-02 -2.52693856e-03 9.99264099e-01 -5.12655066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.5559199999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.69, Y:-0.09, Z:-0.51 [[ 9.99247657e-01 -6.45251216e-03 3.82424417e-02 5.69277841e+00] [ 6.34384212e-03 9.99975490e-01 2.96227507e-03 -8.57937807e-02] [-3.82606185e-02 -2.71744241e-03 9.99264100e-01 -5.12798261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.58592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.73, Y:-0.08, Z:-0.51 [[ 9.99267962e-01 -9.78448075e-04 3.82437160e-02 5.72590902e+00] [ 8.66422035e-04 9.99995286e-01 2.94573050e-03 -8.23196569e-02] [-3.82464180e-02 -2.91043891e-03 9.99264100e-01 -5.13774096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.61592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.76, Y:-0.08, Z:-0.51 [[ 9.99254811e-01 5.21010335e-03 3.82449648e-02 5.76307745e+00] [-5.32601182e-03 9.99981526e-01 2.92942710e-03 -7.64176068e-02] [-3.82289957e-02 -3.13093726e-03 9.99264100e-01 -5.09133907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.64592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.79, Y:-0.07, Z:-0.52 [[ 9.99256833e-01 4.30729909e-03 3.83044127e-02 5.78979298e+00] [-4.39269580e-03 9.99988050e-01 2.14554067e-03 -7.41816001e-02] [-3.82947135e-02 -2.31220581e-03 9.99263813e-01 -5.18971396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.67592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.82, Y:-0.07, Z:-0.52 [[ 9.99225945e-01 9.20987558e-03 3.82451076e-02 5.82144638e+00] [-9.32840600e-03 9.99952220e-01 2.92193626e-03 -7.09572099e-02] [-3.82163696e-02 -3.27644041e-03 9.99264116e-01 -5.19493007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.70592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.86, Y:-0.06, Z:-0.51 [[ 9.99129461e-01 1.66598355e-02 3.82461675e-02 5.85926906e+00] [-1.67832487e-02 9.99854923e-01 2.90799555e-03 -6.41605123e-02] [-3.81921721e-02 -3.54735897e-03 9.99264116e-01 -5.14636368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.73592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.89, Y:-0.06, Z:-0.52 [[ 9.98997281e-01 2.31708291e-02 3.83085486e-02 5.89028179e+00] [-2.32674568e-02 9.99727116e-01 2.07838637e-03 -5.55861797e-02] [-3.82499368e-02 -2.96764483e-03 9.99263797e-01 -5.15181362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.7659199999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.92, Y:-0.05, Z:-0.52 [[ 9.98925731e-01 2.60884364e-02 3.82985347e-02 5.91639184e+00] [-2.61922272e-02 9.99654480e-01 2.21072264e-03 -5.34916219e-02] [-3.82276275e-02 -3.21147165e-03 9.99263897e-01 -5.21986427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.79592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.95, Y:-0.05, Z:-0.52 [[ 9.98505479e-01 3.90397383e-02 3.82453632e-02 5.94931191e+00] [-3.91794361e-02 9.99227955e-01 2.90973152e-03 -4.79271950e-02] [-3.81022408e-02 -4.40381462e-03 9.99264142e-01 -5.21712046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.82592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.98, Y:-0.04, Z:-0.52 [[ 9.98228769e-01 4.55689322e-02 3.82465368e-02 5.98170788e+00] [-4.57127663e-02 9.98950432e-01 2.89422188e-03 -4.16842006e-02] [-3.80745079e-02 -4.63745054e-03 9.99264142e-01 -5.21393009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.85592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.02, Y:-0.03, Z:-0.52 [[ 9.97779587e-01 5.45253293e-02 3.82476753e-02 6.01866569e+00] [-5.46750640e-02 9.98500049e-01 2.87909756e-03 -3.13537357e-02] [-3.80333219e-02 -4.96389887e-03 9.99264142e-01 -5.15401998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.88592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.04, Y:-0.02, Z:-0.52 [[ 9.97233757e-01 6.37018594e-02 3.83002094e-02 6.04385580e+00] [-6.38316826e-02 9.97958308e-01 2.17515479e-03 -1.77214259e-02] [-3.80834508e-02 -4.61390460e-03 9.99263910e-01 -5.21217977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.91592 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:6.08, Y:-0.01, Z:-0.52 [[ 9.96888848e-01 6.89180428e-02 3.82482367e-02 6.07631675e+00] [-6.90777522e-02 9.97607156e-01 2.86832038e-03 -9.87333060e-03] [-3.79590356e-02 -5.50149881e-03 9.99264152e-01 -5.21950397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.94592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.12, Y:0.00, Z:-0.52 [[ 9.94899156e-01 9.33416228e-02 3.82493311e-02 6.11847139e+00] [-9.35183495e-02 9.95613467e-01 2.85365074e-03 1.79177028e-03] [-3.78151848e-02 -6.41610903e-03 9.99264152e-01 -5.22339356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.9759199999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.15, Y:0.01, Z:-0.52 [[ 9.95146031e-01 9.06265852e-02 3.83562041e-02 6.15047857e+00] [-9.07466570e-02 9.95873030e-01 1.39752066e-03 1.18683247e-02] [-3.80712566e-02 -4.87143444e-03 9.99263153e-01 -5.24375203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.00592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.18, Y:0.02, Z:-0.53 [[ 9.95309045e-01 8.88207803e-02 3.83506581e-02 6.18239676e+00] [-8.89423697e-02 9.96035685e-01 1.47268187e-03 1.83396257e-02] [-3.80678193e-02 -4.87677200e-03 9.99263258e-01 -5.26502013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.035919999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.20, Y:0.03, Z:-0.53 [[ 9.96708825e-01 7.14221837e-02 3.83456691e-02 6.20122758e+00] [-7.15336236e-02 9.97437000e-01 1.54033673e-03 3.02459648e-02] [-3.81373749e-02 -4.27827187e-03 9.99263347e-01 -5.30220941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.065919999999998 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:6.23, Y:0.04, Z:-0.53 [[ 9.97012492e-01 6.71066434e-02 3.82464343e-02 6.23336706e+00] [-6.72649252e-02 9.97731036e-01 2.86536165e-03 4.33691714e-02] [-3.79673697e-02 -5.42944490e-03 9.99264229e-01 -5.31131882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.09592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.27, Y:0.05, Z:-0.53 [[ 9.97135984e-01 6.52453737e-02 3.82474945e-02 6.26547918e+00] [-6.54017791e-02 9.97854939e-01 2.85113991e-03 5.04360836e-02] [-3.79794276e-02 -5.34442838e-03 9.99264229e-01 -5.31374491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.125919999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.31, Y:0.05, Z:-0.53 [[ 9.95994420e-01 8.08218029e-02 3.82485610e-02 6.31116479e+00] [-8.09888868e-02 9.96710968e-01 2.83676003e-03 5.45860443e-02] [-3.78934882e-02 -5.92310554e-03 9.99264230e-01 -5.29280586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.155919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.33, Y:0.06, Z:-0.53 [[ 9.97394845e-01 6.10789629e-02 3.83781584e-02 6.32732564e+00] [-6.11645582e-02 9.98127134e-01 1.05906077e-03 6.47329969e-02] [-3.82415949e-02 -3.40368485e-03 9.99262726e-01 -5.34194401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.18592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.36, Y:0.07, Z:-0.54 [[ 9.97483263e-01 5.97032174e-02 3.82448216e-02 6.35910533e+00] [-5.98555486e-02 9.98202982e-01 2.84949001e-03 6.95876339e-02] [-3.80059713e-02 -5.13148337e-03 9.99264336e-01 -5.35100813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.215919999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.39, Y:0.08, Z:-0.54 [[ 9.97701377e-01 5.59394707e-02 3.82457582e-02 6.39077523e+00] [-5.60886096e-02 9.98421765e-01 2.83686302e-03 8.04095095e-02] [-3.80267048e-02 -4.97549354e-03 9.99264336e-01 -5.37420802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.245919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.42, Y:0.09, Z:-0.54 [[ 9.97815095e-01 5.38727474e-02 3.82460990e-02 6.42329278e+00] [-5.40202203e-02 9.98535825e-01 2.83226098e-03 8.58385454e-02] [-3.80375184e-02 -4.89213545e-03 9.99264337e-01 -5.37266660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.27592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.46, Y:0.09, Z:-0.54 [[ 9.97902790e-01 5.22223393e-02 3.82471976e-02 6.45573788e+00] [-5.23680574e-02 9.98623878e-01 2.81734653e-03 9.08219436e-02] [-3.80474364e-02 -4.81436941e-03 9.99264337e-01 -5.38133965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.305919999999999 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:6.49, Y:0.10, Z:-0.54 [[ 9.97822898e-01 5.37264574e-02 3.82482864e-02 6.49440148e+00] [-5.38727018e-02 9.98543879e-01 2.80248696e-03 1.01474094e-01] [-3.80420246e-02 -4.85692419e-03 9.99264337e-01 -5.35240383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.33592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.52, Y:0.11, Z:-0.54 [[ 9.98256825e-01 4.48828982e-02 3.83254125e-02 6.51826365e+00] [-4.49824875e-02 9.98986261e-01 1.73974545e-03 1.08255340e-01] [-3.82084757e-02 -3.46068516e-03 9.99263797e-01 -5.41035821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.36592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.56, Y:0.11, Z:-0.54 [[ 9.97963045e-01 5.10581507e-02 3.82469185e-02 6.55898066e+00] [-5.12027030e-02 9.98684331e-01 2.80886111e-03 1.14920537e-01] [-3.80531830e-02 -4.76148519e-03 9.99264371e-01 -5.36043493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.395919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.58, Y:0.12, Z:-0.54 [[ 9.98392612e-01 4.17431855e-02 3.83366523e-02 6.58178029e+00] [-4.18339089e-02 9.99123350e-01 1.56701834e-03 1.20743746e-01] [-3.82376321e-02 -3.16827155e-03 9.99263652e-01 -5.43855934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.42592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.62, Y:0.12, Z:-0.54 [[ 9.98381369e-01 4.20932403e-02 3.82465738e-02 6.61513931e+00] [-4.22309124e-02 9.99103958e-01 2.79850337e-03 1.22323970e-01] [-3.80945052e-02 -4.40916134e-03 9.99264413e-01 -5.44761247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.455919999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.65, Y:0.13, Z:-0.55 [[ 9.98555756e-01 3.77295211e-02 3.82476814e-02 6.64747062e+00] [-3.78634580e-02 9.99279046e-01 2.78328240e-03 1.32299021e-01] [-3.81150947e-02 -4.22745214e-03 9.99264414e-01 -5.47381697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.485919999999998 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:6.68, Y:0.14, Z:-0.55 [[ 9.98649584e-01 3.51573520e-02 3.82487871e-02 6.68030095e+00] [-3.52888470e-02 9.99373321e-01 2.76800434e-03 1.36506460e-01] [-3.81275017e-02 -4.11402197e-03 9.99264414e-01 -5.48646611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.51592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:6.71, Y:0.14, Z:-0.55 [[ 9.98858389e-01 2.86166144e-02 3.82492844e-02 6.71323844e+00] [-2.87431059e-02 9.99583018e-01 2.76111530e-03 1.40687774e-01] [-3.81543213e-02 -3.85736641e-03 9.99264414e-01 -5.50596109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.545919999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.75, Y:0.15, Z:-0.55 [[ 9.98878991e-01 2.78866515e-02 3.82504294e-02 6.75076807e+00] [-2.80120085e-02 9.99603817e-01 2.74516062e-03 1.45231989e-01] [-3.81587219e-02 -3.81355462e-03 9.99264414e-01 -5.47057429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.575919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.78, Y:0.15, Z:-0.55 [[ 9.99115452e-01 1.73554834e-02 3.83027475e-02 6.77698910e+00] [-1.74452665e-02 9.99845797e-01 2.01103575e-03 1.48176198e-01] [-3.82619386e-02 -2.67745853e-03 9.99264157e-01 -5.54923785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.60592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:6.81, Y:0.15, Z:-0.56 [[ 9.99169027e-01 1.40787336e-02 3.82497630e-02 6.80984726e+00] [-1.41941879e-02 9.99895480e-01 2.74853547e-03 1.49530488e-01] [-3.82070693e-02 -3.28917584e-03 9.99264430e-01 -5.56321736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.635919999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:6.84, Y:0.15, Z:-0.56 [[ 9.99208983e-01 1.08753863e-02 3.82509377e-02 6.84241924e+00] [-1.09878858e-02 9.99935899e-01 2.73208962e-03 1.50152082e-01] [-3.82187732e-02 -3.15022542e-03 9.99264430e-01 -5.57403762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.66592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.88, Y:0.15, Z:-0.56 [[ 9.99256885e-01 4.74503338e-03 3.82513030e-02 6.87517959e+00] [-4.85287610e-03 9.99984507e-01 2.72696555e-03 1.47362072e-01] [-3.82377708e-02 -2.91056793e-03 9.99264430e-01 -5.59652161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.69592 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:6.91, Y:0.15, Z:-0.55 [[ 9.99261386e-01 3.66611485e-03 3.82523358e-02 6.91055693e+00] [-3.77261743e-03 9.99989205e-01 2.71240024e-03 1.48171225e-01] [-3.82419789e-02 -2.85470825e-03 9.99264430e-01 -5.53622666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.725919999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.94, Y:0.14, Z:-0.56 [[ 9.99265663e-01 -1.57463292e-03 3.82838743e-02 6.94003726e+00] [ 1.48896797e-03 9.99996324e-01 2.26603410e-03 1.42954196e-01] [-3.82873017e-02 -2.20736660e-03 9.99264334e-01 -5.61908793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.75592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.97, Y:0.14, Z:-0.56 [[ 9.99266484e-01 -1.80558347e-03 3.82522481e-02 6.97356236e+00] [ 1.70307779e-03 9.99994872e-01 2.71214525e-03 1.41794477e-01] [-3.82569490e-02 -2.64500929e-03 9.99264434e-01 -5.62639970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.785919999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.01, Y:0.14, Z:-0.56 [[ 9.99267976e-01 -4.32148538e-04 3.82534382e-02 7.00570709e+00] [ 3.29285250e-04 9.99996314e-01 2.69525419e-03 1.39505197e-01] [-3.82544620e-02 -2.68068491e-03 9.99264435e-01 -5.61932479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.815919999999998 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:7.04, Y:0.14, Z:-0.56 [[ 9.99267635e-01 8.88344818e-04 3.82544714e-02 7.03757491e+00] [-9.91608882e-04 9.99995916e-01 2.68050945e-03 1.40530660e-01] [-3.82519339e-02 -2.71647982e-03 9.99264435e-01 -5.63541235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.84592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:7.07, Y:0.14, Z:-0.57 [[ 9.99264939e-01 2.46976590e-03 3.82554953e-02 7.06997901e+00] [-2.57362282e-03 9.99993135e-01 2.66581585e-03 1.40980236e-01] [-3.82486488e-02 -2.76231153e-03 9.99264435e-01 -5.65917590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.875919999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:7.10, Y:0.14, Z:-0.57 [[ 9.99253495e-01 5.37520012e-03 3.82565066e-02 7.10316766e+00] [-5.48061837e-03 9.99981467e-01 2.65122368e-03 1.37869819e-01] [-3.82415467e-02 -2.85891384e-03 9.99264435e-01 -5.66960914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.905919999999998 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:7.14, Y:0.14, Z:-0.57 [[ 9.99239632e-01 7.51729327e-03 3.82576487e-02 7.13645843e+00] [-7.62364058e-03 9.99967469e-01 2.63463885e-03 1.38832281e-01] [-3.82365988e-02 -2.92429812e-03 9.99264435e-01 -5.68482621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.93592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.17, Y:0.14, Z:-0.57 [[ 9.99226362e-01 9.10720550e-03 3.82587949e-02 7.16796622e+00] [-9.21407326e-03 9.99954123e-01 2.61788742e-03 1.42088910e-01] [-3.82331981e-02 -2.96838147e-03 9.99264435e-01 -5.69326680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.965919999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.20, Y:0.15, Z:-0.57 [[ 9.99216315e-01 1.01485349e-02 3.82591461e-02 7.20097293e+00] [-1.02559653e-02 9.99943993e-01 2.61274533e-03 1.45118802e-01] [-3.82304878e-02 -3.00308224e-03 9.99264435e-01 -5.70059616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.995919999999998 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:7.24, Y:0.15, Z:-0.57 [[ 9.99186478e-01 1.27507668e-02 3.82596471e-02 7.23604230e+00] [-1.28598121e-02 9.99913915e-01 2.60538759e-03 1.49725558e-01] [-3.82231329e-02 -3.09527992e-03 9.99264435e-01 -5.65524576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.02592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:7.27, Y:0.15, Z:-0.56 [[ 9.99089457e-01 1.88214019e-02 3.82885384e-02 7.27350687e+00] [-1.89187312e-02 9.99818645e-01 2.18123585e-03 1.50809700e-01] [-3.82405407e-02 -2.90362031e-03 9.99264344e-01 -5.64996672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.055919999999999 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:7.30, Y:0.15, Z:-0.57 [[ 9.99177229e-01 1.31914699e-02 3.83516566e-02 7.29575943e+00] [-1.32488593e-02 9.99911458e-01 1.24262200e-03 1.53950304e-01] [-3.83318689e-02 -1.74971531e-03 9.99263532e-01 -5.73217856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.08592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:7.33, Y:0.16, Z:-0.57 [[ 9.99111018e-01 1.77066340e-02 3.82576630e-02 7.32792735e+00] [-1.78197296e-02 9.99837791e-01 2.61715655e-03 1.60690085e-01] [-3.82051162e-02 -3.29657116e-03 9.99264480e-01 -5.74639705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.11592 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:7.37, Y:0.17, Z:-0.57 [[ 9.98950681e-01 2.51754193e-02 3.82587931e-02 7.36699581e+00] [-2.52933137e-02 9.99676690e-01 2.60053055e-03 1.66151774e-01] [-3.81809542e-02 -3.56549342e-03 9.99264481e-01 -5.67854488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.145919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.39, Y:0.17, Z:-0.58 [[ 9.99040198e-01 2.11837975e-02 3.83396709e-02 7.38884858e+00] [-2.12527854e-02 9.99773164e-01 1.39267218e-03 1.70768258e-01] [-3.83014720e-02 -2.20616029e-03 9.99263794e-01 -5.76176231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.17592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.42, Y:0.18, Z:-0.57 [[ 9.98979424e-01 2.40092299e-02 3.82579079e-02 7.42039994e+00] [-2.41261539e-02 9.99705548e-01 2.59739783e-03 1.77058103e-01] [-3.81842813e-02 -3.51776317e-03 9.99264523e-01 -5.74619476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.205919999999999 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:7.45, Y:0.18, Z:-0.58 [[ 9.98915578e-01 2.65325073e-02 3.82582489e-02 7.45237650e+00] [-2.66510741e-02 9.99641436e-01 2.59236628e-03 1.84409382e-01] [-3.81757489e-02 -3.60917849e-03 9.99264523e-01 -5.75607560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.235919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.48, Y:0.20, Z:-0.58 [[ 9.98892418e-01 2.73892367e-02 3.82592061e-02 7.48389315e+00] [-2.75078869e-02 9.99618262e-01 2.57816205e-03 1.97005580e-01] [-3.81739872e-02 -3.62773644e-03 9.99264523e-01 -5.77638108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.26592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:7.52, Y:0.20, Z:-0.57 [[ 9.98701293e-01 3.36435454e-02 3.82601444e-02 7.52291490e+00] [-3.37662074e-02 9.99426470e-01 2.56416059e-03 2.02976594e-01] [-3.81519336e-02 -3.85273047e-03 9.99264523e-01 -5.72648399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.295919999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:7.55, Y:0.21, Z:-0.58 [[ 9.98824635e-01 2.96585840e-02 3.83368816e-02 7.55181625e+00] [-2.97340759e-02 9.99556864e-01 1.40038103e-03 2.09348730e-01] [-3.82783598e-02 -2.53864681e-03 9.99263890e-01 -5.75632971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.325919999999998 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:7.58, Y:0.21, Z:-0.58 [[ 9.98950354e-01 2.51184006e-02 3.83047748e-02 7.57861574e+00] [-2.52089599e-02 9.99680430e-01 1.88294654e-03 2.11115902e-01] [-3.82452371e-02 -2.84659364e-03 9.99264329e-01 -5.81136059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.35592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:7.61, Y:0.22, Z:-0.58 [[ 9.99016546e-01 2.24091493e-02 3.82592579e-02 7.61005540e+00] [-2.25235860e-02 9.99743027e-01 2.56263110e-03 2.17254231e-01] [-3.81920000e-02 -3.42184656e-03 9.99264561e-01 -5.83033000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.385919999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.64, Y:0.22, Z:-0.59 [[ 9.99076589e-01 1.95480760e-02 3.82601950e-02 7.64175433e+00] [-1.96598971e-02 9.99803477e-01 2.54856418e-03 2.22957352e-01] [-3.82028564e-02 -3.29840230e-03 9.99264561e-01 -5.85684222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.415919999999998 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:7.67, Y:0.23, Z:-0.59 [[ 9.99079359e-01 1.94053256e-02 3.82605373e-02 7.67381897e+00] [-1.95168471e-02 9.99806293e-01 2.54341458e-03 2.26486736e-01] [-3.82037702e-02 -3.28779806e-03 9.99264561e-01 -5.85593853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.44592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.71, Y:0.23, Z:-0.59 [[ 9.99071820e-01 1.97878006e-02 3.82615002e-02 7.70638622e+00] [-1.98990466e-02 9.99798796e-01 2.52884579e-03 2.30327734e-01] [-3.82037616e-02 -3.28786594e-03 9.99264561e-01 -5.86964604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.475919999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:7.74, Y:0.23, Z:-0.59 [[ 9.99057028e-01 2.05190475e-02 3.82625598e-02 7.73794838e+00] [-2.06302122e-02 9.99784017e-01 2.51271099e-03 2.34415665e-01] [-3.82027373e-02 -3.29970630e-03 9.99264561e-01 -5.87767423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.50592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.77, Y:0.24, Z:-0.59 [[ 9.99044973e-01 2.10961702e-02 3.82634858e-02 7.76987971e+00] [-2.12072157e-02 9.99771980e-01 2.49852913e-03 2.37120117e-01] [-3.82020516e-02 -3.30760496e-03 9.99264561e-01 -5.88712563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.535919999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.80, Y:0.24, Z:-0.59 [[ 9.99050140e-01 2.08483305e-02 3.82644088e-02 7.80274219e+00] [-2.09586553e-02 9.99777257e-01 2.48431343e-03 2.41329339e-01] [-3.82040919e-02 -3.28392423e-03 9.99264561e-01 -5.91249962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.565919999999998 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:7.84, Y:0.25, Z:-0.59 [[ 9.99028989e-01 2.18365187e-02 3.82654702e-02 7.83519777e+00] [-2.19469369e-02 9.99756091e-01 2.46785516e-03 2.46570373e-01] [-3.82022476e-02 -3.30526870e-03 9.99264561e-01 -5.91618603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.59592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.87, Y:0.25, Z:-0.59 [[ 9.98971778e-01 2.43117299e-02 3.82665170e-02 7.86768133e+00] [-2.44233283e-02 9.99698700e-01 2.45151543e-03 2.53559234e-01] [-3.81953868e-02 -3.38359043e-03 9.99264561e-01 -5.91554513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.625919999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:7.90, Y:0.27, Z:-0.59 [[ 9.98800327e-01 3.05536267e-02 3.82672491e-02 7.89989684e+00] [-3.06693294e-02 9.99526607e-01 2.44003526e-03 2.66880660e-01] [-3.81745817e-02 -3.61073888e-03 9.99264562e-01 -5.91918106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.655919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.93, Y:0.28, Z:-0.59 [[ 9.98662376e-01 3.47706257e-02 3.82683057e-02 7.93200913e+00] [-3.48887607e-02 9.99388264e-01 2.42334858e-03 2.75658060e-01] [-3.81606343e-02 -3.75524081e-03 9.99264562e-01 -5.92567276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.68592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.96, Y:0.29, Z:-0.59 [[ 9.98468423e-01 3.99533270e-02 3.82693128e-02 7.96292588e+00] [-4.00746209e-02 9.99193790e-01 2.40733977e-03 2.90025537e-01] [-3.81422784e-02 -3.93728095e-03 9.99264562e-01 -5.94460942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.715919999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:8.00, Y:0.30, Z:-0.60 [[ 9.98397212e-01 4.16941347e-02 3.82701736e-02 7.99505113e+00] [-4.18161713e-02 9.99122454e-01 2.39357727e-03 2.97859472e-01] [-3.81367916e-02 -3.99005301e-03 9.99264562e-01 -5.95222181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.745919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.03, Y:0.31, Z:-0.60 [[ 9.98446942e-01 4.04848402e-02 3.82711526e-02 8.02742999e+00] [-4.06054007e-02 9.99172431e-01 2.37781932e-03 3.10276942e-01] [-3.81432150e-02 -3.92814191e-03 9.99264562e-01 -5.97607515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.77592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.06, Y:0.32, Z:-0.60 [[ 9.98516725e-01 3.87245811e-02 3.82721297e-02 8.05932211e+00] [-3.88432617e-02 9.99242524e-01 2.36198738e-03 3.17898318e-01] [-3.81516725e-02 -3.84509826e-03 9.99264562e-01 -5.99180118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.805919999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.09, Y:0.33, Z:-0.60 [[ 9.98646115e-01 3.52294708e-02 3.82729789e-02 8.09346949e+00] [-3.53450849e-02 9.99372409e-01 2.34814695e-03 3.30336668e-01] [-3.81662351e-02 -3.69772951e-03 9.99264562e-01 -5.96172340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.83592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.12, Y:0.33, Z:-0.60 [[ 9.98794356e-01 3.07098946e-02 3.82980106e-02 8.12213056e+00] [-3.08065966e-02 9.99523487e-01 1.93727795e-03 3.34151281e-01] [-3.82202675e-02 -3.11477364e-03 9.99264484e-01 -6.01997385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.86592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.15, Y:0.34, Z:-0.60 [[ 9.98877494e-01 2.79087192e-02 3.82734258e-02 8.15477119e+00] [-2.80186785e-02 9.99604662e-01 2.33952387e-03 3.39857296e-01] [-3.81930018e-02 -3.40926855e-03 9.99264565e-01 -6.02517535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.895919999999998 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:8.19, Y:0.35, Z:-0.60 [[ 9.98948395e-01 2.52422874e-02 3.82744175e-02 8.19009012e+00] [-2.53496840e-02 9.99675946e-01 2.32318685e-03 3.49384772e-01] [-3.82033719e-02 -3.29098816e-03 9.99264565e-01 -5.97709373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.92592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:8.22, Y:0.35, Z:-0.61 [[ 9.99062383e-01 2.01653772e-02 3.83107413e-02 8.21745709e+00] [-2.02460547e-02 9.99793550e-01 1.71903626e-03 3.53108044e-01] [-3.82681671e-02 -2.49306582e-03 9.99264395e-01 -6.06258562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.955919999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.25, Y:0.36, Z:-0.61 [[ 9.99153960e-01 1.50474689e-02 3.82745069e-02 8.24947615e+00] [-1.51472208e-02 9.99882588e-01 2.31756163e-03 3.62043214e-01] [-3.82351396e-02 -2.89535328e-03 9.99264575e-01 -6.07667561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.985919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.28, Y:0.37, Z:-0.61 [[ 9.99172187e-01 1.37832622e-02 3.82748237e-02 8.28163375e+00] [-1.38818924e-02 9.99900968e-01 2.31231728e-03 3.68304755e-01] [-3.82391620e-02 -2.84173009e-03 9.99264575e-01 -6.08615045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.01592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:8.31, Y:0.38, Z:-0.61 [[ 9.99203018e-01 1.13269275e-02 3.82757155e-02 8.31373308e+00] [-1.14231996e-02 9.99932114e-01 2.29746032e-03 3.78661730e-01] [-3.82470940e-02 -2.73286042e-03 9.99264575e-01 -6.07871575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.045919999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.35, Y:0.38, Z:-0.61 [[ 9.99209382e-01 1.07472294e-02 3.82767357e-02 8.34670435e+00] [-1.08424258e-02 9.99938619e-01 2.28033592e-03 3.84684633e-01] [-3.82498790e-02 -2.69354571e-03 9.99264575e-01 -6.08513798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.075919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.38, Y:0.39, Z:-0.61 [[ 9.99192858e-01 1.21838339e-02 3.82777492e-02 8.38037711e+00] [-1.22794253e-02 9.99922044e-01 2.26319454e-03 3.92450469e-01] [-3.82471908e-02 -2.73139658e-03 9.99264576e-01 -6.06320972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.10592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.41, Y:0.40, Z:-0.61 [[ 9.99193622e-01 1.20525535e-02 3.82993772e-02 8.40940848e+00] [-1.21340399e-02 9.99924583e-01 1.89587252e-03 4.03091709e-01] [-3.82736386e-02 -2.35906990e-03 9.99264511e-01 -6.12275091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.135919999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.44, Y:0.41, Z:-0.61 [[ 9.99191808e-01 1.22682194e-02 3.82782013e-02 8.44202638e+00] [-1.23635723e-02 9.99921025e-01 2.25532091e-03 4.09292998e-01] [-3.82475095e-02 -2.72675348e-03 9.99264576e-01 -6.13437756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.165919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.47, Y:0.42, Z:-0.61 [[ 9.99216453e-01 1.00589645e-02 3.82792057e-02 8.47332850e+00] [-1.01520498e-02 9.99945962e-01 2.23814217e-03 4.17323854e-01] [-3.82546238e-02 -2.62500088e-03 9.99264576e-01 -6.13693383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.19592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.51, Y:0.42, Z:-0.62 [[ 9.99239940e-01 7.36341480e-03 3.82795211e-02 8.50548123e+00] [-7.45432560e-03 9.99969724e-01 2.23273441e-03 4.22146089e-01] [-3.82619216e-02 -2.51638541e-03 9.99264576e-01 -6.15511319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.225919999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.54, Y:0.43, Z:-0.62 [[ 9.99265317e-01 1.85370157e-03 3.82804094e-02 8.53769831e+00] [-1.94000177e-03 9.99995660e-01 2.21739951e-03 4.27226380e-01] [-3.82761329e-02 -2.29003448e-03 9.99264576e-01 -6.17940536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.25592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.57, Y:0.43, Z:-0.62 [[ 9.99266283e-01 -1.21711116e-03 3.82807292e-02 8.57040809e+00] [ 1.13326709e-03 9.99996912e-01 2.21186488e-03 4.29122574e-01] [-3.82833031e-02 -2.16685971e-03 9.99264576e-01 -6.19725210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.285919999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.60, Y:0.43, Z:-0.62 [[ 9.99252916e-01 -5.30246659e-03 3.82817598e-02 8.60232040e+00] [ 5.22229739e-03 9.99983957e-01 2.19388102e-03 4.30358197e-01] [-3.82927787e-02 -1.99232328e-03 9.99264576e-01 -6.22026428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.315919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.64, Y:0.43, Z:-0.62 [[ 9.99255271e-01 -4.83141090e-03 3.82826503e-02 8.63566847e+00] [ 4.75149498e-03 9.99986339e-01 2.17823190e-03 4.32562948e-01] [-3.82926512e-02 -1.99470988e-03 9.99264577e-01 -6.23311013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.34592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.67, Y:0.44, Z:-0.62 [[ 9.99186018e-01 -1.27146621e-02 3.82836680e-02 8.66767958e+00] [ 1.26412061e-02 9.99917763e-01 2.16019439e-03 4.35231772e-01] [-3.83079859e-02 -1.67448429e-03 9.99264577e-01 -6.24140516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.375919999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.70, Y:0.44, Z:-0.63 [[ 9.99143214e-01 -1.57204076e-02 3.82845575e-02 8.70023386e+00] [ 1.56497606e-02 9.99875236e-01 2.14431428e-03 4.36737443e-01] [-3.83134904e-02 -1.54333290e-03 9.99264577e-01 -6.25094408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.405919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.73, Y:0.43, Z:-0.63 [[ 9.99054544e-01 -2.05969143e-02 3.82855816e-02 8.73234091e+00] [ 2.05305470e-02 9.99786966e-01 2.12587180e-03 4.32642272e-01] [-3.83212118e-02 -1.33783795e-03 9.99264577e-01 -6.25830213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.43592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.76, Y:0.43, Z:-0.63 [[ 9.99019245e-01 -2.22417071e-02 3.82864762e-02 8.76449393e+00] [ 2.21771672e-02 9.99751831e-01 2.10963605e-03 4.31199386e-01] [-3.83238965e-02 -1.25848144e-03 9.99264577e-01 -6.27769145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.465919999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.80, Y:0.43, Z:-0.63 [[ 9.99009805e-01 -2.26602472e-02 3.82873773e-02 8.79789379e+00] [ 2.25966453e-02 9.99742472e-01 2.09315204e-03 4.31573830e-01] [-3.83249486e-02 -1.22591312e-03 9.99264577e-01 -6.28792004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.495919999999998 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:8.83, Y:0.43, Z:-0.63 [[ 9.98970131e-01 -2.43449381e-02 3.82883944e-02 8.83046404e+00] [ 2.42832908e-02 9.99702965e-01 2.07437946e-03 4.30649187e-01] [-3.83275221e-02 -1.14247490e-03 9.99264577e-01 -6.28943357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.52592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.86, Y:0.43, Z:-0.63 [[ 9.98982772e-01 -2.38191692e-02 3.82892849e-02 8.86384461e+00] [ 2.37577706e-02 9.99715626e-01 2.05781038e-03 4.30654315e-01] [-3.83274118e-02 -1.14604907e-03 9.99264578e-01 -6.30477725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.555919999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.90, Y:0.43, Z:-0.63 [[ 9.99032591e-01 -2.16271547e-02 3.82903088e-02 8.89561647e+00] [ 2.15648846e-02 9.99765372e-01 2.03857875e-03 4.30446002e-01] [-3.83254135e-02 -1.21088052e-03 9.99264578e-01 -6.30719246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.585919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.93, Y:0.43, Z:-0.63 [[ 9.99092655e-01 -1.86454385e-02 3.82911790e-02 8.92870073e+00] [ 1.85816126e-02 9.99825302e-01 2.02209950e-03 4.33432682e-01] [-3.83221926e-02 -1.30875290e-03 9.99264578e-01 -6.32219133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.61592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.96, Y:0.44, Z:-0.64 [[ 9.99177527e-01 -1.33408809e-02 3.82921744e-02 8.96047025e+00] [ 1.32738943e-02 9.99909892e-01 2.00307102e-03 4.36282291e-01] [-3.83154467e-02 -1.49313727e-03 9.99264578e-01 -6.35567970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.645919999999998 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:8.99, Y:0.44, Z:-0.64 [[ 9.99224129e-01 -9.20780420e-03 3.82930321e-02 8.99301780e+00] [ 9.13842117e-03 9.99956271e-01 1.98653933e-03 4.38474630e-01] [-3.83096492e-02 -1.63506018e-03 9.99264578e-01 -6.36691709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.67592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.03, Y:0.44, Z:-0.64 [[ 9.99253154e-01 -5.16763615e-03 3.82939858e-02 9.02581736e+00] [ 5.09600313e-03 9.99985079e-01 1.96798108e-03 4.41600654e-01] [-3.83035842e-02 -1.77136503e-03 9.99264578e-01 -6.36671440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.705919999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.06, Y:0.45, Z:-0.63 [[ 9.99263867e-01 2.28565239e-03 3.82949177e-02 9.05944323e+00] [-2.36204314e-03 9.99995310e-01 1.94967633e-03 4.48001288e-01] [-3.82902818e-02 -2.03869536e-03 9.99264579e-01 -6.27846144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.735919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.09, Y:0.45, Z:-0.64 [[ 9.99261104e-01 2.99335960e-03 3.83182200e-02 9.08875806e+00] [-3.05259227e-03 9.99994235e-01 1.48739657e-03 4.51058840e-01] [-3.83135467e-02 -1.60326744e-03 9.99264480e-01 -6.38829619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.76592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.12, Y:0.45, Z:-0.64 [[ 9.99256041e-01 4.56355174e-03 3.82954228e-02 9.12147015e+00] [-4.64116189e-03 9.99987352e-01 1.93796078e-03 4.53866975e-01] [-3.82860945e-02 -2.11425427e-03 9.99264582e-01 -6.40156949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.795919999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.15, Y:0.46, Z:-0.64 [[ 9.99251499e-01 5.46205972e-03 3.82963191e-02 9.15380533e+00] [-5.53964447e-03 9.99982813e-01 1.92008539e-03 4.60124565e-01] [-3.82851732e-02 -2.13079619e-03 9.99264582e-01 -6.40259944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.825919999999998 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:9.19, Y:0.46, Z:-0.64 [[ 9.99241941e-01 6.99047351e-03 3.82972064e-02 9.18564789e+00] [-7.06849428e-03 9.99973209e-01 1.90222029e-03 4.63750197e-01] [-3.82828830e-02 -2.17148188e-03 9.99264582e-01 -6.41761644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.85592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.22, Y:0.47, Z:-0.64 [[ 9.99216785e-01 9.95391065e-03 3.82979802e-02 9.21720997e+00] [-1.00334999e-02 9.99947884e-01 1.88651226e-03 4.66927089e-01] [-3.82772061e-02 -2.26929750e-03 9.99264582e-01 -6.43619578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.885919999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.25, Y:0.47, Z:-0.65 [[ 9.99196067e-01 1.18501707e-02 3.82987394e-02 9.24997290e+00] [-1.19305538e-02 9.99927078e-01 1.87097196e-03 4.69322283e-01] [-3.82737752e-02 -2.32639299e-03 9.99264583e-01 -6.45635803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.915919999999998 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:9.28, Y:0.47, Z:-0.65 [[ 9.99178723e-01 1.32295435e-02 3.82996024e-02 9.28151132e+00] [-1.33102546e-02 9.99909697e-01 1.85313476e-03 4.71581873e-01] [-3.82716278e-02 -2.36139028e-03 9.99264583e-01 -6.46372057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.94592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:9.31, Y:0.47, Z:-0.65 [[ 9.99169052e-01 1.39388763e-02 3.83002918e-02 9.31472278e+00] [-1.40195580e-02 9.99900030e-01 1.83877701e-03 4.74961177e-01] [-3.82708324e-02 -2.37420225e-03 9.99264583e-01 -6.48161777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.975919999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.35, Y:0.48, Z:-0.65 [[ 9.99180510e-01 1.30893896e-02 3.83011356e-02 9.34758107e+00] [-1.31687720e-02 9.99911630e-01 1.82102859e-03 4.78731476e-01] [-3.82739148e-02 -2.32391520e-03 9.99264583e-01 -6.49619625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.00592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.38, Y:0.49, Z:-0.65 [[ 9.99188666e-01 1.24486705e-02 3.83019706e-02 9.38038167e+00] [-1.25269067e-02 9.99919909e-01 1.80329412e-03 4.87502526e-01] [-3.82764543e-02 -2.28163626e-03 9.99264583e-01 -6.51065675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.035919999999999 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:9.41, Y:0.49, Z:-0.65 [[ 9.99177784e-01 1.32910567e-02 3.83027941e-02 9.41455207e+00] [-1.33692347e-02 9.99909033e-01 1.78563018e-03 4.93537206e-01] [-3.82755769e-02 -2.29624105e-03 9.99264583e-01 -6.47448052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.065919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.44, Y:0.50, Z:-0.65 [[ 9.99187603e-01 1.24877814e-02 3.83169484e-02 9.44401185e+00] [-1.25536921e-02 9.99920104e-01 1.48002128e-03 4.97245235e-01] [-3.82954049e-02 -1.95983809e-03 9.99264540e-01 -6.54241828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.09592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.48, Y:0.51, Z:-0.66 [[ 9.99176309e-01 1.34013125e-02 3.83028622e-02 9.47593081e+00] [-1.34794595e-02 9.99907559e-01 1.78271229e-03 5.05317427e-01] [-3.82754307e-02 -2.29754577e-03 9.99264586e-01 -6.55610764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.125919999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:9.51, Y:0.51, Z:-0.65 [[ 9.99165814e-01 1.41602594e-02 3.83035792e-02 9.50964316e+00] [-1.42383682e-02 9.99897068e-01 1.76717002e-03 5.10676034e-01] [-3.82746130e-02 -2.31107634e-03 9.99264586e-01 -6.51521743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.155919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.54, Y:0.52, Z:-0.66 [[ 9.99228362e-01 8.61131043e-03 3.83213391e-02 9.53865017e+00] [-8.67051439e-03 9.99961460e-01 1.37900577e-03 5.15282182e-01] [-3.83079871e-02 -1.71020740e-03 9.99264516e-01 -6.60305720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.18592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.57, Y:0.52, Z:-0.66 [[ 9.99253318e-01 5.05976357e-03 3.83041049e-02 9.57022788e+00] [-5.13075068e-03 9.99985297e-01 1.75517652e-03 5.17454489e-01] [-3.82946609e-02 -1.95039477e-03 9.99264587e-01 -6.62253931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.215919999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.60, Y:0.52, Z:-0.66 [[ 9.99265890e-01 6.48837213e-04 3.83048218e-02 9.60251238e+00] [-7.15988673e-04 9.99998231e-01 1.73938922e-03 5.19717954e-01] [-3.83036254e-02 -1.76553813e-03 9.99264587e-01 -6.61894134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.245919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.63, Y:0.52, Z:-0.66 [[ 9.99226989e-01 -8.83944859e-03 3.83052120e-02 9.63496012e+00] [ 8.77958456e-03 9.99959961e-01 1.73075210e-03 5.21902081e-01] [-3.83189772e-02 -1.39311036e-03 9.99264587e-01 -6.64112892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.27592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.67, Y:0.52, Z:-0.67 [[ 9.99172959e-01 -1.36397866e-02 3.83060562e-02 9.66743317e+00] [ 1.35841681e-02 9.99906266e-01 1.71186251e-03 5.22766386e-01] [-3.83258150e-02 -1.19009082e-03 9.99264587e-01 -6.66480182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.305919999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.70, Y:0.52, Z:-0.67 [[ 9.98979379e-01 -2.39330239e-02 3.83067850e-02 9.69965590e+00] [ 2.38855944e-02 9.99713261e-01 1.69539599e-03 5.19760305e-01] [-3.83363769e-02 -7.78685310e-04 9.99264588e-01 -6.69289078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.335919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.73, Y:0.52, Z:-0.67 [[ 9.98814690e-01 -3.00291318e-02 3.83075224e-02 9.73175187e+00] [ 2.99868271e-02 9.99548885e-01 1.67856761e-03 5.16726599e-01] [-3.83406472e-02 -5.27856934e-04 9.99264588e-01 -6.70510820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.36592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:9.76, Y:0.51, Z:-0.67 [[ 9.98421192e-01 -4.10808484e-02 3.83077887e-02 9.76451186e+00] [ 4.10469055e-02 9.99155821e-01 1.67246764e-03 5.07763210e-01] [-3.83441564e-02 -9.74109515e-05 9.99264588e-01 -6.70498613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.395919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.80, Y:0.50, Z:-0.67 [[ 9.98189908e-01 -4.63615038e-02 3.83082036e-02 9.79765281e+00] [ 4.63318140e-02 9.98924721e-01 1.66290987e-03 5.03592913e-01] [-3.83441066e-02 1.14988714e-04 9.99264588e-01 -6.71861137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.42592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.83, Y:0.49, Z:-0.67 [[ 9.97735115e-01 -5.52906460e-02 3.83090773e-02 9.83008898e+00] [ 5.52683142e-02 9.98470188e-01 1.64253249e-03 4.91882625e-01] [-3.83412883e-02 4.78465777e-04 9.99264588e-01 -6.73784700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.455919999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.86, Y:0.49, Z:-0.67 [[ 9.97597594e-01 -5.77182684e-02 3.83098276e-02 9.86372636e+00] [ 5.76984045e-02 9.98332737e-01 1.62484118e-03 4.86929663e-01] [-3.83397381e-02 5.89478283e-04 9.99264588e-01 -6.74968118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.485919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.90, Y:0.48, Z:-0.67 [[ 9.97646097e-01 -5.68731541e-02 3.83106858e-02 9.89649930e+00] [ 5.68534542e-02 9.98381245e-01 1.60434943e-03 4.75489608e-01] [-3.83399146e-02 5.77521866e-04 9.99264588e-01 -6.74357263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.51592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.93, Y:0.47, Z:-0.68 [[ 9.97757945e-01 -5.48754800e-02 3.83114234e-02 9.92970098e+00] [ 5.48549919e-02 9.98493071e-01 1.58653798e-03 4.70870921e-01] [-3.83407528e-02 5.18591950e-04 9.99264588e-01 -6.75125995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.545919999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.96, Y:0.47, Z:-0.68 [[ 9.97940756e-01 -5.14433507e-02 3.83122544e-02 9.96313928e+00] [ 5.14211145e-02 9.98675831e-01 1.56621050e-03 4.66379383e-01] [-3.83420936e-02 4.07073533e-04 9.99264589e-01 -6.76795768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.575919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.00, Y:0.46, Z:-0.68 [[ 9.98292104e-01 -4.41019561e-02 3.83130853e-02 9.99581162e+00] [ 4.40751045e-02 9.99027025e-01 1.54561233e-03 4.55652760e-01] [-3.83439722e-02 1.45680655e-04 9.99264589e-01 -6.79378294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.60592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.03, Y:0.45, Z:-0.67 [[ 9.98566069e-01 -3.73879358e-02 3.83137998e-02 1.00296636e+01] [ 3.73568303e-02 9.99300822e-01 1.52769357e-03 4.51778103e-01] [-3.83441290e-02 -9.42208438e-05 9.99264589e-01 -6.69422521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.635919999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.06, Y:0.44, Z:-0.68 [[ 9.98725568e-01 -3.28378327e-02 3.83264452e-02 1.00598659e+01] [ 3.28156376e-02 9.99460692e-01 1.20821609e-03 4.42640795e-01] [-3.83454506e-02 5.10304305e-05 9.99264541e-01 -6.80028290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.665919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.09, Y:0.44, Z:-0.68 [[ 9.98843988e-01 -2.90292495e-02 3.83143552e-02 1.00921971e+01] [ 2.89925139e-02 9.99578482e-01 1.51418266e-03 4.39948279e-01] [-3.83421606e-02 -4.01602771e-04 9.99264588e-01 -6.81438235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.69592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.12, Y:0.44, Z:-0.68 [[ 9.98963542e-01 -2.45723421e-02 3.83150284e-02 1.01239292e+01] [ 2.45329904e-02 9.99697900e-01 1.49695188e-03 4.37432091e-01] [-3.83402370e-02 -5.55418124e-04 9.99264588e-01 -6.83083137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.725919999999999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:10.16, Y:0.43, Z:-0.68 [[ 9.99137517e-01 -1.60040561e-02 3.83156904e-02 1.01587975e+01] [ 1.59590648e-02 9.99871551e-01 1.47981182e-03 4.29880939e-01] [-3.83344518e-02 -8.67052926e-04 9.99264589e-01 -6.75891501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.75592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.19, Y:0.43, Z:-0.69 [[ 9.99136977e-01 -1.59953065e-02 3.83334331e-02 1.01876496e+01] [ 1.59678805e-02 9.99871983e-01 1.02153703e-03 4.26623379e-01] [-3.83448656e-02 -4.08551739e-04 9.99264482e-01 -6.85365670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.785919999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.22, Y:0.42, Z:-0.69 [[ 9.99204257e-01 -1.10819201e-02 3.83150627e-02 1.02204004e+01] [ 1.10328056e-02 9.99938022e-01 1.49306761e-03 4.19966980e-01] [-3.83292341e-02 -1.06915688e-03 9.99264593e-01 -6.87839167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.815919999999998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:10.26, Y:0.42, Z:-0.68 [[ 9.99253190e-01 -4.99608979e-03 3.83158041e-02 1.02563776e+01] [ 4.94324539e-03 9.99986696e-01 1.47379386e-03 4.17966132e-01] [-3.83226575e-02 -1.28328879e-03 9.99264593e-01 -6.80818852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.84592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.28, Y:0.41, Z:-0.69 [[ 9.99254907e-01 -4.43358609e-03 3.83402477e-02 1.02842563e+01] [ 4.40479193e-03 9.99989950e-01 8.35455966e-04 4.10731953e-01] [-3.83435665e-02 -6.65952659e-04 9.99264393e-01 -6.91876515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.875919999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.32, Y:0.41, Z:-0.69 [[ 9.99264184e-01 -1.73234910e-03 3.83156657e-02 1.03164181e+01] [ 1.67708406e-03 9.99997507e-01 1.47445556e-03 4.07721536e-01] [-3.83181245e-02 -1.40911204e-03 9.99264597e-01 -6.93669393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.905919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.35, Y:0.41, Z:-0.69 [[ 9.99249025e-01 5.76618706e-03 3.83162776e-02 1.03524586e+01] [-5.82633821e-03 9.99981963e-01 1.45838049e-03 4.05961949e-01] [-3.83071772e-02 -1.68052888e-03 9.99264598e-01 -6.87119387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.93592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.38, Y:0.40, Z:-0.69 [[ 9.99225997e-01 8.77618351e-03 3.83455969e-02 1.03849804e+01] [-8.80860255e-03 9.99960975e-01 6.76574480e-04 4.00286893e-01] [-3.83381627e-02 -1.01382193e-03 9.99264308e-01 -6.87936803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.965919999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.41, Y:0.40, Z:-0.70 [[ 9.99250655e-01 5.28555019e-03 3.83430755e-02 1.04112339e+01] [-5.31796156e-03 9.99985583e-01 7.43356680e-04 3.96000461e-01] [-3.83385937e-02 -9.46706651e-04 9.99264357e-01 -6.97721876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.995919999999998 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:10.45, Y:0.39, Z:-0.69 [[ 9.99142440e-01 1.56953519e-02 3.83150221e-02 1.04491869e+01] [-1.57633493e-02 9.99874665e-01 1.47322367e-03 3.90616402e-01] [-3.82870972e-02 -2.07593337e-03 9.99264624e-01 -6.89165283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.02592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.48, Y:0.39, Z:-0.69 [[ 9.99111900e-01 1.74509731e-02 3.83519939e-02 1.04817215e+01] [-1.74829973e-02 9.99847036e-01 4.99761794e-04 3.91363854e-01] [-3.83374061e-02 -1.16982576e-03 9.99264167e-01 -6.91667380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.055919999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.51, Y:0.39, Z:-0.70 [[ 9.99169335e-01 1.37784181e-02 3.83509444e-02 1.05062799e+01] [-1.38087847e-02 9.99904515e-01 5.27019999e-04 3.91089912e-01] [-3.83400210e-02 -1.05616216e-03 9.99264193e-01 -7.00950446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.085919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.54, Y:0.39, Z:-0.70 [[ 9.99097012e-01 1.83654162e-02 3.83128189e-02 1.05393252e+01] [-1.84364209e-02 9.99828908e-01 1.50077833e-03 3.91293408e-01] [-3.82787015e-02 -2.20577440e-03 9.99264667e-01 -7.01876671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.11592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.57, Y:0.39, Z:-0.70 [[ 9.98893902e-01 2.72589225e-02 3.83134957e-02 1.05713702e+01] [-2.73357723e-02 9.99625207e-01 1.48329477e-03 3.89935788e-01] [-3.82587031e-02 -2.52898310e-03 9.99264668e-01 -7.02057683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.145919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.60, Y:0.39, Z:-0.70 [[ 9.98726349e-01 3.28285087e-02 3.83140716e-02 1.06031536e+01] [-3.29088617e-02 9.99457278e-01 1.46826918e-03 3.92483733e-01] [-3.82450766e-02 -2.72727160e-03 9.99264668e-01 -7.01229357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.17592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.64, Y:0.40, Z:-0.70 [[ 9.98674784e-01 3.43612143e-02 3.83142746e-02 1.06363258e+01] [-3.44424861e-02 9.99405611e-01 1.46295269e-03 3.96812572e-01] [-3.82412321e-02 -2.78065283e-03 9.99264668e-01 -7.02641151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.205919999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.67, Y:0.40, Z:-0.71 [[ 9.98658454e-01 3.48318755e-02 3.83149239e-02 1.06687873e+01] [-3.49128350e-02 9.99389315e-01 1.44574446e-03 4.01009765e-01] [-3.82411676e-02 -2.78148754e-03 9.99264668e-01 -7.05668658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.235919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.70, Y:0.40, Z:-0.71 [[ 9.98642952e-01 3.52728226e-02 3.83155577e-02 1.07021230e+01] [-3.53534562e-02 9.99373850e-01 1.42874782e-03 4.02568357e-01] [-3.82411704e-02 -2.78139633e-03 9.99264668e-01 -7.06953798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.26592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.73, Y:0.40, Z:-0.71 [[ 9.98701331e-01 3.35786030e-02 3.83161806e-02 1.07338614e+01] [-3.36573511e-02 9.99432434e-01 1.41184208e-03 4.04664905e-01] [-3.82470260e-02 -2.69962971e-03 9.99264668e-01 -7.07588996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.295919999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.77, Y:0.41, Z:-0.71 [[ 9.98747383e-01 3.21790926e-02 3.83167191e-02 1.07664580e+01] [-3.22562522e-02 9.99478655e-01 1.39707335e-03 4.06061648e-01] [-3.82517863e-02 -2.63127711e-03 9.99264668e-01 -7.08483057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.325919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.80, Y:0.41, Z:-0.71 [[ 9.98835216e-01 2.93261770e-02 3.83169126e-02 1.07986330e+01] [-2.94010440e-02 9.99566727e-01 1.39174521e-03 4.08441276e-01] [-3.82594964e-02 -2.51668136e-03 9.99264668e-01 -7.10111015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.35592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:10.83, Y:0.41, Z:-0.70 [[ 9.98878204e-01 2.78227823e-02 3.83174482e-02 1.08314513e+01] [-2.78959788e-02 9.99609883e-01 1.37684051e-03 4.10143450e-01] [-3.82641924e-02 -2.44419870e-03 9.99264668e-01 -7.02142912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.385919999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:10.86, Y:0.41, Z:-0.71 [[ 9.98907602e-01 2.67355719e-02 3.83250737e-02 1.08625335e+01] [-2.67997509e-02 9.99640147e-01 1.16174352e-03 4.11098546e-01] [-3.82802225e-02 -2.18757686e-03 9.99264649e-01 -7.13478700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.415919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.89, Y:0.41, Z:-0.72 [[ 9.98978107e-01 2.39674042e-02 3.83184673e-02 1.08943001e+01] [-2.40367263e-02 9.99710165e-01 1.34936840e-03 4.12803257e-01] [-3.82750204e-02 -2.26904000e-03 9.99264667e-01 -7.15468512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.44592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.93, Y:0.41, Z:-0.72 [[ 9.98988636e-01 2.35239993e-02 3.83187514e-02 1.09271336e+01] [-2.35926861e-02 9.99720754e-01 1.34125029e-03 4.13732009e-01] [-3.82764995e-02 -2.24393607e-03 9.99264667e-01 -7.17171334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.475919999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.96, Y:0.41, Z:-0.72 [[ 9.98976229e-01 2.40441271e-02 3.83193555e-02 1.09603752e+01] [-2.41125267e-02 9.99708374e-01 1.32376406e-03 4.11244471e-01] [-3.82763519e-02 -2.24638531e-03 9.99264667e-01 -7.17167925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.50592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.99, Y:0.41, Z:-0.72 [[ 9.98995828e-01 2.32145751e-02 3.83199507e-02 1.09930824e+01] [-2.32816993e-02 9.99728091e-01 1.30630535e-03 4.10876003e-01] [-3.82792058e-02 -2.19714716e-03 9.99264667e-01 -7.17733578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.535919999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.03, Y:0.41, Z:-0.72 [[ 9.98997259e-01 2.31519395e-02 3.83205373e-02 1.10257608e+01] [-2.32183508e-02 9.99729587e-01 1.28886350e-03 4.11812066e-01] [-3.82803353e-02 -2.17731078e-03 9.99264667e-01 -7.18102320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.565919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.06, Y:0.41, Z:-0.72 [[ 9.98995074e-01 2.32450805e-02 3.83211208e-02 1.10581099e+01] [-2.33108876e-02 9.99727456e-01 1.27127558e-03 4.12357055e-01] [-3.82811257e-02 -2.16329738e-03 9.99264667e-01 -7.20391656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.59592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.09, Y:0.41, Z:-0.72 [[ 9.98966525e-01 2.44403362e-02 3.83216947e-02 1.10911079e+01] [-2.45063488e-02 9.99698888e-01 1.25373284e-03 4.12655965e-01] [-3.82795140e-02 -2.19156196e-03 9.99264668e-01 -7.20704093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.625919999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.12, Y:0.41, Z:-0.72 [[ 9.98923011e-01 2.61576357e-02 3.83222643e-02 1.11241888e+01] [-2.62242321e-02 9.99655321e-01 1.23607412e-03 4.12209951e-01] [-3.82767227e-02 -2.23971484e-03 9.99264668e-01 -7.22412339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.655919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.16, Y:0.41, Z:-0.72 [[ 9.98888641e-01 2.74384522e-02 3.83225099e-02 1.11564092e+01] [-2.75056947e-02 9.99620892e-01 1.22841370e-03 4.12957907e-01] [-3.82742757e-02 -2.28113575e-03 9.99264668e-01 -7.24931226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.68592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.19, Y:0.41, Z:-0.73 [[ 9.98847417e-01 2.88995858e-02 3.83229970e-02 1.11883110e+01] [-2.89673110e-02 9.99579623e-01 1.21302255e-03 4.13630520e-01] [-3.82718311e-02 -2.32173862e-03 9.99264668e-01 -7.27006832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.715919999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.22, Y:0.41, Z:-0.73 [[ 9.98874221e-01 2.79571518e-02 3.83234746e-02 1.12206723e+01] [-2.80236020e-02 9.99606544e-01 1.19774269e-03 4.13289864e-01] [-3.82749105e-02 -2.27035609e-03 9.99264668e-01 -7.28504039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.745919999999998 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:11.25, Y:0.41, Z:-0.73 [[ 9.98916766e-01 2.63926128e-02 3.83239430e-02 1.12539940e+01] [-2.64573354e-02 9.99649244e-01 1.18256165e-03 4.13947597e-01] [-3.82792898e-02 -2.19523007e-03 9.99264668e-01 -7.29033671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.77592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.29, Y:0.41, Z:-0.73 [[ 9.99061439e-01 2.01860417e-02 3.83244745e-02 1.12869406e+01] [-2.02455433e-02 9.99794359e-01 1.16508004e-03 4.14690727e-01] [-3.82930751e-02 -1.93988636e-03 9.99264668e-01 -7.31182590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.805919999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.32, Y:0.42, Z:-0.73 [[ 9.99099864e-01 1.81839260e-02 3.83249998e-02 1.13200303e+01] [-1.82412874e-02 9.99832955e-01 1.14753579e-03 4.15040591e-01] [-3.82977311e-02 -1.84560019e-03 9.99264668e-01 -7.33577559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.835919999999998 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:11.35, Y:0.41, Z:-0.73 [[ 9.99144046e-01 1.55669783e-02 3.83255205e-02 1.13549173e+01] [-1.56217433e-02 9.99877335e-01 1.12987557e-03 4.12019359e-01] [-3.83032305e-02 -1.72761989e-03 9.99264669e-01 -7.26996772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.86592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.38, Y:0.41, Z:-0.74 [[ 9.99190935e-01 1.21425087e-02 3.83410342e-02 1.13829450e+01] [-1.21741307e-02 9.99925718e-01 5.91383936e-04 4.10083685e-01] [-3.83310052e-02 -1.05767423e-03 9.99264537e-01 -7.38842448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.895919999999998 meters Centerline goodness : 0.999753 Centerline is valid? [True, True] Translation: X:11.42, Y:0.41, Z:-0.74 [[ 9.99205477e-01 1.09328943e-02 3.83260613e-02 1.14161108e+01] [-1.09834587e-02 9.99939065e-01 1.10900813e-03 4.07912747e-01] [-3.83116012e-02 -1.52907971e-03 9.99264671e-01 -7.40133740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.92592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:11.45, Y:0.40, Z:-0.73 [[ 9.99213014e-01 1.02189126e-02 3.83265745e-02 1.14513835e+01] [-1.02682621e-02 9.99946685e-01 1.09097613e-03 4.02156707e-01] [-3.83133826e-02 -1.48366486e-03 9.99264671e-01 -7.30823713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.955919999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.48, Y:0.40, Z:-0.74 [[ 9.99251335e-01 5.14656648e-03 3.83442596e-02 1.14790761e+01] [-5.16802463e-03 9.99986540e-01 4.60520229e-04 3.98365482e-01] [-3.83413734e-02 -6.58339531e-04 9.99264482e-01 -7.42140908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.985919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.51, Y:0.39, Z:-0.73 [[ 9.99252667e-01 5.01783940e-03 3.83266104e-02 1.15127427e+01] [-5.06312151e-03 9.99986594e-01 1.08450863e-03 3.91244102e-01] [-3.83206547e-02 -1.27775042e-03 9.99264677e-01 -7.34347205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.01592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.54, Y:0.39, Z:-0.75 [[ 9.99261027e-01 2.78263721e-03 3.83360942e-02 1.15427540e+01] [-2.81325954e-03 9.99995765e-01 7.44864392e-04 3.89562057e-01] [-3.83338592e-02 -8.52163340e-04 9.99264624e-01 -7.45043409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.045919999999999 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:11.58, Y:0.38, Z:-0.75 [[ 9.99261287e-01 2.81684555e-03 3.83268272e-02 1.15753888e+01] [-2.86015630e-03 9.99995332e-01 1.07525379e-03 3.83108275e-01] [-3.83236195e-02 -1.18408020e-03 9.99264679e-01 -7.46676053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.075919999999998 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:11.61, Y:0.38, Z:-0.75 [[ 9.99260797e-01 2.97906322e-03 3.83273316e-02 1.16079597e+01] [-3.02179229e-03 9.99994876e-01 1.05696408e-03 3.78726655e-01] [-3.83239865e-02 -1.17200000e-03 9.99264679e-01 -7.48188124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.10592 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:11.64, Y:0.37, Z:-0.75 [[ 9.99244073e-01 6.50083889e-03 3.83278286e-02 1.16399457e+01] [-6.54545224e-03 9.99978039e-01 1.03862470e-03 3.69791951e-01] [-3.83202350e-02 -1.28871255e-03 9.99264679e-01 -7.48504946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.135919999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.67, Y:0.37, Z:-0.75 [[ 9.99217659e-01 9.74754621e-03 3.83282506e-02 1.16720353e+01] [-9.79393832e-03 9.99951515e-01 1.02281009e-03 3.67838545e-01] [-3.83164224e-02 -1.39739442e-03 9.99264679e-01 -7.50011369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.165919999999998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:11.71, Y:0.37, Z:-0.75 [[ 9.99168252e-01 1.39182271e-02 3.83286668e-02 1.17050989e+01] [-1.39670754e-02 9.99901949e-01 1.00697147e-03 3.66137739e-01] [-3.83108933e-02 -1.54147330e-03 9.99264679e-01 -7.51419442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.19592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.74, Y:0.36, Z:-0.75 [[ 9.98977231e-01 2.39868699e-02 3.83291272e-02 1.17370256e+01] [-2.40424269e-02 9.99710450e-01 9.89131188e-04 3.61073522e-01] [-3.82943028e-02 -1.90964477e-03 9.99264679e-01 -7.50958644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.225919999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.77, Y:0.36, Z:-0.75 [[ 9.98842978e-01 2.90439913e-02 3.83295222e-02 1.17698749e+01] [-2.91026645e-02 9.99575954e-01 9.73578393e-04 3.59713972e-01] [-3.82849921e-02 -2.08794317e-03 9.99264680e-01 -7.52027949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.255919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.80, Y:0.36, Z:-0.75 [[ 9.98482268e-01 3.95471249e-02 3.83299572e-02 1.18021367e+01] [-3.96128369e-02 9.99214646e-01 9.56139178e-04 3.58659018e-01] [-3.82620421e-02 -2.47304636e-03 9.99264680e-01 -7.52859219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.285919999999999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:11.84, Y:0.36, Z:-0.76 [[ 9.98263126e-01 4.47383246e-02 3.83303292e-02 1.18351158e+01] [-4.48072648e-02 9.98995207e-01 9.40988342e-04 3.59591431e-01] [-3.82497169e-02 -2.65683117e-03 9.99264680e-01 -7.55448644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.315919999999998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:11.87, Y:0.36, Z:-0.76 [[ 9.98047070e-01 4.93234369e-02 3.83307401e-02 1.18675068e+01] [-4.93950881e-02 9.98778890e-01 9.23942291e-04 3.61529765e-01] [-3.82383620e-02 -2.81548818e-03 9.99264680e-01 -7.56762457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.34592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.90, Y:0.37, Z:-0.76 [[ 9.97711837e-01 5.56939310e-02 3.83311318e-02 1.18999480e+01] [-5.57696209e-02 9.98443251e-01 9.07394068e-04 3.67073070e-01] [-3.82209235e-02 -3.04303049e-03 9.99264680e-01 -7.57663456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.375919999999999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:11.93, Y:0.37, Z:-0.76 [[ 9.97609092e-01 5.75047352e-02 3.83315102e-02 1.19328206e+01] [-5.75811313e-02 9.98340433e-01 8.91119992e-04 3.70117153e-01] [-3.82166528e-02 -3.09616113e-03 9.99264680e-01 -7.58478040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.405919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.96, Y:0.38, Z:-0.76 [[ 9.97349356e-01 6.18460028e-02 3.83318817e-02 1.19649366e+01] [-6.19249600e-02 9.98080425e-01 8.74839728e-04 3.76167383e-01] [-3.82041954e-02 -3.24622108e-03 9.99264680e-01 -7.59773062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.43592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:12.00, Y:0.38, Z:-0.76 [[ 9.97187397e-01 6.44044765e-02 3.83322018e-02 1.19979593e+01] [-6.44847651e-02 9.97918321e-01 8.60584320e-04 3.82136976e-01] [-3.81969809e-02 -3.33000687e-03 9.99264681e-01 -7.60882126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.465919999999999 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:12.03, Y:0.40, Z:-0.76 [[ 9.96817405e-01 6.98976135e-02 3.83325545e-02 1.20303085e+01] [-6.99813176e-02 9.97547945e-01 8.44575174e-04 3.95070355e-01] [-3.81795272e-02 -3.52444990e-03 9.99264681e-01 -7.61281997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.495919999999998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:12.06, Y:0.40, Z:-0.76 [[ 9.96664354e-01 7.20469848e-02 3.83327190e-02 1.20633632e+01] [-7.21319768e-02 9.97394745e-01 8.37040354e-04 4.01540453e-01] [-3.81725463e-02 -3.59926308e-03 9.99264681e-01 -7.61800053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.52592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.10, Y:0.41, Z:-0.76 [[ 9.96579184e-01 7.32154874e-02 3.83330587e-02 1.20958102e+01] [-7.33007312e-02 9.97309545e-01 8.21183212e-04 4.08087845e-01] [-3.81698020e-02 -3.62821533e-03 9.99264681e-01 -7.62849401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.555919999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.13, Y:0.42, Z:-0.76 [[ 9.96661106e-01 7.20915423e-02 3.83333933e-02 1.21286571e+01] [-7.21753552e-02 9.97391633e-01 8.05257317e-04 4.23302228e-01] [-3.81753535e-02 -3.56929493e-03 9.99264681e-01 -7.64135500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.585919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.16, Y:0.43, Z:-0.76 [[ 9.96745891e-01 7.09094777e-02 3.83337172e-02 1.21614681e+01] [-7.09918244e-02 9.97476585e-01 7.89529750e-04 4.30515400e-01] [-3.81810002e-02 -3.50834105e-03 9.99264681e-01 -7.64777279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.61592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.19, Y:0.44, Z:-0.77 [[ 9.97156257e-01 6.48838000e-02 3.83339426e-02 1.21938576e+01] [-6.49613052e-02 9.97887480e-01 7.78428619e-04 4.40550256e-01] [-3.82024540e-02 -3.26643792e-03 9.99264681e-01 -7.66433148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.645919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.23, Y:0.45, Z:-0.77 [[ 9.97369090e-01 6.15255863e-02 3.83340662e-02 1.22257179e+01] [-6.16003945e-02 9.98100594e-01 7.72294426e-04 4.45850789e-01] [-3.82137384e-02 -3.13165619e-03 9.99264681e-01 -7.68422025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.67592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.26, Y:0.45, Z:-0.77 [[ 9.97535074e-01 5.87728981e-02 3.83343530e-02 1.22587859e+01] [-5.88451333e-02 9.98266836e-01 7.57788255e-04 4.51534040e-01] [-3.82233759e-02 -3.01171047e-03 9.99264681e-01 -7.70091577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.705919999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.29, Y:0.46, Z:-0.77 [[ 9.97807927e-01 5.39425089e-02 3.83346721e-02 1.22915922e+01] [-5.40105697e-02 9.98540089e-01 7.41284929e-04 4.61696289e-01] [-3.82387201e-02 -2.81013746e-03 9.99264681e-01 -7.73790296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.735919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.32, Y:0.47, Z:-0.78 [[ 9.97935558e-01 5.15271905e-02 3.83349875e-02 1.23239709e+01] [-5.15928411e-02 9.98667940e-01 7.24597546e-04 4.65402352e-01] [-3.82465866e-02 -2.70091258e-03 9.99264681e-01 -7.75580584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.76592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.36, Y:0.47, Z:-0.77 [[ 9.98225468e-01 4.55666508e-02 3.83352971e-02 1.23555126e+01] [-4.56272853e-02 9.98958282e-01 7.07834027e-04 4.70293370e-01] [-3.82631089e-02 -2.45571349e-03 9.99264682e-01 -7.74666365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.795919999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.39, Y:0.47, Z:-0.78 [[ 9.98353760e-01 4.26632560e-02 3.83355687e-02 1.23874791e+01] [-4.27211840e-02 9.99086793e-01 6.92805329e-04 4.72848967e-01] [-3.82710031e-02 -2.32940569e-03 9.99264682e-01 -7.76599566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.825919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.42, Y:0.48, Z:-0.78 [[ 9.98539779e-01 3.80614409e-02 3.83358387e-02 1.24195889e+01] [-3.81154050e-02 9.99273114e-01 6.77526035e-04 4.79037893e-01] [-3.82821853e-02 -2.13772272e-03 9.99264682e-01 -7.77475421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.85592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.45, Y:0.48, Z:-0.78 [[ 9.98566620e-01 3.73503615e-02 3.83361000e-02 1.24523644e+01] [-3.74032246e-02 9.99300035e-01 6.62405510e-04 4.82516850e-01] [-3.82845250e-02 -2.09534979e-03 9.99264682e-01 -7.79051671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.885919999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.49, Y:0.49, Z:-0.77 [[ 9.98450624e-01 4.03320228e-02 3.83363937e-02 1.24884911e+01] [-4.03864078e-02 9.99183928e-01 6.44949514e-04 4.87212378e-01] [-3.82790963e-02 -2.19221947e-03 9.99264682e-01 -7.72207499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.915919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.52, Y:0.49, Z:-0.78 [[ 9.98564577e-01 3.73926096e-02 3.83481312e-02 1.25155990e+01] [-3.74166643e-02 9.99299747e-01 -9.04823340e-05 4.94052282e-01] [-3.83246612e-02 -1.34450670e-03 9.99264436e-01 -7.81885626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.94592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.55, Y:0.50, Z:-0.78 [[ 9.98564643e-01 3.74027116e-02 3.83365448e-02 1.25483631e+01] [-3.74541059e-02 9.99298155e-01 6.23041430e-04 4.97126164e-01] [-3.82863351e-02 -2.05800815e-03 9.99264690e-01 -7.82956157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.975919999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.58, Y:0.50, Z:-0.78 [[ 9.98605727e-01 3.62889720e-02 3.83368216e-02 1.25805718e+01] [-3.63388775e-02 9.99339341e-01 6.05523032e-04 5.03482028e-01] [-3.82895202e-02 -1.99779583e-03 9.99264690e-01 -7.82746982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.005919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.61, Y:0.51, Z:-0.78 [[ 9.98632688e-01 3.55392044e-02 3.83369079e-02 1.26135606e+01] [-3.55883478e-02 9.99366354e-01 6.00004650e-04 5.07459732e-01] [-3.82912922e-02 -1.96353147e-03 9.99264690e-01 -7.83834934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.035919999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.65, Y:0.51, Z:-0.79 [[ 9.98629546e-01 3.56271017e-02 3.83371795e-02 1.26462909e+01] [-3.56756249e-02 9.99363253e-01 5.82120907e-04 5.13520936e-01] [-3.82920291e-02 -1.94902597e-03 9.99264691e-01 -7.86141506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.065919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.68, Y:0.52, Z:-0.79 [[ 9.98637607e-01 3.54001574e-02 3.83374448e-02 1.26794468e+01] [-3.54478234e-02 9.99371369e-01 5.64091188e-04 5.16583184e-01] [-3.82933758e-02 -1.92230165e-03 9.99264691e-01 -7.87263498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.09592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.71, Y:0.52, Z:-0.79 [[ 9.98672903e-01 3.43897200e-02 3.83376987e-02 1.27121695e+01] [-3.44359610e-02 9.99406757e-01 5.46268620e-04 5.22067538e-01] [-3.82961691e-02 -1.86573917e-03 9.99264691e-01 -7.88333278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.125919999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.75, Y:0.52, Z:-0.79 [[ 9.98656629e-01 3.48588587e-02 3.83379439e-02 1.27455467e+01] [-3.49047634e-02 9.99390503e-01 5.28485383e-04 5.22845070e-01] [-3.82961546e-02 -1.86595229e-03 9.99264691e-01 -7.89618245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.155919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.78, Y:0.53, Z:-0.78 [[ 9.98494277e-01 3.92347014e-02 3.83381835e-02 1.27839912e+01] [-3.92831325e-02 9.99227989e-01 5.10488321e-04 5.26195546e-01] [-3.82885572e-02 -2.01576361e-03 9.99264691e-01 -7.82263776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.18592 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:12.81, Y:0.53, Z:-0.79 [[ 9.98761213e-01 3.17048676e-02 3.83515415e-02 1.28091258e+01] [-3.17083228e-02 9.99497030e-01 -5.18310758e-04 5.27354484e-01] [-3.83486848e-02 -6.98394378e-04 9.99264175e-01 -7.92882436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.215919999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.84, Y:0.53, Z:-0.79 [[ 9.98878251e-01 2.77941840e-02 3.83369647e-02 1.28421209e+01] [-2.78350511e-02 9.99612388e-01 5.32552854e-04 5.28101666e-01] [-3.83073030e-02 -1.59906683e-03 9.99264726e-01 -7.94196245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.245919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.87, Y:0.53, Z:-0.80 [[ 9.98910918e-01 2.65941213e-02 3.83370739e-02 1.28737502e+01] [-2.66338007e-02 9.99645120e-01 5.24578153e-04 5.29984263e-01] [-3.83095181e-02 -1.54506883e-03 9.99264726e-01 -7.95965853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.27592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:12.91, Y:0.53, Z:-0.80 [[ 9.98953438e-01 2.49455471e-02 3.83372868e-02 1.29064278e+01] [-2.49833996e-02 9.99687737e-01 5.08524918e-04 5.32749611e-01] [-3.83126301e-02 -1.46578847e-03 9.99264727e-01 -7.97791489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.305919999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.94, Y:0.53, Z:-0.80 [[ 9.98965134e-01 2.44723474e-02 3.83375211e-02 1.29387781e+01] [-2.45091498e-02 9.99699485e-01 4.90199811e-04 5.33743933e-01] [-3.83140038e-02 -1.42931257e-03 9.99264727e-01 -7.99730626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.335919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.97, Y:0.53, Z:-0.80 [[ 9.99032985e-01 2.15247291e-02 3.83377340e-02 1.29704246e+01] [-2.15587032e-02 9.99767472e-01 4.72943364e-04 5.32600928e-01] [-3.83186395e-02 -1.29899785e-03 9.99264727e-01 -8.01555850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.36592 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:13.00, Y:0.53, Z:-0.80 [[ 9.99047932e-01 2.08190351e-02 3.83379261e-02 1.30032364e+01] [-2.08518724e-02 9.99782472e-01 4.56822335e-04 5.32218647e-01] [-3.83200759e-02 -1.25580495e-03 9.99264727e-01 -8.02954053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.395919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.04, Y:0.53, Z:-0.80 [[ 9.99090555e-01 1.86614690e-02 3.83381378e-02 1.30356940e+01] [-1.86920101e-02 9.99825193e-01 4.38308961e-04 5.31992914e-01] [-3.83232565e-02 -1.15452720e-03 9.99264727e-01 -8.03750047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.425919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.07, Y:0.53, Z:-0.81 [[ 9.99173331e-01 1.35212973e-02 3.83383416e-02 1.30673038e+01] [-1.35473448e-02 9.99908142e-01 4.19694038e-04 5.30166875e-01] [-3.83291451e-02 -9.38729821e-04 9.99264727e-01 -8.05463673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.455919999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.10, Y:0.53, Z:-0.81 [[ 9.99213605e-01 1.01158558e-02 3.83385141e-02 1.31005938e+01] [-1.01387697e-02 9.99948520e-01 4.03290784e-04 5.25165790e-01] [-3.83324608e-02 -7.91679003e-04 9.99264728e-01 -8.06489313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.485919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.13, Y:0.52, Z:-0.81 [[ 9.99219328e-01 9.53300886e-03 3.83387046e-02 1.31334970e+01] [-9.55476538e-03 9.99954278e-01 3.84291887e-04 5.23282283e-01] [-3.83332882e-02 -7.50309208e-04 9.99264728e-01 -8.07625211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.51592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.17, Y:0.52, Z:-0.81 [[ 9.99223396e-01 9.09581336e-03 3.83388874e-02 1.31661302e+01] [-9.11651184e-03 9.99958377e-01 3.65090279e-04 5.22184031e-01] [-3.83339709e-02 -7.14323670e-04 9.99264728e-01 -8.08774455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.545919999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.20, Y:0.52, Z:-0.81 [[ 9.99209491e-01 1.05123105e-02 3.83390604e-02 1.31994016e+01] [-1.05333154e-02 9.99944463e-01 3.45913696e-04 5.18246018e-01] [-3.83332949e-02 -7.49477663e-04 9.99264728e-01 -8.11237507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.575919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.23, Y:0.51, Z:-0.81 [[ 9.99195336e-01 1.17806996e-02 3.83392242e-02 1.32325217e+01] [-1.18019007e-02 9.99930302e-01 3.26703534e-04 5.14604996e-01] [-3.83327032e-02 -7.78916363e-04 9.99264728e-01 -8.13123447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.60592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.27, Y:0.51, Z:-0.81 [[ 9.99163092e-01 1.42550712e-02 3.83393799e-02 1.32655458e+01] [-1.42773469e-02 9.99898026e-01 3.07269476e-04 5.08155375e-01] [-3.83310902e-02 -8.54396948e-04 9.99264728e-01 -8.14571971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.635919999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.30, Y:0.51, Z:-0.82 [[ 9.99147222e-01 1.53267743e-02 3.83395231e-02 1.32987781e+01] [-1.53491081e-02 9.99882154e-01 2.88228985e-04 5.05979443e-01] [-3.83305873e-02 -8.76460672e-04 9.99264729e-01 -8.16139290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.665919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.33, Y:0.50, Z:-0.82 [[ 9.99126011e-01 1.66518529e-02 3.83396572e-02 1.33307888e+01] [-1.66744284e-02 9.99860936e-01 2.69118328e-04 5.03659642e-01] [-3.83298442e-02 -9.08174991e-04 9.99264729e-01 -8.17408899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.69592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.36, Y:0.50, Z:-0.82 [[ 9.99134678e-01 1.61231780e-02 3.83397661e-02 1.33635066e+01] [-1.61447310e-02 9.99869633e-01 2.52598913e-04 4.96863531e-01] [-3.83306951e-02 -8.71365544e-04 9.99264729e-01 -8.18092542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.725919999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:13.40, Y:0.49, Z:-0.82 [[ 9.99142861e-01 1.56075787e-02 3.83398805e-02 1.33967416e+01] [-1.56280329e-02 9.99877847e-01 2.33836964e-04 4.93782431e-01] [-3.83315476e-02 -8.32813445e-04 9.99264729e-01 -8.18873057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.755919999999998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:13.43, Y:0.49, Z:-0.82 [[ 9.99146669e-01 1.53615891e-02 3.83399862e-02 1.34299212e+01] [-1.53811396e-02 9.99881680e-01 2.14995013e-04 4.87885245e-01] [-3.83321471e-02 -8.04524232e-04 9.99264729e-01 -8.21815120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.785919999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.46, Y:0.49, Z:-0.82 [[ 9.99140582e-01 1.57523279e-02 3.83400830e-02 1.34624087e+01] [-1.57714394e-02 9.99875604e-01 1.96056084e-04 4.85018895e-01] [-3.83322253e-02 -8.00565888e-04 9.99264729e-01 -8.23941545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.815919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.50, Y:0.48, Z:-0.82 [[ 9.99135351e-01 1.60804797e-02 3.83401705e-02 1.34951034e+01] [-1.60991065e-02 9.99870385e-01 1.77125263e-04 4.78653310e-01] [-3.83323528e-02 -7.94214599e-04 9.99264730e-01 -8.24938604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.84592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.53, Y:0.48, Z:-0.83 [[ 9.99124318e-01 1.67518016e-02 3.83402486e-02 1.35274913e+01] [-1.67701961e-02 9.99859358e-01 1.58194404e-04 4.75779424e-01] [-3.83322063e-02 -8.01029365e-04 9.99264730e-01 -8.25435395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.875919999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.56, Y:0.47, Z:-0.83 [[ 9.99115706e-01 1.72576279e-02 3.83403094e-02 1.35599943e+01] [-1.72757642e-02 9.99850753e-01 1.41758386e-04 4.73061138e-01] [-3.83321408e-02 -8.03991172e-04 9.99264730e-01 -8.25261759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.905919999999998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:13.59, Y:0.47, Z:-0.83 [[ 9.99102585e-01 1.80011552e-02 3.83403699e-02 1.35918820e+01] [-1.80191143e-02 9.99837635e-01 1.22880066e-04 4.67134354e-01] [-3.83319328e-02 -8.13629299e-04 9.99264730e-01 -8.27854941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.93592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.62, Y:0.46, Z:-0.83 [[ 9.99105298e-01 1.78498258e-02 3.83404160e-02 1.36244480e+01] [-1.78670360e-02 9.99840366e-01 1.06256131e-04 4.64120706e-01] [-3.83323989e-02 -7.91190654e-04 9.99264730e-01 -8.29036069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.965919999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.66, Y:0.46, Z:-0.83 [[ 9.99142456e-01 1.56321066e-02 3.83404589e-02 1.36568297e+01] [-1.56469637e-02 9.99877575e-01 8.74499884e-05 4.55357522e-01] [-3.83343980e-02 -6.87286764e-04 9.99264730e-01 -8.32580926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.995919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.69, Y:0.45, Z:-0.83 [[ 9.99163881e-01 1.41966725e-02 3.83404895e-02 1.36887877e+01] [-1.42098390e-02 9.99899033e-01 7.09107073e-05 4.51000579e-01] [-3.83356116e-02 -6.15663599e-04 9.99264731e-01 -8.33438393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.02592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.72, Y:0.45, Z:-0.83 [[ 9.99172463e-01 1.35791590e-02 3.83405129e-02 1.37205070e+01] [-1.35912381e-02 9.99907633e-01 5.44102311e-05 4.47220745e-01] [-3.83362326e-02 -5.75460244e-04 9.99264731e-01 -8.33395513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.055919999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.75, Y:0.44, Z:-0.84 [[ 9.99193687e-01 1.19155142e-02 3.83405292e-02 1.37523743e+01] [-1.19257375e-02 9.99928885e-01 3.79419964e-05 4.38856481e-01] [-3.83373505e-02 -4.95150488e-04 9.99264731e-01 -8.35404122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.085919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.78, Y:0.43, Z:-0.84 [[ 9.99212698e-01 1.01974080e-02 3.83405384e-02 1.37848493e+01] [-1.02057290e-02 9.99947920e-01 2.13114966e-05 4.27625160e-01] [-3.83383243e-02 -4.12587863e-04 9.99264731e-01 -8.37135517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.11592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.82, Y:0.42, Z:-0.84 [[ 9.99210710e-01 1.03903908e-02 3.83405408e-02 1.38178701e+01] [-1.03986271e-02 9.99945933e-01 1.54018952e-05 4.22402844e-01] [-3.83383078e-02 -4.14078724e-04 9.99264731e-01 -8.37266858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.145919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.85, Y:0.42, Z:-0.84 [[ 9.99202791e-01 1.11259041e-02 3.83405389e-02 1.38503261e+01] [-1.11339452e-02 9.99938016e-01 -3.79216139e-06 4.17510075e-01] [-3.83382046e-02 -4.23092321e-04 9.99264731e-01 -8.39570287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.175919999999998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:13.88, Y:0.41, Z:-0.84 [[ 9.99183508e-01 1.27405634e-02 3.83405273e-02 1.38828439e+01] [-1.27490523e-02 9.99918727e-01 -2.30868054e-05 4.08495482e-01] [-3.83377054e-02 -4.65737433e-04 9.99264731e-01 -8.39142322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.205919999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.92, Y:0.40, Z:-0.84 [[ 9.99163327e-01 1.42355091e-02 3.83405228e-02 1.39158611e+01] [-1.42448709e-02 9.99898536e-01 -2.90049353e-05 4.04509292e-01] [-3.83370455e-02 -5.17175130e-04 9.99264731e-01 -8.40659255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.235919999999998 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:13.95, Y:0.40, Z:-0.84 [[ 9.99105715e-01 1.78262812e-02 3.83404987e-02 1.39487852e+01] [-1.78375492e-02 9.99840897e-01 -4.81906012e-05 3.98044407e-01] [-3.83352577e-02 -6.35753026e-04 9.99264732e-01 -8.41783152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.26592 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:13.98, Y:0.39, Z:-0.84 [[ 9.99069037e-01 1.97754311e-02 3.83404655e-02 1.39815233e+01] [-1.97874054e-02 9.99804208e-01 -6.71662722e-05 3.94486609e-01] [-3.83342870e-02 -6.91554590e-04 9.99264732e-01 -8.41028776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.295919999999999 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:14.01, Y:0.39, Z:-0.84 [[ 9.99011626e-01 2.24896229e-02 3.83404233e-02 1.40132761e+01] [-2.25028726e-02 9.99746775e-01 -8.59842561e-05 3.90693925e-01] [-3.83326483e-02 -7.76870388e-04 9.99264732e-01 -8.42244747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.325919999999998 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:14.05, Y:0.38, Z:-0.84 [[ 9.98873024e-01 2.79767309e-02 3.83403798e-02 1.40461502e+01] [-2.79933933e-02 9.99608103e-01 -1.02280541e-04 3.82484761e-01] [-3.83282158e-02 -9.71112059e-04 9.99264732e-01 -8.41575567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.35592 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:14.08, Y:0.38, Z:-0.84 [[ 9.98771810e-01 3.13829804e-02 3.83403219e-02 1.40784384e+01] [-3.14014437e-02 9.99506846e-01 -1.20683259e-04 3.79732513e-01] [-3.83252016e-02 -1.08340642e-03 9.99264732e-01 -8.43281501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.385919999999999 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:14.11, Y:0.38, Z:-0.85 [[ 9.98604249e-01 3.63259908e-02 3.83402601e-02 1.41111130e+01] [-3.63474327e-02 9.99339204e-01 -1.37868970e-04 3.76344949e-01] [-3.83199332e-02 -1.25589349e-03 9.99264732e-01 -8.45831263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.415919999999998 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:14.14, Y:0.38, Z:-0.85 [[ 9.98517961e-01 3.86252792e-02 3.83401860e-02 1.41437386e+01] [-3.86477154e-02 9.99252886e-01 -1.56070814e-04 3.75379917e-01] [-3.83175698e-02 -1.32592109e-03 9.99264733e-01 -8.46924966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.44592 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:14.18, Y:0.37, Z:-0.85 [[ 9.98330996e-01 4.31886388e-02 3.83401034e-02 1.41766855e+01] [-4.32137363e-02 9.99065835e-01 -1.74257564e-04 3.73680300e-01] [-3.83118133e-02 -1.48285239e-03 9.99264733e-01 -8.47635828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.475919999999999 meters Centerline goodness : 0.999409 Centerline is valid? [True, True] Translation: X:14.21, Y:0.37, Z:-0.84 [[ 9.98076411e-01 4.87188026e-02 3.83400127e-02 1.42121671e+01] [-4.87472777e-02 9.98811126e-01 -1.92336470e-04 3.73688939e-01] [-3.83038016e-02 -1.67700475e-03 9.99264733e-01 -8.40029283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.505919999999998 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:14.24, Y:0.37, Z:-0.85 [[ 9.98211332e-01 4.58738764e-02 3.83369688e-02 1.42405264e+01] [-4.58773788e-02 9.98946767e-01 -7.88821215e-04 3.72818677e-01] [-3.83327773e-02 -9.71389364e-04 9.99264557e-01 -8.49934809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.535919999999999 meters Centerline goodness : 0.999211 Centerline is valid? [True, True] Translation: X:14.27, Y:0.37, Z:-0.85 [[ 9.98361072e-01 4.24878699e-02 3.83399286e-02 1.42729290e+01] [-4.25119003e-02 9.99095943e-01 -1.88631018e-04 3.72321925e-01] [-3.83132816e-02 -1.44158136e-03 9.99264737e-01 -8.52066659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.565919999999998 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:14.31, Y:0.37, Z:-0.85 [[ 9.98435370e-01 4.07045917e-02 3.83399007e-02 1.43061669e+01] [-4.07270978e-02 9.99170289e-01 -1.94150812e-04 3.71134752e-01] [-3.83159924e-02 -1.36762584e-03 9.99264737e-01 -8.53696085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.59592 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:14.34, Y:0.37, Z:-0.86 [[ 9.98567962e-01 3.73106656e-02 3.83398013e-02 1.43376573e+01] [-3.73299848e-02 9.99302971e-01 -2.12108411e-04 3.65692866e-01] [-3.83209913e-02 -1.21941954e-03 9.99264737e-01 -8.55764057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.625919999999999 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:14.37, Y:0.36, Z:-0.85 [[ 9.98483523e-01 3.95059580e-02 3.83397072e-02 1.43730027e+01] [-3.95262856e-02 9.99218505e-01 -2.27945681e-04 3.64052461e-01] [-3.83187501e-02 -1.28782621e-03 9.99264737e-01 -8.46995808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.655919999999998 meters Centerline goodness : 0.998917 Centerline is valid? [True, True] Translation: X:14.40, Y:0.36, Z:-0.86 [[ 9.98798549e-01 3.05253966e-02 3.83361197e-02 1.44009933e+01] [-3.05174104e-02 9.99533920e-01 -7.93614583e-04 3.59782688e-01] [-3.83424774e-02 -3.77258004e-04 9.99264586e-01 -8.59408856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.68592 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:14.43, Y:0.36, Z:-0.86 [[ 9.98859227e-01 2.84662407e-02 3.83395024e-02 1.44332896e+01] [-2.84783835e-02 9.99594382e-01 -2.29479814e-04 3.55666479e-01] [-3.83304836e-02 -8.62629024e-04 9.99264745e-01 -8.59506277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.715919999999999 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:14.47, Y:0.35, Z:-0.86 [[ 9.98981266e-01 2.38016842e-02 3.83393995e-02 1.44650947e+01] [-2.38097776e-02 9.99716477e-01 -2.45546085e-04 3.46091330e-01] [-3.83343738e-02 -6.67556636e-04 9.99264745e-01 -8.60481502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.745919999999998 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:14.50, Y:0.34, Z:-0.86 [[ 9.99010560e-01 2.25388389e-02 3.83392889e-02 1.44980312e+01] [-2.25453815e-02 9.99745786e-01 -2.61741962e-04 3.42216541e-01] [-3.83354419e-02 -6.02890912e-04 9.99264745e-01 -8.62096187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.77592 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:14.53, Y:0.33, Z:-0.86 [[ 9.99040012e-01 2.11934871e-02 3.83391525e-02 1.45299271e+01] [-2.11983241e-02 9.99775251e-01 -2.80392593e-04 3.34696283e-01] [-3.83364783e-02 -5.32602360e-04 9.99264745e-01 -8.64291587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.805919999999999 meters Centerline goodness : 0.998576 Centerline is valid? [True, True] Translation: X:14.56, Y:0.33, Z:-0.86 [[ 9.99002570e-01 2.28907234e-02 3.83390249e-02 1.45637200e+01] [-2.28961769e-02 9.99737804e-01 -2.96879367e-04 3.31461585e-01] [-3.83357683e-02 -5.81233844e-04 9.99264745e-01 -8.55815302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.835919999999998 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:14.59, Y:0.33, Z:-0.87 [[ 9.99032584e-01 2.15453402e-02 3.83366060e-02 1.45934837e+01] [-2.15378929e-02 9.99767848e-01 -6.07294994e-04 3.26522173e-01] [-3.83407904e-02 -2.18982227e-04 9.99264698e-01 -8.66321004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.86592 meters Centerline goodness : 0.998773 Centerline is valid? [True, True] Translation: X:14.63, Y:0.32, Z:-0.86 [[ 9.98893302e-01 2.72450330e-02 3.83390126e-02 1.46279282e+01] [-2.72534657e-02 9.99628509e-01 -3.02757053e-04 3.19207858e-01] [-3.83330187e-02 -7.42448974e-04 9.99264744e-01 -8.58219486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.895919999999998 meters Centerline goodness : 0.998723 Centerline is valid? [True, True] Translation: X:14.66, Y:0.31, Z:-0.86 [[ 9.98884983e-01 2.75537468e-02 3.83351300e-02 1.46605073e+01] [-2.75442455e-02 9.99620284e-01 -7.76076596e-04 3.09015805e-01] [-3.83419573e-02 -2.80700975e-04 9.99264637e-01 -8.60283767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.925919999999998 meters Centerline goodness : 0.998580 Centerline is valid? [True, True] Translation: X:14.69, Y:0.30, Z:-0.86 [[ 9.98906533e-01 2.67614481e-02 3.83348820e-02 1.46922469e+01] [-2.67501819e-02 9.99641824e-01 -8.06872669e-04 3.03727357e-01] [-3.83427444e-02 -2.19474685e-04 9.99264623e-01 -8.62064807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.955919999999999 meters Centerline goodness : 0.998872 Centerline is valid? [True, True] Translation: X:14.72, Y:0.30, Z:-0.87 [[ 9.99032387e-01 2.15566008e-02 3.83354028e-02 1.47211574e+01] [-2.15440732e-02 9.99767626e-01 -7.39909009e-04 2.97544625e-01] [-3.83424445e-02 -8.67076598e-05 9.99264654e-01 -8.73450068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.985919999999998 meters Centerline goodness : 0.998385 Centerline is valid? [True, True] Translation: X:14.75, Y:0.29, Z:-0.88 [[ 9.99072583e-01 1.95987104e-02 3.83388081e-02 1.47537229e+01] [-1.96020210e-02 9.99807820e-01 -2.89581142e-04 2.87329568e-01] [-3.83371155e-02 -4.62205540e-04 9.99264756e-01 -8.75893740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.01592 meters Centerline goodness : 0.998678 Centerline is valid? [True, True] Translation: X:14.79, Y:0.28, Z:-0.88 [[ 9.99087762e-01 1.88093490e-02 3.83386608e-02 1.47866569e+01] [-1.88113752e-02 9.99823003e-01 -3.07914434e-04 2.80904185e-01] [-3.83376667e-02 -4.13569391e-04 9.99264756e-01 -8.77051911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.04592 meters Centerline goodness : 0.998678 Centerline is valid? [True, True] Translation: X:14.82, Y:0.28, Z:-0.88 [[ 9.99078532e-01 1.92936817e-02 3.83385028e-02 1.48199123e+01] [-1.92953520e-02 9.99813774e-01 -3.26478571e-04 2.80965838e-01] [-3.83376621e-02 -4.13577176e-04 9.99264756e-01 -8.78336809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.07592 meters Centerline goodness : 0.998632 Centerline is valid? [True, True] Translation: X:14.86, Y:0.27, Z:-0.87 [[ 9.98974855e-01 2.40709792e-02 3.83383356e-02 1.48565907e+01] [-2.40754528e-02 9.99710085e-01 -3.45050466e-04 2.69128279e-01] [-3.83355264e-02 -5.78316051e-04 9.99264756e-01 -8.68597756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.105919999999998 meters Centerline goodness : 0.998583 Centerline is valid? [True, True] Translation: X:14.89, Y:0.26, Z:-0.87 [[ 9.98982494e-01 2.37619076e-02 3.83320785e-02 1.48884249e+01] [-2.37404236e-02 9.99717641e-01 -1.01561484e-03 2.64088326e-01] [-3.83453881e-02 1.04561660e-04 9.99264540e-01 -8.70711466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.13592 meters Centerline goodness : 0.998484 Centerline is valid? [True, True] Translation: X:14.92, Y:0.25, Z:-0.87 [[ 9.98891572e-01 2.73174146e-02 3.83325861e-02 1.49210178e+01] [-2.73006627e-02 9.99626806e-01 -9.60487129e-04 2.53921475e-01] [-3.83445186e-02 -8.70825077e-05 9.99264575e-01 -8.73188977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.16592 meters Centerline goodness : 0.998436 Centerline is valid? [True, True] Translation: X:14.95, Y:0.25, Z:-0.88 [[ 9.98956212e-01 2.48418080e-02 3.83323845e-02 1.49476271e+01] [-2.48223666e-02 9.99691394e-01 -9.83094255e-04 2.46156391e-01] [-3.83449768e-02 3.05676124e-05 9.99264560e-01 -8.84074905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.195919999999997 meters Centerline goodness : 0.998874 Centerline is valid? [True, True] Translation: X:14.98, Y:0.23, Z:-0.88 [[ 9.98736472e-01 3.24909405e-02 3.83379478e-02 1.49791685e+01] [-3.25024850e-02 9.99471603e-01 -3.22268161e-04 2.34104993e-01] [-3.83281609e-02 -9.24217609e-04 9.99264779e-01 -8.82867073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.22592 meters Centerline goodness : 0.998571 Centerline is valid? [True, True] Translation: X:15.01, Y:0.23, Z:-0.88 [[ 9.98592682e-01 3.66451754e-02 3.83378069e-02 1.50115066e+01] [-3.66591650e-02 9.99327770e-01 -3.38242620e-04 2.29330479e-01] [-3.83244300e-02 -1.06766538e-03 9.99264779e-01 -8.83573147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.25592 meters Centerline goodness : 0.998826 Centerline is valid? [True, True] Translation: X:15.04, Y:0.23, Z:-0.89 [[ 9.98399184e-01 4.15846920e-02 3.83377560e-02 1.50441440e+01] [-4.16021003e-02 9.99134199e-01 -3.43915569e-04 2.25942395e-01] [-3.83188647e-02 -1.25156615e-03 9.99264779e-01 -8.85962296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.285919999999997 meters Centerline goodness : 0.998916 Centerline is valid? [True, True] Translation: X:15.08, Y:0.22, Z:-0.88 [[ 9.97771741e-01 5.46057062e-02 3.83375828e-02 1.50808632e+01] [-5.46319987e-02 9.98506491e-01 -3.62248345e-04 2.22513697e-01] [-3.83001061e-02 -1.73301761e-03 9.99264779e-01 -8.76677540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.31592 meters Centerline goodness : 0.998532 Centerline is valid? [True, True] Translation: X:15.11, Y:0.22, Z:-0.88 [[ 9.97511380e-01 5.91758792e-02 3.83309442e-02 1.51144294e+01] [-5.91794606e-02 9.98246816e-01 -1.04217389e-03 2.21707890e-01] [-3.83254145e-02 -1.22882428e-03 9.99264556e-01 -8.77040445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.34592 meters Centerline goodness : 0.998874 Centerline is valid? [True, True] Translation: X:15.14, Y:0.22, Z:-0.89 [[ 9.97240304e-01 6.35815789e-02 3.83295995e-02 1.51383288e+01] [-6.35826487e-02 9.97975864e-01 -1.19232113e-03 2.19254287e-01] [-3.83278248e-02 -1.24806677e-03 9.99264440e-01 -8.88901121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.375919999999997 meters Centerline goodness : 0.998663 Centerline is valid? [True, True] Translation: X:15.18, Y:0.22, Z:-0.88 [[ 9.96178490e-01 7.84774169e-02 3.83368164e-02 1.51789064e+01] [-7.85231154e-02 9.96912244e-01 -3.14559420e-04 2.19635367e-01] [-3.82431275e-02 -2.69696893e-03 9.99264825e-01 -8.78979574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.40592 meters Centerline goodness : 0.998483 Centerline is valid? [True, True] Translation: X:15.20, Y:0.22, Z:-0.89 [[ 9.96432386e-01 7.51911426e-02 3.83248238e-02 1.52015411e+01] [-7.51856027e-02 9.97168293e-01 -1.58784346e-03 2.20648473e-01] [-3.83356908e-02 -1.29929633e-03 9.99264073e-01 -8.88172202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.43592 meters Centerline goodness : 0.998921 Centerline is valid? [True, True] Translation: X:15.24, Y:0.22, Z:-0.88 [[ 9.95993481e-01 8.07922168e-02 3.83353984e-02 1.52381797e+01] [-8.08394691e-02 9.96727083e-01 -3.18407263e-04 2.23695512e-01] [-3.82356546e-02 -2.78188170e-03 9.99264878e-01 -8.80715693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.465919999999997 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] Translation: X:15.27, Y:0.23, Z:-0.88 [[ 9.95849330e-01 8.25526537e-02 3.83297661e-02 1.52714580e+01] [-8.25764338e-02 9.96584267e-01 -9.65033564e-04 2.26473623e-01] [-3.82785079e-02 -2.20410737e-03 9.99264679e-01 -8.82842937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.495919999999998 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:15.31, Y:0.23, Z:-0.89 [[ 9.96163316e-01 7.86733913e-02 3.83294194e-02 1.53072628e+01] [-7.86928003e-02 9.96898407e-01 -1.00438553e-03 2.25882005e-01] [-3.82895555e-02 -2.01571732e-03 9.99264653e-01 -8.88415755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.52592 meters Centerline goodness : 0.998526 Centerline is valid? [True, True] Translation: X:15.33, Y:0.23, Z:-0.89 [[ 9.95802534e-01 8.31179751e-02 3.83238235e-02 1.53345197e+01] [-8.31169464e-02 9.96538479e-01 -1.62287208e-03 2.29179607e-01] [-3.83260546e-02 -1.56929905e-03 9.99264055e-01 -8.88049501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.55592 meters Centerline goodness : 0.998630 Centerline is valid? [True, True] Translation: X:15.37, Y:0.23, Z:-0.89 [[ 9.96036318e-01 8.02648408e-02 3.83302667e-02 1.53691545e+01] [-8.02919198e-02 9.96771042e-01 -8.34872696e-04 2.26557456e-01] [-3.82735108e-02 -2.24604717e-03 9.99264777e-01 -8.87197657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.585919999999998 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:15.41, Y:0.22, Z:-0.90 [[ 9.97419171e-01 6.07118914e-02 3.83283776e-02 1.54141200e+01] [-6.07156612e-02 9.98154532e-01 -1.06670770e-03 2.17965868e-01] [-3.83224057e-02 -1.26317808e-03 9.99264628e-01 -8.98313732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.61592 meters Centerline goodness : 0.998775 Centerline is valid? [True, True] Translation: X:15.43, Y:0.23, Z:-0.90 [[ 9.96938237e-01 6.81648654e-02 3.83106094e-02 1.54270763e+01] [-6.80983697e-02 9.97673982e-01 -3.03947264e-03 2.29661514e-01] [-3.84286834e-02 4.21276452e-04 9.99261257e-01 -9.00092922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.64592 meters Centerline goodness : 0.998381 Centerline is valid? [True, True] Translation: X:15.46, Y:0.23, Z:-0.90 [[ 9.97136282e-01 6.51933860e-02 3.83282836e-02 1.54595624e+01] [-6.52321406e-02 9.97870087e-01 -2.39917998e-04 2.29417801e-01] [-3.82622887e-02 -2.26100504e-03 9.99265173e-01 -9.01887044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.675919999999998 meters Centerline goodness : 0.998578 Centerline is valid? [True, True] Translation: X:15.50, Y:0.23, Z:-0.89 [[ 9.96459148e-01 7.48338886e-02 3.83282511e-02 1.55000940e+01] [-7.48795437e-02 9.97192556e-01 -2.44996420e-04 2.30089654e-01] [-3.82389807e-02 -2.62587303e-03 9.99265173e-01 -8.92880074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.70592 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:15.53, Y:0.23, Z:-0.89 [[ 9.96615189e-01 7.27311658e-02 3.83189645e-02 1.55318408e+01] [-7.27256357e-02 9.97350796e-01 -1.54004546e-03 2.29258737e-01] [-3.83294591e-02 -1.25193836e-03 9.99264372e-01 -8.92957717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.73592 meters Centerline goodness : 0.998874 Centerline is valid? [True, True] Translation: X:15.56, Y:0.23, Z:-0.90 [[ 9.96843610e-01 6.95300060e-02 3.83196393e-02 1.55614011e+01] [-6.95258242e-02 9.97579108e-01 -1.44332663e-03 2.30487692e-01] [-3.83272261e-02 -1.22543358e-03 9.99264491e-01 -8.95959568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.765919999999998 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:15.59, Y:0.23, Z:-0.90 [[ 9.96931891e-01 6.82510247e-02 3.83223421e-02 1.55934339e+01] [-6.82630970e-02 9.97666858e-01 -9.94904352e-04 2.29675946e-01] [-3.83008339e-02 -1.62414988e-03 9.99264934e-01 -8.99604783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.79592 meters Centerline goodness : 0.998913 Centerline is valid? [True, True] Translation: X:15.62, Y:0.23, Z:-0.91 [[ 9.97266446e-01 6.31742534e-02 3.83229563e-02 1.56196025e+01] [-6.31865246e-02 9.98001336e-01 -8.92116623e-04 2.26676108e-01] [-3.83027204e-02 -1.53181645e-03 9.99265007e-01 -9.06585392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.82592 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:15.66, Y:0.23, Z:-0.90 [[ 9.96757707e-01 7.07470145e-02 3.83266608e-02 1.56557164e+01] [-7.07911269e-02 9.97491140e-01 -2.06613691e-04 2.26544355e-01] [-3.82451219e-02 -2.50724372e-03 9.99265242e-01 -9.01141645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.855919999999998 meters Centerline goodness : 0.998579 Centerline is valid? [True, True] Translation: X:15.68, Y:0.23, Z:-0.91 [[ 9.97064317e-01 6.62882150e-02 3.83225763e-02 1.56819188e+01] [-6.63022216e-02 9.97799175e-01 -9.06697328e-04 2.25407808e-01] [-3.82983384e-02 -1.63683639e-03 9.99265009e-01 -9.09545287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.88592 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:15.71, Y:0.22, Z:-0.91 [[ 9.96974090e-01 6.76295590e-02 3.83263128e-02 1.57140446e+01] [-6.76715155e-02 9.97707635e-01 -2.02986654e-04 2.24743343e-01] [-3.82521828e-02 -2.39122724e-03 9.99265256e-01 -9.08758133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.91592 meters Centerline goodness : 0.998872 Centerline is valid? [True, True] Translation: X:15.75, Y:0.23, Z:-0.90 [[ 9.96347777e-01 7.63033914e-02 3.83262326e-02 1.57538745e+01] [-7.63511883e-02 9.97080964e-01 -2.17144016e-04 2.25548453e-01] [-3.82309258e-02 -2.70990245e-03 9.99265256e-01 -9.01581786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.945919999999997 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:15.78, Y:0.23, Z:-0.91 [[ 9.96673669e-01 7.19254767e-02 3.83187177e-02 1.57778964e+01] [-7.19277262e-02 9.97408971e-01 -1.32167707e-03 2.25730493e-01] [-3.83144951e-02 -1.43889751e-03 9.99264694e-01 -9.11576246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.97592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.81, Y:0.22, Z:-0.91 [[ 9.96666303e-01 7.20239912e-02 3.83252482e-02 1.58097775e+01] [-7.20682192e-02 9.97399679e-01 -2.28049669e-04 2.23610180e-01] [-3.82420153e-02 -2.53474297e-03 9.99265292e-01 -9.13150119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.00592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.84, Y:0.22, Z:-0.92 [[ 9.96645376e-01 7.23130453e-02 3.83251586e-02 1.58425016e+01] [-7.23569437e-02 9.97378772e-01 -2.42216261e-04 2.22707739e-01] [-3.82422150e-02 -2.53168763e-03 9.99265292e-01 -9.15634465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.035919999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.87, Y:0.22, Z:-0.92 [[ 9.96529219e-01 7.38965948e-02 3.83250487e-02 1.58744498e+01] [-7.39410345e-02 9.97262582e-01 -2.58514563e-04 2.21760582e-01] [-3.82392403e-02 -2.57617643e-03 9.99265292e-01 -9.16277195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.06592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:15.91, Y:0.22, Z:-0.91 [[ 9.96106853e-01 7.93872482e-02 3.83249477e-02 1.59106674e+01] [-7.94351852e-02 9.96839996e-01 -2.72714441e-04 2.24682144e-01] [-3.82254907e-02 -2.77269659e-03 9.99265292e-01 -9.11256301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.09592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.94, Y:0.23, Z:-0.92 [[ 9.96223791e-01 7.79083763e-02 3.83202590e-02 1.59373526e+01] [-7.79321581e-02 9.96958281e-01 -8.75016157e-04 2.25410032e-01] [-3.82718706e-02 -2.11466857e-03 9.99265126e-01 -9.19180087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.125919999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.97, Y:0.23, Z:-0.92 [[ 9.95754133e-01 8.36954592e-02 3.83246249e-02 1.59697976e+01] [-8.37462318e-02 9.96487074e-01 -2.81458903e-04 2.30321060e-01] [-3.82135502e-02 -2.92927905e-03 9.99265302e-01 -9.20126216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.15592 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:16.00, Y:0.23, Z:-0.92 [[ 9.95116154e-01 9.09674235e-02 3.83245004e-02 1.60027266e+01] [-9.10229359e-02 9.95848752e-01 -2.97490781e-04 2.33838306e-01] [-3.81924679e-02 -3.19237067e-03 9.99265302e-01 -9.22157117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.18592 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:16.04, Y:0.24, Z:-0.92 [[ 9.94409101e-01 9.83960480e-02 3.83243701e-02 1.60401498e+01] [-9.84564203e-02 9.95141314e-01 -3.13432963e-04 2.36964470e-01] [-3.81690046e-02 -3.46159970e-03 9.99265302e-01 -9.17758157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.215919999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.07, Y:0.24, Z:-0.93 [[ 9.94533765e-01 9.71305067e-02 3.83178047e-02 1.60665984e+01] [-9.71618180e-02 9.95268045e-01 -1.04862093e-03 2.37973394e-01] [-3.82383396e-02 -2.68013864e-03 9.99265053e-01 -9.25165356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.245919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.10, Y:0.24, Z:-0.93 [[ 9.93921761e-01 1.03202745e-01 3.83239743e-02 1.61000297e+01] [-1.03266128e-01 9.94653708e-01 -3.27234627e-04 2.40587400e-01] [-3.81528547e-02 -3.63232283e-03 9.99265313e-01 -9.25863585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.27592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.13, Y:0.24, Z:-0.93 [[ 9.93427788e-01 1.07854104e-01 3.83239136e-02 1.61329716e+01] [-1.07920647e-01 9.94159455e-01 -3.34201350e-04 2.44805594e-01] [-3.81361260e-02 -3.80393662e-03 9.99265313e-01 -9.27054992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.30592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.17, Y:0.25, Z:-0.93 [[ 9.93271019e-01 1.09288480e-01 3.83237713e-02 1.61658931e+01] [-1.09355484e-01 9.94002644e-01 -3.49788997e-04 2.48031512e-01] [-3.81321579e-02 -3.84347928e-03 9.99265313e-01 -9.28189272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.335919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.20, Y:0.25, Z:-0.93 [[ 9.93035036e-01 1.11412375e-01 3.83236254e-02 1.61983439e+01] [-1.11480358e-01 9.93766570e-01 -3.65102276e-04 2.51444317e-01] [-3.81254147e-02 -3.90977213e-03 9.99265313e-01 -9.28711295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.36592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.23, Y:0.26, Z:-0.93 [[ 9.92466477e-01 1.16368363e-01 3.83235788e-02 1.62315882e+01] [-1.16439813e-01 9.93197681e-01 -3.69932773e-04 2.57607223e-01] [-3.81059380e-02 -4.09524447e-03 9.99265313e-01 -9.28755594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.39592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.26, Y:0.26, Z:-0.93 [[ 9.92145177e-01 1.19076707e-01 3.83234220e-02 1.62631418e+01] [-1.19149558e-01 9.92876243e-01 -3.85520278e-04 2.61077468e-01] [-3.80963217e-02 -4.18372671e-03 9.99265313e-01 -9.30072972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.425919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.29, Y:0.27, Z:-0.93 [[ 9.91806226e-01 1.21867699e-01 3.83232828e-02 1.62946868e+01] [-1.21942096e-01 9.92537136e-01 -3.98891029e-04 2.72227961e-01] [-3.80858933e-02 -4.27759882e-03 9.99265314e-01 -9.33632480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.45592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.33, Y:0.28, Z:-0.94 [[ 9.91663740e-01 1.23021800e-01 3.83231418e-02 1.63275817e+01] [-1.23096548e-01 9.92394614e-01 -4.12008038e-04 2.77272567e-01] [-3.80823655e-02 -4.30887301e-03 9.99265314e-01 -9.35391282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.48592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:16.37, Y:0.28, Z:-0.93 [[ 9.89538432e-01 1.39086449e-01 3.83229757e-02 1.63724391e+01] [-1.39172470e-01 9.90268065e-01 -4.26919202e-04 2.84343574e-01] [-3.80093977e-02 -4.91105022e-03 9.99265314e-01 -9.26500703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.515919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.39, Y:0.29, Z:-0.94 [[ 9.91583335e-01 1.23675791e-01 3.82986733e-02 1.63896493e+01] [-1.23679306e-01 9.92319606e-01 -2.28657512e-03 2.93126530e-01] [-3.82873184e-02 -2.46942356e-03 9.99263721e-01 -9.35853868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.54592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.42, Y:0.30, Z:-0.94 [[ 9.91777906e-01 1.22099056e-01 3.83197748e-02 1.64220097e+01] [-1.22172215e-01 9.92508821e-01 -4.35461996e-04 2.99067660e-01] [-3.80858840e-02 -4.24973018e-03 9.99265433e-01 -9.36279909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.57592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.45, Y:0.31, Z:-0.94 [[ 9.92499857e-01 1.16084595e-01 3.83197198e-02 1.64545135e+01] [-1.16153139e-01 9.93231219e-01 -4.40251572e-04 3.14923188e-01] [-3.81114484e-02 -4.01400611e-03 9.99265433e-01 -9.39380138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.605919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.49, Y:0.33, Z:-0.94 [[ 9.93352989e-01 1.08542399e-01 3.83195348e-02 1.64914220e+01] [-1.08604791e-01 9.94084902e-01 -4.55807305e-04 3.25158014e-01] [-3.81423454e-02 -3.70890751e-03 9.99265433e-01 -9.36432032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.63592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.52, Y:0.33, Z:-0.94 [[ 9.94415827e-01 9.83333176e-02 3.83108502e-02 1.65177941e+01] [-9.83617350e-02 9.95150066e-01 -1.14697184e-03 3.26379256e-01] [-3.82378307e-02 -2.62775475e-03 9.99265212e-01 -9.43499822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.66592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.55, Y:0.33, Z:-0.95 [[ 9.95047668e-01 9.17157838e-02 3.83191018e-02 1.65495291e+01] [-9.17656458e-02 9.95780526e-01 -4.59288317e-04 3.27933054e-01] [-3.81995393e-02 -3.05936335e-03 9.99265448e-01 -9.45534407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.695919999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.58, Y:0.33, Z:-0.95 [[ 9.96051417e-01 8.00826738e-02 3.83189278e-02 1.65820807e+01] [-8.01234298e-02 9.96784837e-01 -4.73372140e-04 3.30536731e-01] [-3.82336351e-02 -2.59874093e-03 9.99265448e-01 -9.48415163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.72592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.61, Y:0.33, Z:-0.95 [[ 9.96527739e-01 7.39198231e-02 3.83187211e-02 1.66139597e+01] [-7.39554217e-02 9.97261428e-01 -4.89554419e-04 3.30801360e-01] [-3.82499703e-02 -2.34602262e-03 9.99265448e-01 -9.50051163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.75592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.65, Y:0.33, Z:-0.95 [[ 9.96944013e-01 6.80758045e-02 3.83186541e-02 1.66465187e+01] [-6.81069022e-02 9.97677906e-01 -4.94739683e-04 3.30826976e-01] [-3.82633544e-02 -2.11653706e-03 9.99265448e-01 -9.51939796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.785919999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.68, Y:0.33, Z:-0.95 [[ 9.97595730e-01 5.77446637e-02 3.83185852e-02 1.66782088e+01] [-5.77679548e-02 9.98329912e-01 -5.00019778e-04 3.29202540e-01] [-3.82834633e-02 -1.71476870e-03 9.99265448e-01 -9.54156861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.81592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.71, Y:0.33, Z:-0.95 [[ 9.97837058e-01 5.34126181e-02 3.83183850e-02 1.67108279e+01] [-5.34321497e-02 9.98571350e-01 -5.14924829e-04 3.26360022e-01] [-3.82911449e-02 -1.53362261e-03 9.99265448e-01 -9.53803738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.84592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.74, Y:0.32, Z:-0.95 [[ 9.98159025e-01 4.70135157e-02 3.83182819e-02 1.67423822e+01] [-4.70280489e-02 9.98893433e-01 -5.22484079e-04 3.21170340e-01] [-3.83004439e-02 -1.28051183e-03 9.99265448e-01 -9.54845184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.875919999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.77, Y:0.32, Z:-0.96 [[ 9.98236051e-01 4.53486576e-02 3.83182061e-02 1.67747855e+01] [-4.53617551e-02 9.98970486e-01 -5.27980284e-04 3.19445180e-01] [-3.83027002e-02 -1.21113213e-03 9.99265448e-01 -9.56413095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.90592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.81, Y:0.32, Z:-0.96 [[ 9.98326287e-01 4.33169680e-02 3.83179521e-02 1.68077058e+01] [-4.33278867e-02 9.99060757e-01 -5.45815348e-04 3.15388660e-01] [-3.83056053e-02 -1.11533408e-03 9.99265449e-01 -9.60090603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.93592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.84, Y:0.32, Z:-0.96 [[ 9.98306279e-01 4.37758771e-02 3.83176868e-02 1.68409898e+01] [-4.37864421e-02 9.99040755e-01 -5.63843153e-04 3.15241018e-01] [-3.83056135e-02 -1.11490702e-03 9.99265449e-01 -9.61374896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.965919999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.88, Y:0.31, Z:-0.95 [[ 9.97970232e-01 5.08644361e-02 3.83174198e-02 1.68789345e+01] [-5.08795420e-02 9.98704628e-01 -5.81443448e-04 3.13144233e-01] [-3.82973592e-02 -1.36930952e-03 9.99265449e-01 -9.50652077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.995919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.90, Y:0.31, Z:-0.96 [[ 9.98117915e-01 4.78921327e-02 3.83010737e-02 1.69041710e+01] [-4.78662467e-02 9.98852484e-01 -1.59309815e-03 3.08521642e-01] [-3.83334194e-02 -2.43228838e-04 9.99264975e-01 -9.60534975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.02592 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:16.94, Y:0.31, Z:-0.96 [[ 9.97953787e-01 5.11867564e-02 3.83165181e-02 1.69373432e+01] [-5.12018434e-02 9.98688152e-01 -5.88092615e-04 3.06665639e-01] [-3.82963552e-02 -1.37498711e-03 9.99265480e-01 -9.61411903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.055919999999997 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:16.97, Y:0.31, Z:-0.96 [[ 9.97781836e-01 5.44359708e-02 3.83162320e-02 1.69702692e+01] [-5.44527554e-02 9.98516164e-01 -6.06178680e-04 3.06166359e-01] [-3.82923749e-02 -1.48159033e-03 9.99265480e-01 -9.62313405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.085919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.00, Y:0.31, Z:-0.96 [[ 9.97412707e-01 6.08258162e-02 3.83159475e-02 1.70028833e+01] [-6.08466339e-02 9.98146932e-01 -6.23656383e-04 3.05332115e-01] [-3.82828799e-02 -1.70935363e-03 9.99265480e-01 -9.64006606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.11592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.04, Y:0.31, Z:-0.97 [[ 9.96966110e-01 6.77530119e-02 3.83158585e-02 1.70358643e+01] [-6.77787217e-02 9.97700180e-01 -6.29077379e-04 3.08317210e-01] [-3.82703608e-02 -1.96983109e-03 9.99265480e-01 -9.66517267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.14592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.07, Y:0.31, Z:-0.97 [[ 9.96765665e-01 7.06408219e-02 3.83155707e-02 1.70681369e+01] [-7.06680039e-02 9.97499682e-01 -6.46146268e-04 3.10126253e-01] [-3.82654139e-02 -2.06362848e-03 9.99265480e-01 -9.67813716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.175919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.10, Y:0.31, Z:-0.97 [[ 9.96485492e-01 7.44889309e-02 3.83153179e-02 1.71005291e+01] [-7.45183851e-02 9.97219421e-01 -6.60801441e-04 3.12682290e-01] [-3.82580016e-02 -2.19671657e-03 9.99265480e-01 -9.69788124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.20592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.13, Y:0.31, Z:-0.97 [[ 9.96408428e-01 7.55129412e-02 3.83150225e-02 1.71335951e+01] [-7.55425095e-02 9.97142352e-01 -6.77508477e-04 3.13854572e-01] [-3.82566923e-02 -2.21933780e-03 9.99265480e-01 -9.69986954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.23592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.17, Y:0.32, Z:-0.97 [[ 9.96357754e-01 7.61787857e-02 3.83147220e-02 1.71662648e+01] [-7.62082086e-02 9.97091684e-01 -6.94099208e-04 3.18016742e-01] [-3.82561663e-02 -2.22832519e-03 9.99265480e-01 -9.70715169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.265919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.20, Y:0.32, Z:-0.97 [[ 9.96327091e-01 7.65789309e-02 3.83144120e-02 1.71991635e+01] [-7.66080082e-02 9.97061035e-01 -7.10805978e-04 3.18541105e-01] [-3.82562401e-02 -2.22699554e-03 9.99265481e-01 -9.73295696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.29592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.23, Y:0.32, Z:-0.97 [[ 9.96344304e-01 7.63548112e-02 3.83140941e-02 1.72314930e+01] [-7.63830818e-02 9.97078280e-01 -7.27547440e-04 3.18286804e-01] [-3.82577028e-02 -2.20166084e-03 9.99265481e-01 -9.74222808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.32592 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:17.27, Y:0.32, Z:-0.97 [[ 9.95818243e-01 8.29342056e-02 3.83137687e-02 1.72722016e+01] [-8.29666816e-02 9.96552044e-01 -7.44301532e-04 3.19966093e-01] [-3.82433925e-02 -2.43757720e-03 9.99265481e-01 -9.65695167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.355919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.29, Y:0.32, Z:-0.98 [[ 9.96491475e-01 7.44238119e-02 3.82862332e-02 1.72940769e+01] [-7.43995581e-02 9.97226385e-01 -2.05983903e-03 3.21383160e-01] [-3.83333430e-02 -7.95866798e-04 9.99264690e-01 -9.77975614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.38592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.33, Y:0.32, Z:-0.98 [[ 9.96456410e-01 7.48786693e-02 3.83119873e-02 1.73261015e+01] [-7.49047767e-02 9.97190405e-01 -7.55525061e-04 3.20995094e-01] [-3.82609188e-02 -2.11690306e-03 9.99265541e-01 -9.80602886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.41592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.36, Y:0.32, Z:-0.98 [[ 9.96419926e-01 7.53627570e-02 3.83116847e-02 1.73582284e+01] [-7.53886442e-02 9.97153929e-01 -7.70571220e-04 3.18891944e-01] [-3.82607193e-02 -2.12045345e-03 9.99265541e-01 -9.79897922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.445919999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.39, Y:0.32, Z:-0.98 [[ 9.96277619e-01 7.72213887e-02 3.83113833e-02 1.73907022e+01] [-7.72480815e-02 9.97011593e-01 -7.85276067e-04 3.16168449e-01] [-3.82575334e-02 -2.17712789e-03 9.99265541e-01 -9.78872842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.47592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.42, Y:0.32, Z:-0.98 [[ 9.96173211e-01 7.85568548e-02 3.83112739e-02 1.74229973e+01] [-7.85843284e-02 9.96907156e-01 -7.90574030e-04 3.16209196e-01] [-3.82548882e-02 -2.22311706e-03 9.99265541e-01 -9.80398651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.50592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.46, Y:0.32, Z:-0.98 [[ 9.96140623e-01 7.89691673e-02 3.83109590e-02 1.74551047e+01] [-7.89963707e-02 9.96874578e-01 -8.05550445e-04 3.15716640e-01] [-3.82548348e-02 -2.22398520e-03 9.99265541e-01 -9.82249333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.535919999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.49, Y:0.32, Z:-0.97 [[ 9.95767373e-01 8.35442030e-02 3.83106455e-02 1.74930708e+01] [-8.35742164e-02 9.96501218e-01 -8.20193710e-04 3.15409414e-01] [-3.82451274e-02 -2.38506004e-03 9.99265541e-01 -9.74754460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.56592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.53, Y:0.32, Z:-0.98 [[ 9.95586394e-01 8.56827432e-02 3.82909812e-02 1.75252006e+01] [-8.56798666e-02 9.96321236e-01 -1.71912849e-03 3.15285107e-01] [-3.82974173e-02 -1.56922523e-03 9.99265153e-01 -9.76818787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.59592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.55, Y:0.31, Z:-0.99 [[ 9.96102183e-01 7.94616813e-02 3.82920588e-02 1.75504798e+01] [-7.94561568e-02 9.96836965e-01 -1.66848986e-03 3.13284230e-01] [-3.83035207e-02 -1.38055344e-03 9.99265197e-01 -9.85608946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.625919999999997 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:17.60, Y:0.30, Z:-0.99 [[ 9.97175598e-01 6.45999774e-02 3.83101819e-02 1.76015059e+01] [-6.46173067e-02 9.97909808e-01 -7.86984403e-04 3.01526549e-01] [-3.82809455e-02 -1.69073914e-03 9.99265586e-01 -9.88077827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.65592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.61, Y:0.31, Z:-0.99 [[ 9.95967172e-01 8.11587649e-02 3.82445682e-02 1.76136089e+01] [-8.10749862e-02 9.96700991e-01 -3.73900745e-03 3.14463325e-01] [-3.84218522e-02 6.23250843e-04 9.99261414e-01 -9.88281758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.68592 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:17.65, Y:0.31, Z:-0.98 [[ 9.95226743e-01 8.97587402e-02 3.83027272e-02 1.76531818e+01] [-8.97963501e-02 9.95959872e-01 -7.40790868e-04 3.12586000e-01] [-3.82144718e-02 -2.70219022e-03 9.99265907e-01 -9.78726597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.715919999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.68, Y:0.31, Z:-0.99 [[ 9.96020802e-01 8.04811568e-02 3.82798189e-02 1.76766716e+01] [-8.04679294e-02 9.96755409e-01 -1.88863992e-03 3.14366701e-01] [-3.83076164e-02 -1.19917311e-03 9.99265274e-01 -9.91062548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.745919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.71, Y:0.31, Z:-0.99 [[ 9.96351826e-01 7.62626867e-02 3.83019808e-02 1.77098491e+01] [-7.62905825e-02 9.97085356e-01 -7.34869760e-04 3.08065273e-01] [-3.82463873e-02 -2.18989160e-03 9.99265940e-01 -9.91883703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.77592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.74, Y:0.31, Z:-0.99 [[ 9.96461545e-01 7.48155863e-02 3.83016519e-02 1.77425597e+01] [-7.48417743e-02 9.97195138e-01 -7.51634341e-04 3.06057856e-01] [-3.82504550e-02 -2.11758887e-03 9.99265940e-01 -9.92772528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.805919999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.77, Y:0.31, Z:-0.99 [[ 9.96574805e-01 7.32916649e-02 3.83013134e-02 1.77743987e+01] [-7.33160845e-02 9.97308458e-01 -7.68504469e-04 3.05924656e-01] [-3.82545488e-02 -2.04223014e-03 9.99265940e-01 -9.93236353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.835919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.81, Y:0.30, Z:-0.99 [[ 9.96797214e-01 7.02021800e-02 3.83010107e-02 1.78070901e+01] [-7.02237582e-02 9.97530957e-01 -7.83303383e-04 3.04682222e-01] [-3.82614335e-02 -1.90884628e-03 9.99265940e-01 -9.94854612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.86592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.84, Y:0.30, Z:-1.00 [[ 9.96852879e-01 6.94074685e-02 3.83006565e-02 1.78389610e+01] [-6.94278118e-02 9.97586657e-01 -8.00257509e-04 3.01670458e-01] [-3.82637677e-02 -1.86139177e-03 9.99265940e-01 -9.95938259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.89592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.87, Y:0.29, Z:-1.00 [[ 9.96825880e-01 6.97943361e-02 3.83003383e-02 1.78714463e+01] [-6.98143910e-02 9.97559666e-01 -8.15208453e-04 2.94708147e-01] [-3.82637696e-02 -1.86129391e-03 9.99265940e-01 -9.96641732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.925919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.90, Y:0.29, Z:-1.00 [[ 9.96756139e-01 7.07834222e-02 3.83002244e-02 1.79045609e+01] [-7.08040016e-02 9.97489910e-01 -8.20522985e-04 2.93412956e-01] [-3.82621668e-02 -1.89394783e-03 9.99265940e-01 -9.98392663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.95592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.94, Y:0.29, Z:-1.00 [[ 9.96542376e-01 7.37320380e-02 3.82998535e-02 1.79359965e+01] [-7.37541381e-02 9.97276103e-01 -8.37483304e-04 2.91550464e-01] [-3.82572780e-02 -1.99018509e-03 9.99265940e-01 -9.99952506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.98592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.97, Y:0.29, Z:-1.00 [[ 9.96495687e-01 7.43605417e-02 3.82995481e-02 1.79682105e+01] [-7.43825778e-02 9.97229416e-01 -8.51226303e-04 2.89513855e-01] [-3.82567336e-02 -2.00057578e-03 9.99265941e-01 -1.00040448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.015919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.00, Y:0.29, Z:-1.00 [[ 9.96393741e-01 7.57144846e-02 3.82992136e-02 1.80002161e+01] [-7.57369506e-02 9.97127456e-01 -8.66019359e-04 2.89102266e-01] [-3.82547677e-02 -2.03776938e-03 9.99265941e-01 -1.00014030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.04592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.03, Y:0.29, Z:-1.00 [[ 9.96277823e-01 7.72249625e-02 3.82988724e-02 1.80333522e+01] [-7.72479723e-02 9.97011522e-01 -8.80853881e-04 2.91058270e-01] [-3.82524410e-02 -2.08093505e-03 9.99265941e-01 -1.00147063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.07592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.07, Y:0.29, Z:-1.00 [[ 9.96206878e-01 7.81350302e-02 3.82984757e-02 1.80657028e+01] [-7.81580616e-02 9.96940576e-01 -8.97777832e-04 2.92951930e-01] [-3.82514523e-02 -2.09896217e-03 9.99265941e-01 -1.00489876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.105919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.10, Y:0.30, Z:-1.01 [[ 9.96085155e-01 7.96719437e-02 3.82981246e-02 1.80989649e+01] [-7.96955422e-02 9.96818834e-01 -9.12513535e-04 2.95894283e-01] [-3.82489936e-02 -2.14324862e-03 9.99265941e-01 -1.00632433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.13592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.13, Y:0.30, Z:-1.01 [[ 9.95895229e-01 8.20120601e-02 3.82977165e-02 1.81320694e+01] [-8.20367378e-02 9.96628873e-01 -9.29330776e-04 2.98975613e-01] [-3.82448264e-02 -2.21630364e-03 9.99265941e-01 -1.00651729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.16592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.16, Y:0.30, Z:-1.01 [[ 9.95877827e-01 8.22232940e-02 3.82973003e-02 1.81643718e+01] [-8.22474817e-02 9.96611487e-01 -9.46176677e-04 3.00556349e-01] [-3.82453272e-02 -2.20758013e-03 9.99265941e-01 -1.00891009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.195919999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.20, Y:0.30, Z:-1.01 [[ 9.95859739e-01 8.24422522e-02 3.82969324e-02 1.81975109e+01] [-8.24660391e-02 9.96593412e-01 -9.60840196e-04 3.02846979e-01] [-3.82456844e-02 -2.20133426e-03 9.99265941e-01 -1.00942752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.22592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.23, Y:0.31, Z:-1.01 [[ 9.95942178e-01 8.14404994e-02 3.82965055e-02 1.82334185e+01] [-8.14629072e-02 9.96675895e-01 -9.77567589e-04 3.09422708e-01] [-3.82488174e-02 -2.14614387e-03 9.99265942e-01 -1.00621912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.25592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.26, Y:0.31, Z:-1.01 [[ 9.96342860e-01 7.63898901e-02 3.82817165e-02 1.82603311e+01] [-7.63868407e-02 9.97077061e-01 -1.54443814e-03 3.09720581e-01] [-3.82878008e-02 -1.38542946e-03 9.99265793e-01 -1.01338357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.285919999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.29, Y:0.31, Z:-1.01 [[ 9.96797044e-01 7.02072781e-02 3.82960942e-02 1.82924326e+01] [-7.02210678e-02 9.97530966e-01 -9.86553577e-04 3.07843284e-01] [-3.82708031e-02 -1.70579894e-03 9.99265949e-01 -1.01370472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.31592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.33, Y:0.31, Z:-1.01 [[ 9.96800280e-01 7.01614371e-02 3.82958798e-02 1.83278141e+01] [-7.01748765e-02 9.97534208e-01 -9.94808605e-04 3.06907916e-01] [-3.82712473e-02 -1.69578314e-03 9.99265949e-01 -1.00929274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.34592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.36, Y:0.30, Z:-1.02 [[ 9.97193073e-01 6.43469034e-02 3.82812116e-02 1.83557009e+01] [-6.43347989e-02 9.97927168e-01 -1.54925333e-03 3.03931070e-01] [-3.83015507e-02 -9.17909356e-04 9.99265805e-01 -1.01635637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.375919999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.39, Y:0.30, Z:-1.02 [[ 9.97476442e-01 5.97845929e-02 3.82955609e-02 1.83879977e+01] [-5.97901984e-02 9.98210465e-01 -9.99905921e-04 3.01992810e-01] [-3.82868087e-02 -1.29231658e-03 9.99265956e-01 -1.01872003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.40592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.42, Y:0.30, Z:-1.02 [[ 9.97494047e-01 5.94904030e-02 3.82951434e-02 1.84195113e+01] [-5.94951882e-02 9.98228076e-01 -1.01564797e-03 3.01602412e-01] [-3.82877087e-02 -1.26527396e-03 9.99265956e-01 -1.02090898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.43592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.45, Y:0.30, Z:-1.02 [[ 9.97452294e-01 6.01866613e-02 3.82947286e-02 1.84517618e+01] [-6.01913680e-02 9.98186323e-01 -1.03105591e-03 3.00517874e-01] [-3.82873302e-02 -1.27658303e-03 9.99265956e-01 -1.02029761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.465919999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.48, Y:0.30, Z:-1.02 [[ 9.97418144e-01 6.07501274e-02 3.82944975e-02 1.84841864e+01] [-6.07549223e-02 9.98152172e-01 -1.03956904e-03 3.00200034e-01] [-3.82868898e-02 -1.28969420e-03 9.99265956e-01 -1.02157260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.495919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.52, Y:0.30, Z:-1.02 [[ 9.97294782e-01 6.27430226e-02 3.82939983e-02 1.85159707e+01] [-6.27485910e-02 9.98028805e-01 -1.05764460e-03 3.04089682e-01] [-3.82848732e-02 -1.34811100e-03 9.99265956e-01 -1.02440833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.52592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.55, Y:0.31, Z:-1.03 [[ 9.97191051e-01 6.43708832e-02 3.82935678e-02 1.85484856e+01] [-6.43770607e-02 9.97925069e-01 -1.07300719e-03 3.05510745e-01] [-3.82831817e-02 -1.39523417e-03 9.99265956e-01 -1.02734466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.555919999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.58, Y:0.30, Z:-1.03 [[ 9.97037355e-01 6.67094707e-02 3.82930630e-02 1.85816585e+01] [-6.67166900e-02 9.97771363e-01 -1.09073036e-03 3.04383075e-01] [-3.82804837e-02 -1.46728749e-03 9.99265956e-01 -1.02741584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.585919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.62, Y:0.31, Z:-1.02 [[ 9.96574418e-01 7.33014981e-02 3.82925573e-02 1.86204661e+01] [-7.33129012e-02 9.97308373e-01 -1.10820434e-03 3.06250818e-01] [-3.82707210e-02 -1.70293037e-03 9.99265957e-01 -1.01723677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.61592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.64, Y:0.31, Z:-1.03 [[ 9.97005935e-01 6.71949458e-02 3.82623163e-02 1.86447314e+01] [-6.71630343e-02 9.97739761e-01 -2.12024386e-03 3.05438619e-01] [-3.83183040e-02 -4.55917545e-04 9.99265480e-01 -1.02899228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.64592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.68, Y:0.30, Z:-1.03 [[ 9.96892970e-01 6.88342819e-02 3.82916237e-02 1.86767600e+01] [-6.88423668e-02 9.97626934e-01 -1.10891114e-03 3.04812604e-01] [-3.82770862e-02 -1.53062028e-03 9.99265992e-01 -1.03174639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.675919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.71, Y:0.30, Z:-1.03 [[ 9.96819349e-01 6.98925752e-02 3.82911700e-02 1.87082329e+01] [-6.99008468e-02 9.97553311e-01 -1.12436278e-03 3.02133033e-01] [-3.82760680e-02 -1.55579864e-03 9.99265992e-01 -1.03231305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.70592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.74, Y:0.30, Z:-1.03 [[ 9.96895701e-01 6.87952058e-02 3.82907515e-02 1.87411207e+01] [-6.88021296e-02 9.97629676e-01 -1.13843806e-03 2.99218360e-01] [-3.82783091e-02 -1.49958125e-03 9.99265992e-01 -1.03347931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.73592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.77, Y:0.30, Z:-1.03 [[ 9.96899106e-01 6.87461284e-02 3.82902273e-02 1.87743415e+01] [-6.87523501e-02 9.97633088e-01 -1.15580526e-03 2.98520533e-01] [-3.82790548e-02 -1.48032188e-03 9.99265992e-01 -1.03469646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.765919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.81, Y:0.29, Z:-1.04 [[ 9.97005001e-01 6.71932142e-02 3.82896972e-02 1.88059355e+01] [-6.71976290e-02 9.97738995e-01 -1.17310659e-03 2.93234231e-01] [-3.82819488e-02 -1.40338373e-03 9.99265992e-01 -1.03607516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.79592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.84, Y:0.29, Z:-1.04 [[ 9.97027918e-01 6.68525705e-02 3.82892231e-02 1.88390892e+01] [-6.68561486e-02 9.97761917e-01 -1.18838378e-03 2.89428700e-01] [-3.82829751e-02 -1.37501818e-03 9.99265992e-01 -1.03711881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.82592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.87, Y:0.29, Z:-1.04 [[ 9.97007779e-01 6.71525569e-02 3.82886725e-02 1.88720584e+01] [-6.71556852e-02 9.97741780e-01 -1.20586623e-03 2.86914019e-01] [-3.82831852e-02 -1.36904403e-03 9.99265992e-01 -1.03791672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.855919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.91, Y:0.29, Z:-1.04 [[ 9.96976865e-01 6.76102859e-02 3.82881155e-02 1.89053389e+01] [-6.76130826e-02 9.97710867e-01 -1.22330022e-03 2.86187494e-01] [-3.82831766e-02 -1.36917550e-03 9.99265992e-01 -1.03920036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.88592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.94, Y:0.29, Z:-1.03 [[ 9.96473944e-01 7.46574965e-02 3.82875462e-02 1.89427486e+01] [-7.46648090e-02 9.97207915e-01 -1.24086567e-03 2.87971200e-01] [-3.82732840e-02 -1.62224202e-03 9.99265993e-01 -1.03284215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.91592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.97, Y:0.29, Z:-1.04 [[ 9.96644217e-01 7.23658720e-02 3.82555265e-02 1.89672066e+01] [-7.23340378e-02 9.97377998e-01 -2.21740597e-03 2.88353827e-01] [-3.83156849e-02 -5.57211863e-04 9.99265529e-01 -1.04430756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.945919999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.00, Y:0.29, Z:-1.04 [[ 9.96091337e-01 7.95998255e-02 3.82872718e-02 1.90047196e+01] [-7.96112285e-02 9.96825231e-01 -1.22911278e-03 2.88202381e-01] [-3.82635557e-02 -1.82378815e-03 9.99266018e-01 -1.03805741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.97592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.03, Y:0.29, Z:-1.05 [[ 9.96364833e-01 7.61144827e-02 3.82583860e-02 1.90300090e+01] [-7.60892779e-02 9.97098762e-01 -2.11654851e-03 2.88779399e-01] [-3.83084894e-02 -8.02198462e-04 9.99265638e-01 -1.04675545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.00592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.06, Y:0.29, Z:-1.05 [[ 9.96125561e-01 7.91705582e-02 3.82869269e-02 1.90628748e+01] [-7.91818030e-02 9.96859439e-01 -1.22496897e-03 2.89965779e-01] [-3.82636659e-02 -1.81140500e-03 9.99266036e-01 -1.04793765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.035919999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.09, Y:0.29, Z:-1.05 [[ 9.96013959e-01 8.05626915e-02 3.82863722e-02 1.90944399e+01] [-8.05743062e-02 9.96747831e-01 -1.24206783e-03 2.90371163e-01] [-3.82619227e-02 -1.84778098e-03 9.99266036e-01 -1.04869440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.06592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.13, Y:0.29, Z:-1.05 [[ 9.95953871e-01 8.13023844e-02 3.82858824e-02 1.91263591e+01] [-8.13139720e-02 9.96687743e-01 -1.25698663e-03 2.94702934e-01] [-3.82612657e-02 -1.86127646e-03 9.99266036e-01 -1.04927617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.09592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.16, Y:0.30, Z:-1.05 [[ 9.95476047e-01 8.69578568e-02 3.82853876e-02 1.91633806e+01] [-8.69730414e-02 9.96209854e-01 -1.27187884e-03 2.97262853e-01] [-3.82508803e-02 -2.06367168e-03 9.99266036e-01 -1.04564882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.125919999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.19, Y:0.30, Z:-1.05 [[ 9.96208499e-01 7.81353684e-02 3.82556068e-02 1.91883087e+01] [-7.81100750e-02 9.96942406e-01 -2.15763497e-03 2.98094235e-01] [-3.83072243e-02 -8.38694026e-04 9.99265657e-01 -1.05315055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.15592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.22, Y:0.30, Z:-1.05 [[ 9.96382601e-01 7.58680083e-02 3.82852070e-02 1.92206880e+01] [-7.58756502e-02 9.97116497e-01 -1.25544661e-03 2.97732484e-01] [-3.82700597e-02 -1.65400981e-03 9.99266064e-01 -1.05442455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.18592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.25, Y:0.30, Z:-1.06 [[ 9.96884137e-01 6.89657512e-02 3.82850291e-02 1.92528977e+01] [-6.89681031e-02 9.97618069e-01 -1.26084706e-03 3.00076702e-01] [-3.82807921e-02 -1.38352740e-03 9.99266064e-01 -1.05519483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.215919999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.29, Y:0.30, Z:-1.05 [[ 9.96734128e-01 7.11009741e-02 3.82848459e-02 1.92896403e+01] [-7.11046856e-02 9.97468055e-01 -1.26638701e-03 3.01104100e-01] [-3.82779521e-02 -1.45998078e-03 9.99266064e-01 -1.04881856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.245919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.31, Y:0.30, Z:-1.06 [[ 9.97315112e-01 6.24431346e-02 3.82547116e-02 1.93146421e+01] [-6.24061966e-02 9.98048496e-01 -2.16008852e-03 2.99847696e-01] [-3.83149401e-02 -2.33042134e-04 9.99265686e-01 -1.05877999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.27592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.35, Y:0.30, Z:-1.06 [[ 9.97646099e-01 5.68908943e-02 3.82843028e-02 1.93461221e+01] [-5.68842005e-02 9.98379982e-01 -1.26499069e-03 2.96149334e-01] [-3.82942480e-02 -9.15758935e-04 9.99266087e-01 -1.06070188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.305919999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.38, Y:0.29, Z:-1.06 [[ 9.97880185e-01 5.26256869e-02 3.82841155e-02 1.93776052e+01] [-5.26156395e-02 9.98614030e-01 -1.27063410e-03 2.94583871e-01] [-3.82979228e-02 -7.46402634e-04 9.99266087e-01 -1.06303137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.335919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.41, Y:0.29, Z:-1.05 [[ 9.97637413e-01 5.70434903e-02 3.82835765e-02 1.94144881e+01] [-5.70360773e-02 9.98371289e-01 -1.28667088e-03 2.93356911e-01] [-3.82946198e-02 -8.99914018e-04 9.99266087e-01 -1.05380918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.36592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.44, Y:0.29, Z:-1.07 [[ 9.98013212e-01 5.00626806e-02 3.82538397e-02 1.94400221e+01] [-5.00164385e-02 9.98746047e-01 -2.16547862e-03 2.90859807e-01] [-3.83142808e-02 2.47855452e-04 9.99265708e-01 -1.06636733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.39592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.47, Y:0.29, Z:-1.07 [[ 9.98002084e-01 5.02613834e-02 3.82835840e-02 1.94723712e+01] [-5.02497109e-02 9.98735881e-01 -1.26766429e-03 2.85256857e-01] [-3.82989035e-02 -6.58607420e-04 9.99266111e-01 -1.06638936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.425919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.50, Y:0.28, Z:-1.07 [[ 9.98025669e-01 4.97913411e-02 3.82829662e-02 1.95049660e+01] [-4.97786179e-02 9.98759448e-01 -1.28605485e-03 2.80441203e-01] [-3.82995086e-02 -6.22157393e-04 9.99266111e-01 -1.06720948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.45592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.54, Y:0.28, Z:-1.07 [[ 9.98043416e-01 4.94346863e-02 3.82825340e-02 1.95378246e+01] [-4.94212123e-02 9.98777181e-01 -1.29879298e-03 2.76936913e-01] [-3.82999268e-02 -5.95717466e-04 9.99266111e-01 -1.06884475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.48592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.57, Y:0.27, Z:-1.07 [[ 9.98070292e-01 4.88895488e-02 3.82818932e-02 1.95699517e+01] [-4.88749598e-02 9.98804036e-01 -1.31741573e-03 2.72502472e-01] [-3.83005173e-02 -5.56152492e-04 9.99266111e-01 -1.06920540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.515919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.60, Y:0.27, Z:-1.07 [[ 9.98039420e-01 4.95159446e-02 3.82816921e-02 1.96029040e+01] [-4.95015931e-02 9.98773168e-01 -1.32323300e-03 2.65795332e-01] [-3.83002480e-02 -5.74366056e-04 9.99266111e-01 -1.07016773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.54592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.64, Y:0.26, Z:-1.07 [[ 9.97980070e-01 5.06985464e-02 3.82810303e-02 1.96350219e+01] [-5.06843405e-02 9.98713821e-01 -1.34211022e-03 2.62545176e-01] [-3.82998371e-02 -6.00849523e-04 9.99266111e-01 -1.07044483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.57592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.67, Y:0.26, Z:-1.06 [[ 9.97687854e-01 5.61564983e-02 3.82804651e-02 1.96705912e+01] [-5.61456949e-02 9.98421663e-01 -1.35804255e-03 2.56845987e-01] [-3.82963085e-02 -7.94380759e-04 9.99266112e-01 -1.06463688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.605919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.70, Y:0.25, Z:-1.07 [[ 9.97746632e-01 5.51177460e-02 3.82582424e-02 1.96977043e+01] [-5.50823715e-02 9.98479853e-01 -1.97887443e-03 2.53517199e-01] [-3.83091553e-02 -1.32939428e-04 9.99265926e-01 -1.07281058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.63592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.73, Y:0.25, Z:-1.08 [[ 9.97384389e-01 6.13107205e-02 3.82802302e-02 1.97306293e+01] [-6.13036206e-02 9.98118237e-01 -1.36034107e-03 2.50341580e-01] [-3.82915994e-02 -9.89933757e-04 9.99266117e-01 -1.07513301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.66592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.76, Y:0.25, Z:-1.08 [[ 9.97195690e-01 6.43073128e-02 3.82795700e-02 1.97630962e+01] [-6.43017148e-02 9.97929551e-01 -1.37867262e-03 2.48042555e-01] [-3.82889728e-02 -1.08663559e-03 9.99266118e-01 -1.07673823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.695919999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.80, Y:0.24, Z:-1.08 [[ 9.96936132e-01 6.82134353e-02 3.82789217e-02 1.97954188e+01] [-6.82100306e-02 9.97670006e-01 -1.39644283e-03 2.44877966e-01] [-3.82849882e-02 -1.21884211e-03 9.99266118e-01 -1.07867096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.72592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.83, Y:0.24, Z:-1.08 [[ 9.96548892e-01 7.36551374e-02 3.82782689e-02 1.98276458e+01] [-7.36550615e-02 9.97282774e-01 -1.41411300e-03 2.39668685e-01] [-3.82784149e-02 -1.41015551e-03 9.99266118e-01 -1.07877993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.75592 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:19.87, Y:0.24, Z:-1.07 [[ 9.95583139e-01 8.57264939e-02 3.82776990e-02 1.98672815e+01] [-8.57347263e-02 9.96316974e-01 -1.42937459e-03 2.39393247e-01] [-3.82592565e-02 -1.85866680e-03 9.99266118e-01 -1.06757421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.785919999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.89, Y:0.24, Z:-1.08 [[ 9.95739707e-01 8.39096423e-02 3.82309841e-02 1.98907299e+01] [-8.38696010e-02 9.96473207e-01 -2.65278292e-03 2.42525242e-01] [-3.83187454e-02 -5.64936093e-04 9.99265407e-01 -1.08103608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.81592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.92, Y:0.24, Z:-1.08 [[ 9.95475059e-01 8.69729713e-02 3.82767414e-02 1.99235162e+01] [-8.69824330e-02 9.96208832e-01 -1.42121480e-03 2.42096277e-01] [-3.82552351e-02 -1.91462020e-03 9.99266166e-01 -1.08147850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.84592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.96, Y:0.25, Z:-1.08 [[ 9.94839314e-01 9.39663770e-02 3.82760990e-02 1.99566309e+01] [-9.39803394e-02 9.95573014e-01 -1.43830827e-03 2.45590176e-01] [-3.82418039e-02 -2.16631516e-03 9.99266167e-01 -1.08194929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.875919999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.99, Y:0.25, Z:-1.07 [[ 9.94082624e-01 1.01659858e-01 3.82754576e-02 1.99934353e+01] [-1.01678849e-01 9.94816211e-01 -1.45517997e-03 2.48435740e-01] [-3.82249791e-02 -2.44523535e-03 9.99266167e-01 -1.07461305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.90592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.02, Y:0.25, Z:-1.08 [[ 9.94288672e-01 9.96360419e-02 3.82452012e-02 2.00190523e+01] [-9.96232497e-02 9.95022698e-01 -2.24484410e-03 2.49578787e-01] [-3.82785107e-02 -1.57808817e-03 9.99265863e-01 -1.08428987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.93592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.05, Y:0.25, Z:-1.08 [[ 9.93953379e-01 1.02915819e-01 3.82754992e-02 2.00515099e+01] [-1.02936331e-01 9.94686905e-01 -1.43965338e-03 2.52529514e-01] [-3.82203010e-02 -2.50899112e-03 9.99266188e-01 -1.08439286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.965919999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.08, Y:0.25, Z:-1.08 [[ 9.93836239e-01 1.04041133e-01 3.82749541e-02 2.00832341e+01] [-1.04061925e-01 9.94569757e-01 -1.45400388e-03 2.54428469e-01] [-3.82183880e-02 -2.53792364e-03 9.99266188e-01 -1.08445520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.995919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.12, Y:0.26, Z:-1.09 [[ 9.93849420e-01 1.03915260e-01 3.82746508e-02 2.01158532e+01] [-1.03935655e-01 9.94582949e-01 -1.46194391e-03 2.61851917e-01] [-3.82192333e-02 -2.52514878e-03 9.99266188e-01 -1.08743365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.02592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.16, Y:0.27, Z:-1.08 [[ 9.92803155e-01 1.13476824e-01 3.82740927e-02 2.01575909e+01] [-1.13503724e-01 9.93536474e-01 -1.47641242e-03 2.65359552e-01] [-3.81942457e-02 -2.87846516e-03 9.99266188e-01 -1.07723425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.055919999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.18, Y:0.27, Z:-1.09 [[ 9.94094645e-01 1.01564390e-01 3.82166335e-02 2.01792002e+01] [-1.01526724e-01 9.94828497e-01 -2.93006227e-03 2.71184482e-01] [-3.83165861e-02 -9.67250389e-04 9.99265182e-01 -1.09177812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.085919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.22, Y:0.27, Z:-1.08 [[ 9.93763638e-01 1.04733132e-01 3.82727542e-02 2.02161003e+01] [-1.04754060e-01 9.94497081e-01 -1.46368209e-03 2.71751106e-01] [-3.82154384e-02 -2.55467234e-03 9.99266258e-01 -1.08428443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.11592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.25, Y:0.27, Z:-1.09 [[ 9.94254906e-01 9.99726508e-02 3.82446247e-02 2.02478629e+01] [-9.99620608e-02 9.94988831e-01 -2.19381306e-03 2.72429796e-01] [-3.82722957e-02 -1.64180210e-03 9.99265999e-01 -1.08646165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.145919999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.28, Y:0.27, Z:-1.09 [[ 9.94529477e-01 9.72024442e-02 3.82466308e-02 2.02805814e+01] [-9.71918151e-02 9.95263365e-01 -2.14153741e-03 2.71375533e-01] [-3.82736331e-02 -1.58743739e-03 9.99266035e-01 -1.08780627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.175919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.31, Y:0.27, Z:-1.10 [[ 9.95313549e-01 8.88163372e-02 3.82439137e-02 2.03060230e+01] [-8.87967964e-02 9.96047305e-01 -2.21260753e-03 2.68661544e-01] [-3.82892628e-02 -1.19369876e-03 9.99265984e-01 -1.09781409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.20592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.34, Y:0.27, Z:-1.10 [[ 9.95815082e-01 8.29910052e-02 3.82729018e-02 2.03376045e+01] [-8.29966053e-02 9.96548782e-01 -1.44524632e-03 2.66644122e-01] [-3.82607561e-02 -1.73732284e-03 9.99266279e-01 -1.09804204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.23592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.38, Y:0.27, Z:-1.09 [[ 9.95488913e-01 8.68161946e-02 3.82723370e-02 2.03762353e+01] [-8.68240457e-02 9.96222592e-01 -1.46004984e-03 2.66589058e-01] [-3.82545228e-02 -1.86949571e-03 9.99266279e-01 -1.08722807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.265919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.40, Y:0.27, Z:-1.10 [[ 9.96301005e-01 7.69584862e-02 3.82321635e-02 2.04008080e+01] [-7.69195987e-02 9.97034192e-01 -2.48922928e-03 2.65349965e-01] [-3.83103416e-02 -4.60781041e-04 9.99265783e-01 -1.09994849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.29592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.44, Y:0.28, Z:-1.10 [[ 9.94047531e-01 1.02003927e-01 3.82714539e-02 2.04402816e+01] [-1.02023000e-01 9.94780970e-01 -1.45942812e-03 2.75311033e-01] [-3.82205814e-02 -2.45382760e-03 9.99266314e-01 -1.09855866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.32592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.46, Y:0.26, Z:-1.10 [[ 9.96583438e-01 7.32151325e-02 3.82229604e-02 2.04629108e+01] [-7.31653695e-02 9.97316165e-01 -2.70098749e-03 2.60733613e-01] [-3.83181295e-02 -1.04837624e-04 9.99265585e-01 -1.10432439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.355919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.50, Y:0.26, Z:-1.11 [[ 9.96708724e-01 7.14639808e-02 3.82703502e-02 2.04952582e+01] [-7.14606377e-02 9.97442356e-01 -1.45701408e-03 2.56778210e-01] [-3.82765923e-02 -1.28260498e-03 9.99266360e-01 -1.10545623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.38592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.53, Y:0.26, Z:-1.11 [[ 9.96661839e-01 7.21150182e-02 3.82701388e-02 2.05284791e+01] [-7.21119421e-02 9.97395473e-01 -1.46254717e-03 2.56323011e-01] [-3.82759348e-02 -1.30206908e-03 9.99266360e-01 -1.10725848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.41592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.57, Y:0.26, Z:-1.10 [[ 9.96093340e-01 7.95833399e-02 3.82694444e-02 2.05652191e+01] [-7.95850742e-02 9.96826978e-01 -1.48049724e-03 2.58073584e-01] [-3.82658375e-02 -1.57096313e-03 9.99266360e-01 -1.09889254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.445919999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.59, Y:0.26, Z:-1.11 [[ 9.96497938e-01 7.43619084e-02 3.82382833e-02 2.05905485e+01] [-7.43293681e-02 9.97231154e-01 -2.27389126e-03 2.56200325e-01] [-3.83014982e-02 -5.76299482e-04 9.99266062e-01 -1.10913747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.47592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.62, Y:0.25, Z:-1.11 [[ 9.96327513e-01 7.65961647e-02 3.82689871e-02 2.06231181e+01] [-7.65956943e-02 9.97061135e-01 -1.48060812e-03 2.54509272e-01] [-3.82699286e-02 -1.45606903e-03 9.99266377e-01 -1.11040279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.50592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:20.67, Y:0.23, Z:-1.11 [[ 9.98428596e-01 4.09374722e-02 3.82682896e-02 2.06673986e+01] [-4.09100990e-02 9.99161708e-01 -1.49842005e-03 2.33104587e-01] [-3.82975512e-02 -6.94940923e-05 9.99266377e-01 -1.11363223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.535919999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.70, Y:0.25, Z:-1.10 [[ 9.96048974e-01 8.01789541e-02 3.81808456e-02 2.06950027e+01] [-8.00970716e-02 9.96780305e-01 -3.67190256e-03 2.54997486e-01] [-3.83523242e-02 5.99220850e-04 9.99264099e-01 -1.10286032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.56592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.72, Y:0.25, Z:-1.12 [[ 9.96854658e-01 6.94259817e-02 3.82207385e-02 2.07170391e+01] [-6.93757741e-02 9.97587105e-01 -2.63994435e-03 2.51187622e-01] [-3.83117966e-02 -1.99525034e-05 9.99265833e-01 -1.11584326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.59592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.75, Y:0.25, Z:-1.12 [[ 9.97066926e-01 6.62816821e-02 3.82659677e-02 2.07488625e+01] [-6.62754605e-02 9.97800336e-01 -1.43247464e-03 2.46405177e-01] [-3.82767423e-02 -1.10782155e-03 9.99266563e-01 -1.11719297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.625919999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.78, Y:0.24, Z:-1.12 [[ 9.97080334e-01 6.60800174e-02 3.82653742e-02 2.07814846e+01] [-6.60730461e-02 9.97813738e-01 -1.44815743e-03 2.44868476e-01] [-3.82774103e-02 -1.08438054e-03 9.99266563e-01 -1.11822395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.65592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.81, Y:0.24, Z:-1.12 [[ 9.97159086e-01 6.48812028e-02 3.82646844e-02 2.08146599e+01] [-6.48726594e-02 9.97892473e-01 -1.46616027e-03 2.42816291e-01] [-3.82791668e-02 -1.02033680e-03 9.99266563e-01 -1.11970521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.68592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.86, Y:0.24, Z:-1.11 [[ 9.96512596e-01 7.41519662e-02 3.82639798e-02 2.08550927e+01] [-7.41495471e-02 9.97246029e-01 -1.48432591e-03 2.42121902e-01] [-3.82686675e-02 -1.35810731e-03 9.99266563e-01 -1.10661519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.715919999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.88, Y:0.24, Z:-1.12 [[ 9.97189407e-01 6.44451225e-02 3.82114295e-02 2.08777100e+01] [-6.43835965e-02 9.97921183e-01 -2.83979312e-03 2.39042916e-01] [-3.83150058e-02 3.71622361e-04 9.99265641e-01 -1.12143921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.745919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.91, Y:0.24, Z:-1.12 [[ 9.97160366e-01 6.48618537e-02 3.82641476e-02 2.09109590e+01] [-6.48543651e-02 9.97893703e-01 -1.43823806e-03 2.36763586e-01] [-3.82768387e-02 -1.04744301e-03 9.99266624e-01 -1.12213309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.77592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.94, Y:0.23, Z:-1.12 [[ 9.97097787e-01 6.58172578e-02 3.82634602e-02 2.09432915e+01] [-6.58097793e-02 9.97831124e-01 -1.45629919e-03 2.33196863e-01] [-3.82763211e-02 -1.06603717e-03 9.99266624e-01 -1.12388721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.805919999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.98, Y:0.23, Z:-1.13 [[ 9.97074289e-01 6.61726824e-02 3.82627650e-02 2.09763173e+01] [-6.61647735e-02 9.97807621e-01 -1.47434164e-03 2.30522726e-01] [-3.82764397e-02 -1.06161904e-03 9.99266625e-01 -1.12595031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.835919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.01, Y:0.23, Z:-1.13 [[ 9.97003790e-01 6.72269149e-02 3.82620613e-02 2.10090375e+01] [-6.72190895e-02 9.97737123e-01 -1.49238375e-03 2.26577709e-01] [-3.82758073e-02 -1.08402866e-03 9.99266625e-01 -1.12572848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.86592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.04, Y:0.23, Z:-1.13 [[ 9.96936039e-01 6.82246566e-02 3.82613558e-02 2.10415133e+01] [-6.82168797e-02 9.97669372e-01 -1.51025733e-03 2.25045667e-01] [-3.82752196e-02 -1.10444034e-03 9.99266625e-01 -1.12795595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.895919999999997 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:21.08, Y:0.22, Z:-1.12 [[ 9.96445488e-01 7.50500680e-02 3.82606335e-02 2.10791577e+01] [-7.50466198e-02 9.97178855e-01 -1.52833946e-03 2.24142756e-01] [-3.82673967e-02 -1.34842425e-03 9.99266625e-01 -1.11983721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.925919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.10, Y:0.22, Z:-1.13 [[ 9.96915015e-01 6.85542402e-02 3.82200104e-02 2.11035597e+01] [-6.85072275e-02 9.97647387e-01 -2.53989737e-03 2.21653219e-01] [-3.83042143e-02 -8.62851243e-05 9.99266121e-01 -1.13327650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.95592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.14, Y:0.22, Z:-1.13 [[ 9.96750111e-01 7.08895480e-02 3.82607915e-02 2.11359590e+01] [-7.08840969e-02 9.97483430e-01 -1.50070058e-03 2.18331068e-01] [-3.82708895e-02 -1.21625818e-03 9.99266661e-01 -1.13236028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.98592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.17, Y:0.22, Z:-1.13 [[ 9.96688470e-01 7.17513695e-02 3.82600913e-02 2.11679559e+01] [-7.17458759e-02 9.97421788e-01 -1.51834479e-03 2.16967560e-01] [-3.82703920e-02 -1.23168701e-03 9.99266661e-01 -1.13245893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.015919999999998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:21.21, Y:0.22, Z:-1.12 [[ 9.96154194e-01 7.88228079e-02 3.82594737e-02 2.12055336e+01] [-7.88219279e-02 9.96887532e-01 -1.53374972e-03 2.18108789e-01] [-3.82612868e-02 -1.48783426e-03 9.99266661e-01 -1.12160019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.04592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.23, Y:0.22, Z:-1.13 [[ 9.96746130e-01 7.09671214e-02 3.82206860e-02 2.12298006e+01] [-7.09239275e-02 9.97478628e-01 -2.48652430e-03 2.15469446e-01] [-3.83007789e-02 -2.32327687e-04 9.99266229e-01 -1.13468109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.07592 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:21.27, Y:0.21, Z:-1.13 [[ 9.96858670e-01 6.93472241e-02 3.82590463e-02 2.12705892e+01] [-6.93397483e-02 9.97591939e-01 -1.52388786e-03 2.11019620e-01] [-3.82725936e-02 -1.13377181e-03 9.99266693e-01 -1.13009167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.105919999999998 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:21.30, Y:0.21, Z:-1.13 [[ 9.96783473e-01 7.04507689e-02 3.82020672e-02 2.12986731e+01] [-7.03883536e-02 9.97515218e-01 -2.97801969e-03 2.12053099e-01] [-3.83169472e-02 2.79460193e-04 9.99265597e-01 -1.12737175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.13592 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:21.31, Y:0.21, Z:-1.15 [[ 9.97017008e-01 6.70486522e-02 3.82304003e-02 2.13092021e+01] [-6.70123250e-02 9.97749651e-01 -2.23229390e-03 2.13178965e-01] [-3.82940409e-02 -3.36273025e-04 9.99266458e-01 -1.15060275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.16592 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:21.35, Y:0.20, Z:-1.14 [[ 9.97589380e-01 5.78440134e-02 3.83340491e-02 2.13544005e+01] [-5.79144208e-02 9.98321286e-01 7.27845096e-04 2.02586181e-01] [-3.82275957e-02 -2.94618479e-03 9.99264715e-01 -1.13917440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.195919999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.39, Y:0.20, Z:-1.13 [[ 9.97465999e-01 5.99853668e-02 3.82535828e-02 2.13902335e+01] [-5.99746437e-02 9.98198878e-01 -1.42883395e-03 2.03764320e-01] [-3.82703926e-02 -8.69031716e-04 9.99267042e-01 -1.12902249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.22592 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:21.42, Y:0.20, Z:-1.13 [[ 9.97771192e-01 5.46911755e-02 3.82298775e-02 2.14206185e+01] [-5.46521274e-02 9.98503317e-01 -2.06649632e-03 2.00664445e-01] [-3.82856786e-02 -2.74536423e-05 9.99266834e-01 -1.12962638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.25592 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:21.45, Y:0.20, Z:-1.14 [[ 9.97813347e-01 5.39080270e-02 3.82419807e-02 2.14534094e+01] [-5.38809578e-02 9.98545852e-01 -1.73887202e-03 1.97461477e-01] [-3.82801104e-02 -3.25444839e-04 9.99266995e-01 -1.13656788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.285919999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.48, Y:0.19, Z:-1.15 [[ 9.97893138e-01 5.24140677e-02 3.82367617e-02 2.14813020e+01] [-5.23805394e-02 9.98625430e-01 -1.87882056e-03 1.92720944e-01] [-3.82826792e-02 -1.28000060e-04 9.99266941e-01 -1.14775472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.31592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.51, Y:0.19, Z:-1.15 [[ 9.97897915e-01 5.23104887e-02 3.82539282e-02 2.15127987e+01] [-5.22946673e-02 9.98630696e-01 -1.41476335e-03 1.85634348e-01] [-3.82755539e-02 -5.88687052e-04 9.99267049e-01 -1.14893740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.34592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.54, Y:0.18, Z:-1.15 [[ 9.97827385e-01 5.36394696e-02 3.82533307e-02 2.15444103e+01] [-5.36240119e-02 9.98560173e-01 -1.43073887e-03 1.83696950e-01] [-3.82749966e-02 -6.23666635e-04 9.99267049e-01 -1.14893621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.375919999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.58, Y:0.18, Z:-1.15 [[ 9.97632382e-01 5.71520659e-02 3.82527343e-02 2.15770521e+01] [-5.71385835e-02 9.98365209e-01 -1.44651054e-03 1.82076726e-01] [-3.82728702e-02 -7.42621305e-04 9.99267049e-01 -1.15181459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.40592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.61, Y:0.18, Z:-1.15 [[ 9.97552098e-01 5.85371206e-02 3.82520358e-02 2.16093843e+01] [-5.85239565e-02 9.98284930e-01 -1.46475218e-03 1.78775218e-01] [-3.82721733e-02 -7.77493875e-04 9.99267050e-01 -1.15315372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.43592 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:21.64, Y:0.17, Z:-1.15 [[ 9.97362613e-01 6.16818710e-02 3.82513380e-02 2.16422138e+01] [-6.16703273e-02 9.98095472e-01 -1.48275612e-03 1.70426972e-01] [-3.82699464e-02 -8.80127009e-04 9.99267050e-01 -1.15209910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.465919999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.67, Y:0.17, Z:-1.15 [[ 9.97321242e-01 6.23476535e-02 3.82506385e-02 2.16744290e+01] [-6.23359156e-02 9.98054098e-01 -1.50058495e-03 1.66225267e-01] [-3.82697645e-02 -8.87823329e-04 9.99267050e-01 -1.15351363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.495919999999998 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:21.71, Y:0.16, Z:-1.15 [[ 9.97196823e-01 6.43073804e-02 3.82499365e-02 2.17064614e+01] [-6.42964047e-02 9.97929691e-01 -1.51827050e-03 1.62254398e-01] [-3.82683833e-02 -9.45318882e-04 9.99267050e-01 -1.15478546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.52592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.74, Y:0.16, Z:-1.14 [[ 9.96744567e-01 7.09736452e-02 3.82493192e-02 2.17444878e+01] [-7.09669799e-02 9.97477486e-01 -1.53366574e-03 1.57894727e-01] [-3.82616847e-02 -1.18576568e-03 9.99267050e-01 -1.13850469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.555919999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.77, Y:0.15, Z:-1.16 [[ 9.97181201e-01 6.45749369e-02 3.82064088e-02 2.17677582e+01] [-6.45228513e-02 9.97912853e-01 -2.59603319e-03 1.51728029e-01] [-3.82943051e-02 1.23529061e-04 9.99266496e-01 -1.15950689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.585919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.81, Y:0.15, Z:-1.14 [[ 9.96608003e-01 7.28661828e-02 3.82492762e-02 2.18069536e+01] [-7.28617144e-02 9.97340906e-01 -1.51263177e-03 1.46885908e-01] [-3.82577875e-02 -1.27940692e-03 9.99267084e-01 -1.14147425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.61592 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:21.84, Y:0.14, Z:-1.14 [[ 9.96686883e-01 7.18045229e-02 3.82016601e-02 2.18371678e+01] [-7.17540437e-02 9.97418722e-01 -2.69258548e-03 1.44137736e-01] [-3.82963909e-02 -5.74589654e-05 9.99266423e-01 -1.14465366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.645919999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.86, Y:0.13, Z:-1.16 [[ 9.96950714e-01 6.80357988e-02 3.82152433e-02 2.18611309e+01] [-6.79955920e-02 9.97682848e-01 -2.35234951e-03 1.34312047e-01] [-3.82867368e-02 -2.53291568e-04 9.99266762e-01 -1.16329143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.675919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.90, Y:0.13, Z:-1.15 [[ 9.96323787e-01 7.66547497e-02 3.82486651e-02 2.19005470e+01] [-7.66535082e-02 9.97056662e-01 -1.50110613e-03 1.32178659e-01] [-3.82511532e-02 -1.43630662e-03 9.99267125e-01 -1.14560237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.70592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.90, Y:0.14, Z:-1.18 [[ 9.95529971e-01 8.63743312e-02 3.82040679e-02 2.19006634e+01] [-8.63364998e-02 9.96262530e-01 -2.64203744e-03 1.37426609e-01] [-3.82894855e-02 -6.68178040e-04 9.99266465e-01 -1.17720260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.73592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.96, Y:0.12, Z:-1.15 [[ 9.95733330e-01 8.39282115e-02 3.83561039e-02 2.19599379e+01] [-8.40469573e-02 9.96460679e-01 1.49113208e-03 1.21134651e-01] [-3.80952013e-02 -4.70848373e-03 9.99263021e-01 -1.14952882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.765919999999998 meters Centerline goodness : 0.985696 Centerline is valid? [True, True] Translation: X:21.94, Y:0.14, Z:-1.17 [[ 9.93107641e-01 1.10812318e-01 3.81817208e-02 2.19446649e+01] [-1.10784342e-01 9.93840371e-01 -2.85420592e-03 1.35231196e-01] [-3.82628168e-02 -1.39540312e-03 9.99266736e-01 -1.17239232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.79592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.01, Y:0.11, Z:-1.15 [[ 9.95941086e-01 8.14183320e-02 3.83719726e-02 2.20133775e+01] [-8.16013115e-02 9.96659837e-01 3.22415808e-03 1.08217567e-01] [-3.79812984e-02 -6.34227479e-03 9.99258323e-01 -1.15121231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.82592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.05, Y:0.11, Z:-1.15 [[ 9.95812790e-01 8.30770594e-02 3.81456360e-02 2.20463107e+01] [-8.30376088e-02 9.96542970e-01 -2.62013084e-03 1.12066614e-01] [-3.82314381e-02 -5.58362603e-04 9.99268755e-01 -1.15399751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.855919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.08, Y:0.11, Z:-1.16 [[ 9.95425937e-01 8.75857452e-02 3.81567849e-02 2.20769454e+01] [-8.75611150e-02 9.96156449e-01 -2.31937679e-03 1.13334263e-01] [-3.82132717e-02 -1.03228281e-03 9.99269073e-01 -1.16107303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.88592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.11, Y:0.12, Z:-1.15 [[ 9.94808294e-01 9.43383927e-02 3.81670894e-02 2.21102235e+01] [-9.43294448e-02 9.95538948e-01 -2.03919676e-03 1.15287919e-01] [-3.81891986e-02 -1.57167050e-03 9.99269291e-01 -1.15490393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.91592 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:22.15, Y:0.11, Z:-1.16 [[ 9.94871831e-01 9.36696067e-02 3.81581422e-02 2.21457748e+01] [-9.36508121e-02 9.95602486e-01 -2.28361076e-03 1.13623254e-01] [-3.82042462e-02 -1.30164099e-03 9.99269104e-01 -1.15681454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.945919999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.18, Y:0.12, Z:-1.16 [[ 9.94443708e-01 9.81159488e-02 3.81441071e-02 2.21782414e+01] [-9.80855410e-02 9.95174400e-01 -2.67227299e-03 1.16542846e-01] [-3.82222315e-02 -1.08396032e-03 9.99268676e-01 -1.15597864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.97592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.20, Y:0.12, Z:-1.17 [[ 9.94548087e-01 9.70518585e-02 3.81449737e-02 2.22042584e+01] [-9.70216137e-02 9.95278753e-01 -2.64759447e-03 1.19760353e-01] [-3.82218358e-02 -1.06772689e-03 9.99268708e-01 -1.16785444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.00592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.24, Y:0.13, Z:-1.16 [[ 9.94226141e-01 1.00285101e-01 3.81743344e-02 2.22438248e+01] [-1.00289826e-01 9.94956645e-01 -1.79599765e-03 1.27612061e-01] [-3.81619195e-02 -2.04286952e-03 9.99269480e-01 -1.15913079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.035919999999997 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:22.28, Y:0.13, Z:-1.16 [[ 9.93318453e-01 1.08920083e-01 3.81427039e-02 2.22825869e+01] [-1.08895438e-01 9.94049463e-01 -2.72926111e-03 1.31103733e-01] [-3.82130056e-02 -1.44254102e-03 9.99268575e-01 -1.15799007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.06592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.31, Y:0.14, Z:-1.16 [[ 9.93703765e-01 1.05356778e-01 3.81152983e-02 2.23125747e+01] [-1.05297945e-01 9.94434370e-01 -3.55334192e-03 1.35454209e-01] [-3.82775314e-02 -4.82493324e-04 9.99267030e-01 -1.16073325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.09592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.34, Y:0.14, Z:-1.17 [[ 9.94522932e-01 9.73161073e-02 3.81275839e-02 2.23413970e+01] [-9.72659629e-02 9.95253369e-01 -3.17232235e-03 1.40274504e-01] [-3.82553244e-02 -5.53568844e-04 9.99267844e-01 -1.16511437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.125919999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.37, Y:0.14, Z:-1.17 [[ 9.94653972e-01 9.59620730e-02 3.81412768e-02 2.23744305e+01] [-9.59278708e-02 9.95384544e-01 -2.73002349e-03 1.42652974e-01] [-3.82272162e-02 -9.43382776e-04 9.99268628e-01 -1.16702794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.15592 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:22.41, Y:0.14, Z:-1.17 [[ 9.94906063e-01 9.33111268e-02 3.81439365e-02 2.24073228e+01] [-9.32784625e-02 9.95636562e-01 -2.63899591e-03 1.44681446e-01] [-3.82237454e-02 -9.32454716e-04 9.99268771e-01 -1.16944673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.18592 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:22.45, Y:0.15, Z:-1.17 [[ 9.94734655e-01 9.51197015e-02 3.81472043e-02 2.24450427e+01] [-9.50926536e-02 9.95465219e-01 -2.52696227e-03 1.48701788e-01] [-3.82145789e-02 -1.11386194e-03 9.99268935e-01 -1.16642495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.215919999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.47, Y:0.15, Z:-1.17 [[ 9.95526911e-01 8.64470315e-02 3.81193019e-02 2.24715605e+01] [-8.63773465e-02 9.96256434e-01 -3.47431557e-03 1.50481888e-01] [-3.82769441e-02 1.66130495e-04 9.99267155e-01 -1.17102858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.245919999999998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:22.50, Y:0.15, Z:-1.17 [[ 9.96022160e-01 8.05295176e-02 3.81425450e-02 2.25036755e+01] [-8.04891225e-02 9.96752107e-01 -2.59596469e-03 1.51617592e-01] [-3.82277138e-02 -4.84421620e-04 9.99268936e-01 -1.17327932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.27592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.54, Y:0.15, Z:-1.18 [[ 9.96228418e-01 7.79353306e-02 3.81447648e-02 2.25354610e+01] [-7.78963095e-02 9.96958306e-01 -2.51038117e-03 1.51515184e-01] [-3.82243874e-02 -4.70423347e-04 9.99269070e-01 -1.17508242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.305919999999997 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:22.57, Y:0.15, Z:-1.18 [[ 9.96674264e-01 7.20081645e-02 3.81475413e-02 2.25681540e+01] [-7.19689864e-02 9.97403980e-01 -2.40102948e-03 1.52665339e-01] [-3.82214033e-02 -3.52395588e-04 9.99269233e-01 -1.17577005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.335919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.60, Y:0.15, Z:-1.18 [[ 9.96871341e-01 6.92264466e-02 3.81474498e-02 2.26003423e+01] [-6.91850906e-02 9.97600943e-01 -2.40472849e-03 1.53413965e-01] [-3.82224027e-02 -2.42029861e-04 9.99269228e-01 -1.17866950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.36592 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:22.63, Y:0.15, Z:-1.18 [[ 9.97103085e-01 6.58033261e-02 3.81491720e-02 2.26314280e+01] [-6.57621792e-02 9.97832596e-01 -2.33378401e-03 1.54309218e-01] [-3.82200581e-02 -1.81749451e-04 9.99269330e-01 -1.18101418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.395919999999997 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:22.66, Y:0.16, Z:-1.18 [[ 9.97266908e-01 6.32686162e-02 3.81549004e-02 2.26648916e+01] [-6.32349426e-02 9.97996480e-01 -2.08991804e-03 1.55760796e-01] [-3.82106825e-02 -3.28516832e-04 9.99269651e-01 -1.18144566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.425919999999998 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:22.70, Y:0.16, Z:-1.18 [[ 9.97513473e-01 5.92563842e-02 3.81517046e-02 2.26955492e+01] [-5.92145024e-02 9.98242796e-01 -2.22780861e-03 1.56244883e-01] [-3.82166761e-02 -3.68651023e-05 9.99269475e-01 -1.18324071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.45592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.73, Y:0.16, Z:-1.18 [[ 9.97688172e-01 5.62346101e-02 3.81573062e-02 2.27283923e+01] [-5.61998651e-02 9.98417569e-01 -1.98342131e-03 1.56061112e-01] [-3.82084618e-02 -1.65599483e-04 9.99269776e-01 -1.18434283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.48592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.76, Y:0.15, Z:-1.18 [[ 9.97652900e-01 5.68589530e-02 3.81542951e-02 2.27612915e+01] [-5.68196116e-02 9.98382219e-01 -2.11555181e-03 1.54088937e-01] [-3.82128579e-02 -5.73258275e-05 9.99269620e-01 -1.18400859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.515919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.79, Y:0.15, Z:-1.19 [[ 9.97940661e-01 5.15649166e-02 3.81509717e-02 2.27913286e+01] [-5.15156514e-02 9.98669599e-01 -2.27389448e-03 1.53397552e-01] [-3.82174688e-02 3.03839597e-04 9.99269399e-01 -1.18592156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.54592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.81, Y:0.15, Z:-1.20 [[ 9.98220286e-01 4.58298008e-02 3.81561318e-02 2.28148968e+01] [-4.57862284e-02 9.98949228e-01 -2.01545880e-03 1.53407729e-01] [-3.82084065e-02 2.64846496e-04 9.99269757e-01 -1.20229535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.57592 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:22.85, Y:0.15, Z:-1.19 [[ 9.98036824e-01 4.96475392e-02 3.81787848e-02 2.28527080e+01] [-4.96522399e-02 9.98766226e-01 -8.25630534e-04 1.53174241e-01] [-3.81726713e-02 -1.07165251e-03 9.99270583e-01 -1.19110411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.605919999999998 meters Centerline goodness : 0.999409 Centerline is valid? [True, True] Translation: X:22.89, Y:0.15, Z:-1.19 [[ 9.98251032e-01 4.51498231e-02 3.81624241e-02 2.28871997e+01] [-4.51189668e-02 9.98980225e-01 -1.66984279e-03 1.48646512e-01] [-3.81989002e-02 -5.49268555e-05 9.99270154e-01 -1.19471780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.63592 meters Centerline goodness : 0.999409 Centerline is valid? [True, True] Translation: X:22.92, Y:0.15, Z:-1.19 [[ 9.98117794e-01 4.80103949e-02 3.81558757e-02 2.29186435e+01] [-4.79682121e-02 9.98846819e-01 -2.02076654e-03 1.48449286e-01] [-3.82088929e-02 1.86693903e-04 9.99269756e-01 -1.19095422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.66592 meters Centerline goodness : 0.999409 Centerline is valid? [True, True] Translation: X:22.95, Y:0.15, Z:-1.19 [[ 9.98141913e-01 4.75033229e-02 3.81596047e-02 2.29505112e+01] [-4.74685459e-02 9.98871080e-01 -1.81737100e-03 1.47537255e-01] [-3.82028568e-02 2.61321703e-06 9.99270004e-01 -1.19208592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.695919999999997 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:22.98, Y:0.15, Z:-1.20 [[ 9.98238962e-01 4.54181354e-02 3.81597703e-02 2.29818618e+01] [-4.53821898e-02 9.98968061e-01 -1.80809883e-03 1.45187865e-01] [-3.82025122e-02 7.31407615e-05 9.99270015e-01 -1.19597211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.72592 meters Centerline goodness : 0.999358 Centerline is valid? [True, True] Translation: X:23.01, Y:0.14, Z:-1.21 [[ 9.98380890e-01 4.21804567e-02 3.81629031e-02 2.30084416e+01] [-4.21491001e-02 9.99110008e-01 -1.62619472e-03 1.42944125e-01] [-3.81975321e-02 1.50297103e-05 9.99270208e-01 -1.20825063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.75592 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:23.04, Y:0.14, Z:-1.21 [[ 9.98402039e-01 4.16642437e-02 3.81766887e-02 2.30387674e+01] [-4.16638886e-02 9.99131359e-01 -8.05229802e-04 1.38428849e-01] [-3.81770762e-02 -7.86646233e-04 9.99270680e-01 -1.21052247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.785919999999997 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:23.07, Y:0.14, Z:-1.21 [[ 9.98351007e-01 4.28663557e-02 3.81804023e-02 2.30708741e+01] [-4.28753412e-02 9.99080259e-01 -5.83801466e-04 1.38583232e-01] [-3.81703117e-02 -1.05415900e-03 9.99270692e-01 -1.21148173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.81592 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:23.10, Y:0.14, Z:-1.21 [[ 9.98185167e-01 4.65686516e-02 3.81802600e-02 2.31029130e+01] [-4.65800259e-02 9.98914386e-01 -5.92062626e-04 1.39422921e-01] [-3.81663825e-02 -1.18744937e-03 9.99270693e-01 -1.21379155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.84592 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:23.14, Y:0.14, Z:-1.21 [[ 9.98028029e-01 4.98217625e-02 3.81817319e-02 2.31359314e+01] [-4.98386900e-02 9.98757151e-01 -5.08932937e-04 1.36562943e-01] [-3.81596337e-02 -1.39499817e-03 9.99270682e-01 -1.21350828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.875919999999997 meters Centerline goodness : 0.998769 Centerline is valid? [True, True] Translation: X:23.17, Y:0.13, Z:-1.22 [[ 9.98045229e-01 4.94788758e-02 3.81780291e-02 2.31653002e+01] [-4.94876882e-02 9.98774478e-01 -7.14736409e-04 1.33413583e-01] [-3.81666055e-02 -1.17600314e-03 9.99270698e-01 -1.21574939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.90592 meters Centerline goodness : 0.998226 Centerline is valid? [True, True] Translation: X:23.21, Y:0.14, Z:-1.20 [[ 9.97204483e-01 6.42288590e-02 3.81820895e-02 2.32060479e+01] [-6.42570309e-02 9.97933261e-01 -4.90162099e-04 1.36502771e-01] [-3.81346596e-02 -1.96467586e-03 9.99270678e-01 -1.20166368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.93592 meters Centerline goodness : 0.998522 Centerline is valid? [True, True] Translation: X:23.23, Y:0.14, Z:-1.21 [[ 9.97055687e-01 6.65164802e-02 3.81512142e-02 2.32340885e+01] [-6.64922668e-02 9.97785123e-01 -1.90456996e-03 1.41320390e-01] [-3.81933992e-02 -6.37798403e-04 9.99270162e-01 -1.20800021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.965919999999997 meters Centerline goodness : 0.980951 Centerline is valid? [True, True] Translation: X:23.24, Y:0.17, Z:-1.22 [[ 9.88927791e-01 1.43407168e-01 3.81603116e-02 2.32375256e+01] [-1.43455543e-01 9.89655653e-01 -1.48167620e-03 1.74514027e-01] [-3.79780511e-02 -4.00903745e-03 9.99270532e-01 -1.22402528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.995919999999998 meters Centerline goodness : 0.998964 Centerline is valid? [True, True] Translation: X:23.29, Y:0.14, Z:-1.21 [[ 9.96992068e-01 6.74310760e-02 3.82081955e-02 2.32923402e+01] [-6.75579360e-02 9.97713273e-01 2.03743689e-03 1.41452414e-01] [-3.79834372e-02 -4.61257525e-03 9.99267723e-01 -1.21050620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.02592 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:23.33, Y:0.15, Z:-1.22 [[ 9.96764347e-01 7.07509122e-02 3.81463517e-02 2.33263334e+01] [-7.07464386e-02 9.97493250e-01 -1.46880772e-03 1.50194829e-01] [-3.81546478e-02 -1.23466336e-03 9.99271084e-01 -1.21700408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.055919999999997 meters Centerline goodness : 0.998174 Centerline is valid? [True, True] Translation: X:23.36, Y:0.16, Z:-1.21 [[ 9.95623606e-01 8.53165874e-02 3.81407198e-02 2.33616153e+01] [-8.53098054e-02 9.96352833e-01 -1.80823759e-03 1.57233716e-01] [-3.81558869e-02 -1.45345335e-03 9.99270742e-01 -1.20740293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.085919999999998 meters Centerline goodness : 0.997876 Centerline is valid? [True, True] Translation: X:23.39, Y:0.16, Z:-1.21 [[ 9.95816893e-01 8.30297210e-02 3.81416047e-02 2.33898836e+01] [-8.30251816e-02 9.96545990e-01 -1.70567619e-03 1.60417697e-01] [-3.81514851e-02 -1.46817249e-03 9.99270889e-01 -1.20849445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.11592 meters Centerline goodness : 0.998517 Centerline is valid? [True, True] Translation: X:23.43, Y:0.16, Z:-1.21 [[ 9.95355794e-01 8.83843081e-02 3.81452229e-02 2.34253251e+01] [-8.84025379e-02 9.96084094e-01 -1.21182132e-03 1.64646867e-01] [-3.81029558e-02 -2.16594114e-03 9.99271471e-01 -1.21046447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.145919999999997 meters Centerline goodness : 0.961763 Centerline is valid? [True, True] Translation: X:23.51, Y:0.14, Z:-1.24 [[ 9.98563215e-01 3.76403344e-02 3.81406680e-02 2.35136139e+01] [-3.76013849e-02 9.99291306e-01 -1.73827949e-03 1.43302084e-01] [-3.81790673e-02 3.01640017e-04 9.99270868e-01 -1.24095412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.175919999999998 meters Centerline goodness : 0.998468 Centerline is valid? [True, True] Translation: X:23.47, Y:0.18, Z:-1.22 [[ 9.95448324e-01 8.74121125e-02 3.79704786e-02 2.34724565e+01] [-8.70674621e-02 9.96145588e-01 -1.06406614e-02 1.83316311e-01] [-3.87542474e-02 7.28623535e-03 9.99222207e-01 -1.21814866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.20592 meters Centerline goodness : 0.996045 Centerline is valid? [True, True] Translation: X:23.48, Y:0.18, Z:-1.22 [[ 9.94995439e-01 9.23962950e-02 3.80394611e-02 2.34769119e+01] [-9.24219167e-02 9.95719341e-01 -1.08814254e-03 1.81183422e-01] [-3.79771674e-02 -2.43298303e-03 9.99275645e-01 -1.22090740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.23592 meters Centerline goodness : 0.998121 Centerline is valid? [True, True] Translation: X:23.52, Y:0.18, Z:-1.23 [[ 9.96330572e-01 7.66606905e-02 3.80595657e-02 2.35207986e+01] [-7.67994043e-02 9.97044150e-01 2.19396485e-03 1.78569204e-01] [-3.77788765e-02 -5.10886623e-03 9.99273064e-01 -1.23089876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.265919999999998 meters Centerline goodness : 0.997924 Centerline is valid? [True, True] Translation: X:23.56, Y:0.19, Z:-1.22 [[ 9.96013304e-01 8.06887565e-02 3.80371280e-02 2.35593511e+01] [-8.07343322e-02 9.96735598e-01 -3.38803061e-04 1.87248220e-01] [-3.79402971e-02 -2.73344977e-03 9.99276269e-01 -1.22085808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.29592 meters Centerline goodness : 0.998071 Centerline is valid? [True, True] Translation: X:23.59, Y:0.19, Z:-1.22 [[ 9.96450140e-01 7.51071049e-02 3.80268626e-02 2.35919163e+01] [-7.51098012e-02 9.97174342e-01 -1.35972300e-03 1.93206800e-01] [-3.80215366e-02 -1.50129392e-03 9.99275792e-01 -1.22152015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.32592 meters Centerline goodness : 0.997424 Centerline is valid? [True, True] Translation: X:23.62, Y:0.19, Z:-1.22 [[ 9.97014117e-01 6.72073140e-02 3.80266781e-02 2.36226053e+01] [-6.72034521e-02 9.97738337e-01 -1.38122231e-03 1.91306929e-01] [-3.80335028e-02 -1.17842590e-03 9.99275770e-01 -1.22260676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.355919999999998 meters Centerline goodness : 0.997922 Centerline is valid? [True, True] Translation: X:23.65, Y:0.19, Z:-1.22 [[ 9.97321351e-01 6.24820826e-02 3.80277921e-02 2.36535038e+01] [-6.24801181e-02 9.98045437e-01 -1.24124007e-03 1.92129045e-01] [-3.80310196e-02 -1.13806572e-03 9.99275911e-01 -1.22426578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.38592 meters Centerline goodness : 0.997877 Centerline is valid? [True, True] Translation: X:23.69, Y:0.19, Z:-1.23 [[ 9.97943963e-01 5.15907182e-02 3.80295310e-02 2.36853071e+01] [-5.15896216e-02 9.98667857e-01 -1.01080791e-03 1.90214951e-01] [-3.80310185e-02 -9.53199460e-04 9.99276105e-01 -1.22650795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.41592 meters Centerline goodness : 0.998122 Centerline is valid? [True, True] Translation: X:23.72, Y:0.19, Z:-1.23 [[ 9.98263003e-01 4.49961997e-02 3.80304999e-02 2.37186373e+01] [-4.49954002e-02 9.98986809e-01 -8.77364203e-04 1.86540248e-01] [-3.80314458e-02 -8.35357341e-04 9.99276194e-01 -1.22660795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.445919999999997 meters Centerline goodness : 0.997609 Centerline is valid? [True, True] Translation: X:23.75, Y:0.19, Z:-1.23 [[ 9.98415913e-01 4.14658817e-02 3.80295432e-02 2.37506955e+01] [-4.14577300e-02 9.99139755e-01 -1.00326302e-03 1.86321982e-01] [-3.80384297e-02 -5.74944769e-04 9.99276112e-01 -1.22744732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.47592 meters Centerline goodness : 0.998165 Centerline is valid? [True, True] Translation: X:23.78, Y:0.19, Z:-1.23 [[ 9.98450490e-01 4.06243347e-02 3.80300190e-02 2.37836959e+01] [-4.06179779e-02 9.99174307e-01 -9.40088106e-04 1.87331298e-01] [-3.80368083e-02 -6.06071040e-04 9.99276155e-01 -1.22841446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.50592 meters Centerline goodness : 0.997576 Centerline is valid? [True, True] Translation: X:23.82, Y:0.19, Z:-1.23 [[ 9.98474374e-01 4.00330251e-02 3.80300121e-02 2.38165715e+01] [-4.00262026e-02 9.99198187e-01 -9.41061258e-04 1.86752284e-01] [-3.80371927e-02 -5.82571417e-04 9.99276154e-01 -1.23019266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.535919999999997 meters Centerline goodness : 0.988264 Centerline is valid? [True, True] Translation: X:23.81, Y:0.19, Z:-1.24 [[ 9.97382143e-01 6.15028523e-02 3.80297320e-02 2.38110122e+01] [-6.15100548e-02 9.98105981e-01 -9.81717411e-04 1.88992180e-01] [-3.80180814e-02 -1.36006349e-03 9.99276126e-01 -1.24098855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.56592 meters Centerline goodness : 0.997328 Centerline is valid? [True, True] Translation: X:23.87, Y:0.18, Z:-1.23 [[ 9.98172579e-01 4.69295218e-02 3.80673400e-02 2.38722116e+01] [-4.71071434e-02 9.98882682e-01 3.78203784e-03 1.76278871e-01] [-3.78473174e-02 -5.56837010e-03 9.99268019e-01 -1.22700533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.59592 meters Centerline goodness : 0.997086 Centerline is valid? [True, True] Translation: X:23.90, Y:0.18, Z:-1.23 [[ 9.98242408e-01 4.54804026e-02 3.79951056e-02 2.39041519e+01] [-4.54571399e-02 9.98965199e-01 -1.47636552e-03 1.79642469e-01] [-3.80229339e-02 -2.53378159e-04 9.99276835e-01 -1.23121405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.625919999999997 meters Centerline goodness : 0.997578 Centerline is valid? [True, True] Translation: X:23.94, Y:0.17, Z:-1.23 [[ 9.98274756e-01 4.47626323e-02 3.79975959e-02 2.39369766e+01] [-4.47459277e-02 9.98997566e-01 -1.29036100e-03 1.74931972e-01] [-3.80172658e-02 -4.12102864e-04 9.99276997e-01 -1.23326310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.65592 meters Centerline goodness : 0.997531 Centerline is valid? [True, True] Translation: X:23.97, Y:0.17, Z:-1.23 [[ 9.98339005e-01 4.33067769e-02 3.79967670e-02 2.39693162e+01] [-4.32865780e-02 9.99061779e-01 -1.35449438e-03 1.71905449e-01] [-3.80197764e-02 -2.92505442e-04 9.99276944e-01 -1.23394296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.68592 meters Centerline goodness : 0.997528 Centerline is valid? [True, True] Translation: X:24.00, Y:0.17, Z:-1.24 [[ 9.98401792e-01 4.18331293e-02 3.79980319e-02 2.40011514e+01] [-4.18156409e-02 9.99124555e-01 -1.25521885e-03 1.67141683e-01] [-3.80172765e-02 -3.35699309e-04 9.99277026e-01 -1.23711169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.715919999999997 meters Centerline goodness : 0.905783 Centerline is valid? [True, False] Translation: X:24.00, Y:0.16, Z:-1.23 [[ 9.98969375e-01 3.10788922e-02 3.30800520e-02 2.40021001e+01] [-3.13724535e-02 9.99472529e-01 8.39240573e-03 1.55432157e-01] [-3.28017766e-02 -9.42155870e-03 9.99417469e-01 -1.23494206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.745919999999998 meters Centerline goodness : 0.879131 Centerline is valid? [False, False] Translation: X:24.00, Y:0.15, Z:-1.24 [[ 9.99049778e-01 2.94425699e-02 3.21352670e-02 2.40049434e+01] [-2.96901121e-02 9.99532835e-01 7.25323311e-03 1.51533387e-01] [-3.19067007e-02 -8.20044061e-03 9.99457210e-01 -1.23667733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.77592 meters Centerline goodness : 0.864384 Centerline is valid? [False, False] Translation: X:24.01, Y:0.15, Z:-1.24 [[ 9.99428011e-01 2.89688923e-02 1.74486362e-02 2.40146249e+01] [-2.90777703e-02 9.99559031e-01 6.01882106e-03 1.49845487e-01] [-1.72665833e-02 -6.52274580e-03 9.99829645e-01 -1.23708107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.805919999999997 meters Centerline goodness : 0.996780 Centerline is valid? [False, True] Translation: X:24.02, Y:0.14, Z:-1.24 [[ 9.99759691e-01 1.90921304e-02 1.07726943e-02 2.40153480e+01] [-1.92511600e-02 9.99704289e-01 1.48569265e-02 1.39315005e-01] [-1.04858583e-02 -1.50607431e-02 9.99831596e-01 -1.23598344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.835919999999998 meters Centerline goodness : 0.996937 Centerline is valid? [True, True] Translation: X:24.04, Y:0.16, Z:-1.24 [[ 9.99614818e-01 2.54274265e-02 1.11203603e-02 2.40446572e+01] [-2.54242890e-02 9.99676661e-01 -4.23440586e-04 1.60541967e-01] [-1.11275317e-02 1.40550229e-04 9.99938077e-01 -1.24405074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.86592 meters Centerline goodness : 0.997430 Centerline is valid? [True, True] Translation: X:24.07, Y:0.16, Z:-1.25 [[ 9.99498708e-01 2.96466399e-02 1.11089985e-02 2.40742553e+01] [-2.96491495e-02 9.99560365e-01 6.12474602e-05 1.64197658e-01] [-1.11022988e-02 -3.90589114e-04 9.99938291e-01 -1.24616250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.895919999999997 meters Centerline goodness : 0.998369 Centerline is valid? [True, True] Translation: X:24.09, Y:0.17, Z:-1.25 [[ 9.99178539e-01 3.89723550e-02 1.11086574e-02 2.40937252e+01] [-3.89756015e-02 9.99240160e-01 7.58288269e-05 1.72750884e-01] [-1.10972614e-02 -5.08733143e-04 9.99938294e-01 -1.24710540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.925919999999998 meters Centerline goodness : 0.996593 Centerline is valid? [True, True] Translation: X:24.14, Y:0.17, Z:-1.24 [[ 9.99386882e-01 3.32074680e-02 1.10961516e-02 2.41364431e+01] [-3.32162040e-02 9.99448007e-01 6.03883713e-04 1.72252162e-01] [-1.10699732e-02 -9.72085496e-04 9.99938253e-01 -1.24380821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.95592 meters Centerline goodness : 0.997182 Centerline is valid? [True, True] Translation: X:24.17, Y:0.18, Z:-1.24 [[ 9.99384162e-01 3.32849249e-02 1.11090131e-02 2.41691275e+01] [-3.32871943e-02 9.99445828e-01 1.94022751e-05 1.77987165e-01] [-1.11022109e-02 -3.89178203e-04 9.99938293e-01 -1.24319027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.98592 meters Centerline goodness : 0.996789 Centerline is valid? [True, True] Translation: X:24.20, Y:0.18, Z:-1.24 [[ 9.99373942e-01 3.35904596e-02 1.11088131e-02 2.42018890e+01] [-3.35928482e-02 9.99435601e-01 2.84421305e-05 1.82007080e-01] [-1.11015879e-02 -4.01600997e-04 9.99938295e-01 -1.24389086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.015919999999998 meters Centerline goodness : 0.997620 Centerline is valid? [True, True] Translation: X:24.23, Y:0.19, Z:-1.24 [[ 9.99414020e-01 3.23757823e-02 1.11096629e-02 2.42315257e+01] [-3.23776734e-02 9.99475706e-01 -9.64158617e-06 1.88803437e-01] [-1.11041503e-02 -3.50069099e-04 9.99938286e-01 -1.24459850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.04592 meters Centerline goodness : 0.997768 Centerline is valid? [True, True] Translation: X:24.26, Y:0.19, Z:-1.25 [[ 9.99392028e-01 3.30483268e-02 1.11077244e-02 2.42644663e+01] [-3.30512090e-02 9.99453657e-01 7.59606253e-05 1.90360048e-01] [-1.10991454e-02 -4.43038164e-04 9.99938304e-01 -1.24689544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.07592 meters Centerline goodness : 0.998218 Centerline is valid? [True, True] Translation: X:24.30, Y:0.19, Z:-1.25 [[ 9.99415359e-01 3.23349868e-02 1.11080194e-02 2.42973621e+01] [-3.23376799e-02 9.99476998e-01 6.28741671e-05 1.93534729e-01] [-1.11001769e-02 -4.22044985e-04 9.99938302e-01 -1.24680985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.105919999999998 meters Centerline goodness : 0.952690 Centerline is valid? [True, True] Translation: X:24.34, Y:0.15, Z:-1.27 [[ 9.98329695e-01 -5.66958581e-02 1.11085839e-02 2.43422686e+01] [ 5.66989379e-02 9.98391321e-01 3.77463616e-05 1.54329383e-01] [-1.10928538e-02 5.92161594e-04 9.99938297e-01 -1.26597595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.13592 meters Centerline goodness : 0.998613 Centerline is valid? [True, True] Translation: X:24.35, Y:0.20, Z:-1.25 [[ 9.99405024e-01 3.26483773e-02 1.11211975e-02 2.43537396e+01] [-3.26437067e-02 9.99466871e-01 -6.01285342e-04 2.01374196e-01] [-1.11348995e-02 2.37890481e-04 9.99937977e-01 -1.24809038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.16592 meters Centerline goodness : 0.998019 Centerline is valid? [True, True] Translation: X:24.39, Y:0.20, Z:-1.25 [[ 9.99606120e-01 2.57743858e-02 1.11034520e-02 2.43887852e+01] [-2.57778320e-02 9.99667682e-01 1.67339338e-04 2.02105461e-01] [-1.10954490e-02 -4.53496345e-04 9.99938341e-01 -1.24700157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.195919999999997 meters Centerline goodness : 0.998415 Centerline is valid? [True, True] Translation: X:24.42, Y:0.20, Z:-1.25 [[ 9.99650639e-01 2.39842952e-02 1.11064516e-02 2.44220928e+01] [-2.39862007e-02 9.99712289e-01 3.83751194e-05 2.03369256e-01] [-1.11023358e-02 -3.04763290e-04 9.99938321e-01 -1.24799402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.22592 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:24.45, Y:0.20, Z:-1.26 [[ 9.99775397e-01 1.80499705e-02 1.11064662e-02 2.44487043e+01] [-1.80515031e-02 9.99837058e-01 3.77536788e-05 2.04973348e-01] [-1.11039751e-02 -2.38233609e-04 9.99938321e-01 -1.26188995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.25592 meters Centerline goodness : 0.998615 Centerline is valid? [True, True] Translation: X:24.49, Y:0.21, Z:-1.25 [[ 9.99709625e-01 2.13877542e-02 1.11009073e-02 2.44859195e+01] [-2.13920460e-02 9.99771128e-01 2.68012977e-04 2.08339456e-01] [-1.10926344e-02 -5.05406272e-04 9.99938347e-01 -1.24987478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.285919999999997 meters Centerline goodness : 0.997721 Centerline is valid? [True, True] Translation: X:24.52, Y:0.21, Z:-1.25 [[ 9.99694092e-01 2.20989376e-02 1.11067278e-02 2.45180798e+01] [-2.21005113e-02 9.99755754e-01 1.89580519e-05 2.10190557e-01] [-1.11035961e-02 -2.64416617e-04 9.99938318e-01 -1.24900177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.31592 meters Centerline goodness : 0.998071 Centerline is valid? [True, True] Translation: X:24.55, Y:0.21, Z:-1.25 [[ 9.99672081e-01 2.30734445e-02 1.11061552e-02 2.45500333e+01] [-2.30753453e-02 9.99733728e-01 4.30199346e-05 2.12330119e-01] [-1.11022054e-02 -2.99284195e-04 9.99938324e-01 -1.25053423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.34592 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:24.58, Y:0.21, Z:-1.26 [[ 9.99719241e-01 2.09309791e-02 1.11055775e-02 2.45771049e+01] [-2.09330144e-02 9.99780878e-01 6.70479909e-05 2.12681869e-01] [-1.11017407e-02 -2.99502381e-04 9.99938329e-01 -1.26103292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.375919999999997 meters Centerline goodness : 0.998465 Centerline is valid? [True, True] Translation: X:24.61, Y:0.22, Z:-1.25 [[ 9.99543997e-01 2.80816162e-02 1.11005141e-02 2.46142465e+01] [-2.80863746e-02 9.99605463e-01 2.72967981e-04 2.17015892e-01] [-1.10884691e-02 -5.84616703e-04 9.99938350e-01 -1.24958847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.40592 meters Centerline goodness : 0.997768 Centerline is valid? [True, True] Translation: X:24.65, Y:0.22, Z:-1.25 [[ 9.99535005e-01 2.83975735e-02 1.11063668e-02 2.46474383e+01] [-2.83996386e-02 9.99596649e-01 2.82323810e-05 2.18372817e-01] [-1.11010853e-02 -3.43636056e-04 9.99938322e-01 -1.24899827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.43592 meters Centerline goodness : 0.829496 Centerline is valid? [True, False] Translation: X:24.65, Y:0.21, Z:-1.25 [[ 9.99856432e-01 1.37792879e-02 9.86134875e-03 2.46481001e+01] [-1.38301092e-02 9.99891332e-01 5.10407653e-03 2.13797847e-01] [-9.78994660e-03 -5.23972728e-03 9.99938349e-01 -1.24989002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.465919999999997 meters Centerline goodness : 0.998860 Centerline is valid? [False, True] Translation: X:24.67, Y:0.22, Z:-1.25 [[ 9.99978958e-01 4.46265032e-03 4.70831962e-03 2.46692761e+01] [-4.47172474e-03 9.99988161e-01 1.91855193e-03 2.16147826e-01] [-4.69970205e-03 -1.93956587e-03 9.99987075e-01 -1.24775843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.495919999999998 meters Centerline goodness : 0.998212 Centerline is valid? [True, True] Translation: X:24.70, Y:0.22, Z:-1.24 [[ 9.99936917e-01 1.01619929e-02 4.78503302e-03 2.46954719e+01] [-1.01615614e-02 9.99948363e-01 -1.14476661e-04 2.21619042e-01] [-4.78594925e-03 6.58460324e-05 9.99988545e-01 -1.24490646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.52592 meters Centerline goodness : 0.998613 Centerline is valid? [True, True] Translation: X:24.73, Y:0.22, Z:-1.25 [[ 9.99985514e-01 2.48103992e-03 4.77663903e-03 2.47336434e+01] [-2.48152461e-03 9.99996916e-01 9.55464014e-05 2.17380015e-01] [-4.77638725e-03 -1.07398365e-04 9.99988587e-01 -1.24550159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.555919999999997 meters Centerline goodness : 0.998613 Centerline is valid? [True, True] Translation: X:24.77, Y:0.22, Z:-1.25 [[ 9.99987453e-01 1.49669103e-03 4.78055637e-03 2.47656563e+01] [-1.49669066e-03 9.99998880e-01 -3.65685052e-06 2.18278674e-01] [-4.78055649e-03 -3.49820941e-06 9.99988573e-01 -1.24568940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.585919999999998 meters Centerline goodness : 0.998119 Centerline is valid? [True, True] Translation: X:24.79, Y:0.22, Z:-1.25 [[ 9.99977296e-01 4.74919266e-03 4.78044018e-03 2.47874885e+01] [-4.74924332e-03 9.99988722e-01 -7.53558839e-07 2.24433593e-01] [-4.78038985e-03 -2.19499319e-05 9.99988574e-01 -1.24618068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.61592 meters Centerline goodness : 0.997518 Centerline is valid? [True, True] Translation: X:24.82, Y:0.23, Z:-1.25 [[ 9.99983801e-01 3.10029478e-03 4.77356064e-03 2.48198647e+01] [-3.10112713e-03 9.99995178e-01 1.66973890e-04 2.26200708e-01] [-4.77301996e-03 -1.81774604e-04 9.99988593e-01 -1.24644974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.645919999999997 meters Centerline goodness : 0.997475 Centerline is valid? [True, True] Translation: X:24.86, Y:0.23, Z:-1.24 [[ 9.99987511e-01 1.47982792e-03 4.77359611e-03 2.48565549e+01] [-1.48063774e-03 9.99998890e-01 1.66115745e-04 2.26714491e-01] [-4.77334499e-03 -1.73181637e-04 9.99988593e-01 -1.24430401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.675919999999998 meters Centerline goodness : 0.893041 Centerline is valid? [True, False] Translation: X:24.88, Y:0.22, Z:-1.24 [[ 9.99999654e-01 2.63523785e-04 -7.89591876e-04 2.48783194e+01] [-2.58337061e-04 9.99978438e-01 6.56178411e-03 2.21877624e-01] [ 7.91304037e-04 -6.56157785e-03 9.99978160e-01 -1.24085761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.70592 meters Centerline goodness : 0.998018 Centerline is valid? [False, True] Translation: X:24.88, Y:0.23, Z:-1.24 [[ 9.99999595e-01 3.07733847e-04 -8.45475582e-04 2.48785655e+01] [-3.02976190e-04 9.99984153e-01 5.62157363e-03 2.26272552e-01] [ 8.47192132e-04 -5.62131519e-03 9.99983841e-01 -1.24149980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.735919999999997 meters Centerline goodness : 0.997917 Centerline is valid? [True, True] Translation: X:24.91, Y:0.23, Z:-1.24 [[ 9.99999680e-01 -5.28293849e-04 -6.00657923e-04 2.49095370e+01] [ 5.28203998e-04 9.99999849e-01 -1.49736441e-04 2.33429523e-01] [ 6.00736937e-04 1.49419123e-04 9.99999808e-01 -1.24313959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.765919999999998 meters Centerline goodness : 0.998663 Centerline is valid? [True, True] Translation: X:24.94, Y:0.23, Z:-1.24 [[ 9.99996295e-01 -2.65355346e-03 -6.06856906e-04 2.49396227e+01] [ 2.65355085e-03 9.99996479e-01 -5.11287530e-06 2.32647441e-01] [ 6.06868337e-04 3.50253070e-06 9.99999816e-01 -1.24337820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.79592 meters Centerline goodness : 0.999110 Centerline is valid? [True, True] Translation: X:24.97, Y:0.23, Z:-1.24 [[ 9.99960037e-01 -8.91947040e-03 -6.06643172e-04 2.49692414e+01] [ 8.91946600e-03 9.99960221e-01 -9.96173693e-06 2.29060179e-01] [ 6.06707893e-04 4.55040568e-06 9.99999816e-01 -1.24212546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.82592 meters Centerline goodness : 0.994847 Centerline is valid? [True, True] Translation: X:25.02, Y:0.21, Z:-1.25 [[ 9.98942713e-01 -4.59683330e-02 -6.06534662e-04 2.50224441e+01] [ 4.59683340e-02 9.98942897e-01 -1.23590491e-05 2.10035946e-01] [ 6.06461618e-04 -1.55354059e-05 9.99999816e-01 -1.25282701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.855919999999998 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:25.03, Y:0.23, Z:-1.24 [[ 9.99853459e-01 -1.71081566e-02 -6.09018829e-04 2.50276925e+01] [ 1.71081881e-02 9.99853643e-01 4.65530935e-05 2.28996569e-01] [ 6.08133257e-04 -5.69654802e-05 9.99999813e-01 -1.24395190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.88592 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:25.06, Y:0.23, Z:-1.24 [[ 9.99808324e-01 -1.95690411e-02 -6.06239677e-04 2.50555200e+01] [ 1.95690367e-02 9.99808508e-01 -1.31111774e-05 2.28866489e-01] [ 6.06380160e-04 1.24513777e-06 9.99999816e-01 -1.24397028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.91592 meters Centerline goodness : 0.998319 Centerline is valid? [True, True] Translation: X:25.10, Y:0.21, Z:-1.25 [[ 9.98532253e-01 -5.41569263e-02 -6.06247979e-04 2.50990671e+01] [ 5.41569285e-02 9.98532437e-01 -1.29352673e-05 2.09607276e-01] [ 6.06058806e-04 -1.99162468e-05 9.99999816e-01 -1.25231994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.945919999999997 meters Centerline goodness : 0.998913 Centerline is valid? [True, True] Translation: X:25.12, Y:0.22, Z:-1.24 [[ 9.99752356e-01 -2.22453943e-02 -6.07705976e-04 2.51166746e+01] [ 2.22454093e-02 9.99752540e-01 1.79762903e-05 2.24189663e-01] [ 6.07155703e-04 -3.14905068e-05 9.99999815e-01 -1.24087983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.97592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.15, Y:0.22, Z:-1.25 [[ 9.99224085e-01 -3.93809684e-02 -6.06155890e-04 2.51515517e+01] [ 3.93809678e-02 9.99224269e-01 -1.27940181e-05 2.15552641e-01] [ 6.06189516e-04 -1.10869145e-05 9.99999816e-01 -1.24784242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.00592 meters Centerline goodness : 0.999555 Centerline is valid? [True, True] Translation: X:25.17, Y:0.22, Z:-1.24 [[ 9.99650199e-01 -2.64407279e-02 -6.06834654e-04 2.51741174e+01] [ 2.64407332e-02 9.99650383e-01 5.72099192e-07 2.24109706e-01] [ 6.06607367e-04 -1.66170522e-05 9.99999816e-01 -1.24376586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.035919999999997 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:25.20, Y:0.23, Z:-1.24 [[ 9.99633518e-01 -2.70640504e-02 -6.05918236e-04 2.52031989e+01] [ 2.70640453e-02 9.99633702e-01 -1.67119722e-05 2.25469007e-01] [ 6.06148583e-04 3.07248995e-07 9.99999816e-01 -1.24430631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.06592 meters Centerline goodness : 0.938132 Centerline is valid? [True, False] Translation: X:25.22, Y:0.23, Z:-1.24 [[ 9.99895824e-01 -1.41416534e-02 -2.89041481e-03 2.52230707e+01] [ 1.41478312e-02 9.99897650e-01 2.12818086e-03 2.25234363e-01] [ 2.86002298e-03 -2.16885226e-03 9.99993558e-01 -1.23944535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.09592 meters Centerline goodness : 0.999852 Centerline is valid? [False, True] Translation: X:25.24, Y:0.22, Z:-1.23 [[ 9.99983062e-01 -1.51769930e-03 -5.61890202e-03 2.52427946e+01] [ 1.54262524e-03 9.99988978e-01 4.43441369e-03 2.22971306e-01] [ 5.61210998e-03 -4.44300644e-03 9.99974382e-01 -1.23352779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.125919999999997 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:25.27, Y:0.23, Z:-1.24 [[ 9.99977797e-01 -3.75610026e-03 -5.50430426e-03 2.52707704e+01] [ 3.75551113e-03 9.99992941e-01 -1.17362429e-04 2.25583103e-01] [ 5.50470623e-03 9.66883478e-05 9.99984844e-01 -1.23503144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.15592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:25.30, Y:0.22, Z:-1.24 [[ 9.99978117e-01 -3.66649399e-03 -5.50649072e-03 2.52993046e+01] [ 3.66637628e-03 9.99993278e-01 -3.14699984e-05 2.24680119e-01] [ 5.50656909e-03 1.12804428e-05 9.99984839e-01 -1.23527357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.18592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:25.33, Y:0.22, Z:-1.24 [[ 9.99974599e-01 -4.52541035e-03 -5.50646933e-03 2.53272261e+01] [ 4.52530112e-03 9.99989760e-01 -3.22943274e-05 2.22924334e-01] [ 5.50655909e-03 7.37507527e-06 9.99984839e-01 -1.23739037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.215919999999997 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:25.36, Y:0.22, Z:-1.24 [[ 9.99977411e-01 -3.85521245e-03 -5.50597214e-03 2.53578335e+01] [ 3.85499134e-03 9.99992568e-01 -5.07690971e-05 2.21516144e-01] [ 5.50612694e-03 2.95424753e-05 9.99984841e-01 -1.23577326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.245919999999998 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:25.39, Y:0.22, Z:-1.23 [[ 9.99970549e-01 -5.34604533e-03 -5.50646856e-03 2.53875596e+01] [ 5.34594452e-03 9.99985710e-01 -3.30256390e-05 2.16046485e-01] [ 5.50656643e-03 3.58739087e-06 9.99984839e-01 -1.23269550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.27592 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:25.42, Y:0.21, Z:-1.23 [[ 9.99964093e-01 -6.44150344e-03 -5.50640000e-03 2.54156178e+01] [ 6.44140601e-03 9.99979253e-01 -3.54279690e-05 2.14484623e-01] [ 5.50651397e-03 -4.22612380e-08 9.99984839e-01 -1.23368898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.305919999999997 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:25.44, Y:0.21, Z:-1.23 [[ 9.99953714e-01 -7.89045490e-03 -5.50545119e-03 2.54445899e+01] [ 7.89020517e-03 9.99968870e-01 -6.70791886e-05 2.12391059e-01] [ 5.50580909e-03 2.36369444e-05 9.99984843e-01 -1.23312669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.335919999999998 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:25.47, Y:0.21, Z:-1.23 [[ 9.99919955e-01 -1.13916166e-02 -5.50580795e-03 2.54737603e+01] [ 1.13914844e-02 9.99935113e-01 -5.53615744e-05 2.05725675e-01] [ 5.50608135e-03 -7.36218264e-06 9.99984841e-01 -1.23492112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.36592 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:25.50, Y:0.20, Z:-1.23 [[ 9.99894790e-01 -1.34200236e-02 -5.50564823e-03 2.55026144e+01] [ 1.34198938e-02 9.99909947e-01 -6.05338804e-05 2.00576336e-01] [ 5.50596479e-03 -1.33577027e-05 9.99984842e-01 -1.23169858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.395919999999997 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:25.53, Y:0.20, Z:-1.23 [[ 9.99878763e-01 -1.45654158e-02 -5.50530882e-03 2.55314122e+01] [ 1.45652442e-02 9.99893919e-01 -7.12512167e-05 1.98542231e-01] [ 5.50576262e-03 -8.94358931e-06 9.99984843e-01 -1.23265952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.425919999999998 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:25.56, Y:0.20, Z:-1.23 [[ 9.99874638e-01 -1.48459907e-02 -5.50500648e-03 2.55597081e+01] [ 1.48457722e-02 9.99889792e-01 -8.05474534e-05 1.95707773e-01] [ 5.50559559e-03 -1.18871664e-06 9.99984844e-01 -1.23256576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.45592 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:25.59, Y:0.19, Z:-1.23 [[ 9.99916869e-01 -1.16598919e-02 -5.50466933e-03 2.55894078e+01] [ 1.16595695e-02 9.99932021e-01 -9.06478832e-05 1.90412808e-01] [ 5.50535208e-03 2.64582729e-05 9.99984845e-01 -1.23162746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.485919999999997 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:25.62, Y:0.19, Z:-1.23 [[ 9.99925923e-01 -1.08555356e-02 -5.50511333e-03 2.56184894e+01] [ 1.08552726e-02 9.99941077e-01 -7.76518356e-05 1.89373181e-01] [ 5.50563190e-03 1.78865775e-05 9.99984844e-01 -1.23145699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.515919999999998 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:25.65, Y:0.19, Z:-1.23 [[ 9.99932524e-01 -1.02296352e-02 -5.50480497e-03 2.56474103e+01] [ 1.02293141e-02 9.99947675e-01 -8.64908267e-05 1.87219455e-01] [ 5.50540171e-03 3.01746114e-05 9.99984845e-01 -1.23065346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.54592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.68, Y:0.19, Z:-1.23 [[ 9.99923055e-01 -1.11169214e-02 -5.50434615e-03 2.56761586e+01] [ 1.11165434e-02 9.99938204e-01 -9.92682662e-05 1.85235011e-01] [ 5.50510956e-03 3.80713253e-05 9.99984846e-01 -1.23051082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.57592 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:25.71, Y:0.18, Z:-1.23 [[ 9.99916112e-01 -1.17248489e-02 -5.50426068e-03 2.57070576e+01] [ 1.17244672e-02 9.99931261e-01 -1.01611379e-04 1.79977855e-01] [ 5.50507370e-03 3.70683309e-05 9.99984846e-01 -1.23135791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.605919999999998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:25.74, Y:0.18, Z:-1.23 [[ 9.99872327e-01 -1.50007410e-02 -5.50517993e-03 2.57351381e+01] [ 1.50005443e-02 9.99887483e-01 -7.70231234e-05 1.78055676e-01] [ 5.50571590e-03 -5.56740551e-06 9.99984843e-01 -1.23036809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.63592 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:25.76, Y:0.18, Z:-1.23 [[ 9.99832673e-01 -1.74451046e-02 -5.50398862e-03 2.57646399e+01] [ 1.74447736e-02 9.99847823e-01 -1.08148504e-04 1.75369124e-01] [ 5.50503770e-03 1.21145728e-05 9.99984847e-01 -1.23189077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.66592 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:25.79, Y:0.17, Z:-1.23 [[ 9.99790191e-01 -1.97303104e-02 -5.50352299e-03 2.57937210e+01] [ 1.97299482e-02 9.99805338e-01 -1.20102707e-04 1.73927110e-01] [ 5.50482133e-03 1.14932842e-05 9.99984848e-01 -1.22992320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.695919999999997 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:25.82, Y:0.17, Z:-1.23 [[ 9.99754374e-01 -2.14686002e-02 -5.50366881e-03 2.58226471e+01] [ 2.14682843e-02 9.99769523e-01 -1.16465367e-04 1.71674991e-01] [ 5.50490069e-03 -1.71756641e-06 9.99984848e-01 -1.22895779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.72592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.85, Y:0.17, Z:-1.23 [[ 9.99746704e-01 -2.18229125e-02 -5.50354169e-03 2.58509571e+01] [ 2.18225847e-02 9.99761852e-01 -1.19597752e-04 1.67943321e-01] [ 5.50484101e-03 -5.34046563e-07 9.99984848e-01 -1.22851847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.75592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:25.88, Y:0.17, Z:-1.24 [[ 9.99654683e-01 -2.56949102e-02 -5.50326320e-03 2.58762898e+01] [ 2.56946040e-02 9.99669831e-01 -1.26340348e-04 1.65078039e-01] [ 5.50469250e-03 -1.51074481e-05 9.99984849e-01 -1.24282797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.785919999999997 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:25.91, Y:0.16, Z:-1.23 [[ 9.99779617e-01 -2.02603008e-02 -5.49881613e-03 2.59100584e+01] [ 2.02593320e-02 9.99794732e-01 -2.31824411e-04 1.64105997e-01] [ 5.50238423e-03 1.20370979e-04 9.99984855e-01 -1.23124689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.81592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.94, Y:0.16, Z:-1.24 [[ 9.99726445e-01 -2.27321611e-02 -5.50308791e-03 2.59365131e+01] [ 2.27317824e-02 9.99741591e-01 -1.31364957e-04 1.61797781e-01] [ 5.50465207e-03 6.23402480e-06 9.99984849e-01 -1.23973071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.84592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.96, Y:0.16, Z:-1.24 [[ 9.99735722e-01 -2.23213482e-02 -5.49935444e-03 2.59644044e+01] [ 2.23204913e-02 9.99750843e-01 -2.17142637e-04 1.57869005e-01] [ 5.50283116e-03 9.43369577e-05 9.99984855e-01 -1.24071346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.875919999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.99, Y:0.16, Z:-1.24 [[ 9.99731483e-01 -2.25105583e-02 -5.49875167e-03 2.59924649e+01] [ 2.25096286e-02 9.99746600e-01 -2.30906812e-04 1.56766586e-01] [ 5.50255613e-03 1.07069952e-04 9.99984855e-01 -1.24004391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.90592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.03, Y:0.16, Z:-1.23 [[ 9.99812377e-01 -1.85735583e-02 -5.49849626e-03 2.60268017e+01] [ 1.85725374e-02 9.99827488e-01 -2.36677301e-04 1.56472791e-01] [ 5.50194364e-03 1.34511867e-04 9.99984855e-01 -1.23010614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.93592 meters Centerline goodness : 0.914743 Centerline is valid? [True, False] Translation: X:26.04, Y:0.16, Z:-1.23 [[ 9.99966310e-01 -5.22087420e-03 -6.33414394e-03 2.60449960e+01] [ 5.23010595e-03 9.99985284e-01 1.44177021e-03 1.57347342e-01] [ 6.32652342e-03 -1.47484988e-03 9.99978900e-01 -1.22561346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.965919999999997 meters Centerline goodness : 0.885435 Centerline is valid? [False, False] Translation: X:26.05, Y:0.15, Z:-1.22 [[ 9.99977945e-01 -1.14386938e-03 -6.54224473e-03 2.60455931e+01] [ 1.18876628e-03 9.99975744e-01 6.86284615e-03 1.51809539e-01] [ 6.53423584e-03 -6.87047199e-03 9.99955049e-01 -1.22449530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.995919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [False, True] Translation: X:26.05, Y:0.15, Z:-1.22 [[ 9.99977795e-01 -1.20526981e-03 -6.55418428e-03 2.60457120e+01] [ 1.25456285e-03 9.99970923e-01 7.52194700e-03 1.48836408e-01] [ 6.54492772e-03 -7.53000261e-03 9.99950230e-01 -1.22413211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.02592 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:26.07, Y:0.16, Z:-1.23 [[ 9.99973720e-01 3.58677462e-03 -6.30030272e-03 2.60718806e+01] [-3.58839571e-03 9.99993531e-01 -2.46018343e-04 1.56261509e-01] [ 6.29937955e-03 2.68619857e-04 9.99980123e-01 -1.22503875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.055919999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.10, Y:0.16, Z:-1.24 [[ 9.99976929e-01 -2.51787895e-03 -6.30878695e-03 2.60966530e+01] [ 2.51805667e-03 9.99996829e-01 2.02270668e-05 1.55569118e-01] [ 6.30871602e-03 -3.61124832e-05 9.99980099e-01 -1.23536173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.085919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.13, Y:0.16, Z:-1.23 [[ 9.99974313e-01 3.41200472e-03 -6.30330845e-03 2.61318268e+01] [-3.41299689e-03 9.99994165e-01 -1.46654206e-04 1.55655117e-01] [ 6.30277128e-03 1.68163611e-04 9.99980123e-01 -1.22546795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.11592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:26.16, Y:0.15, Z:-1.23 [[ 9.99978548e-01 1.76627237e-03 -6.30750550e-03 2.61641096e+01] [-1.76645962e-03 9.99998440e-01 -2.41159717e-05 1.53103408e-01] [ 6.30745306e-03 3.52574081e-05 9.99980107e-01 -1.22518463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.145919999999997 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:26.19, Y:0.15, Z:-1.22 [[ 9.99978521e-01 1.77850231e-03 -6.30825737e-03 2.61914573e+01] [-1.77855557e-03 9.99998418e-01 -2.83429104e-06 1.52762128e-01] [ 6.30824235e-03 1.40538165e-05 9.99980103e-01 -1.22474814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.175919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.22, Y:0.15, Z:-1.24 [[ 9.99979170e-01 -1.36690688e-03 -6.30803710e-03 2.62165164e+01] [ 1.36687774e-03 9.99999066e-01 -8.92991763e-06 1.51771454e-01] [ 6.30804341e-03 3.07416117e-07 9.99980104e-01 -1.23530025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.20592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.24, Y:0.15, Z:-1.24 [[ 9.99966360e-01 -5.25044396e-03 -6.30173611e-03 2.62437214e+01] [ 5.24942406e-03 9.99986206e-01 -1.78374157e-04 1.46408542e-01] [ 6.30258572e-03 1.45287672e-04 9.99980128e-01 -1.23924335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.235919999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.27, Y:0.15, Z:-1.24 [[ 9.99961445e-01 -6.11759319e-03 -6.29949391e-03 2.62727601e+01] [ 6.11621653e-03 9.99981268e-01 -2.37777375e-04 1.45480911e-01] [ 6.30083053e-03 1.99239138e-04 9.99980130e-01 -1.23707067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.265919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.30, Y:0.15, Z:-1.24 [[ 9.99969742e-01 -4.56423302e-03 -6.29946656e-03 2.63013190e+01] [ 4.56282102e-03 9.99989562e-01 -2.38499977e-04 1.45315489e-01] [ 6.30048937e-03 2.09749422e-04 9.99980130e-01 -1.23709660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.29592 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:26.34, Y:0.15, Z:-1.23 [[ 9.99979060e-01 1.48230517e-03 -6.29942542e-03 2.63359513e+01] [-1.48384379e-03 9.99998870e-01 -2.39581579e-04 1.47439807e-01] [ 6.29906317e-03 2.48923925e-04 9.99980130e-01 -1.22511658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.32592 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:26.36, Y:0.14, Z:-1.24 [[ 9.99976508e-01 -2.68807504e-03 -6.30543532e-03 2.63610727e+01] [ 2.68761097e-03 9.99996385e-01 -8.20696231e-05 1.44432428e-01] [ 6.30563314e-03 6.51211379e-05 9.99980117e-01 -1.23728099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.355919999999998 meters Centerline goodness : 0.998178 Centerline is valid? [True, True] Translation: X:26.38, Y:0.14, Z:-1.23 [[ 9.99831106e-01 1.72650120e-02 -6.29914141e-03 2.63756464e+01] [-1.72668929e-02 9.99850886e-01 -2.44334200e-04 1.42957122e-01] [ 6.29398369e-03 3.53059534e-04 9.99980130e-01 -1.23007521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.38592 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:26.42, Y:0.15, Z:-1.23 [[ 9.99832647e-01 1.71821823e-02 -6.28095328e-03 2.64244416e+01] [-1.71871241e-02 9.99852021e-01 -7.33659040e-04 1.49573673e-01] [ 6.26741796e-03 8.41487784e-04 9.99980005e-01 -1.22508017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.41592 meters Centerline goodness : 0.995716 Centerline is valid? [True, True] Translation: X:26.43, Y:0.14, Z:-1.23 [[ 9.99503761e-01 3.08622637e-02 -6.30493943e-03 2.64261953e+01] [-3.08629089e-02 9.99523627e-01 -5.03448526e-06 1.44648857e-01] [ 6.30178055e-03 1.99620758e-04 9.99980124e-01 -1.23224014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.445919999999997 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:26.47, Y:0.15, Z:-1.23 [[ 9.99700725e-01 2.36439783e-02 -6.27873914e-03 2.64709891e+01] [-2.36494855e-02 9.99719988e-01 -8.04308539e-04 1.49638244e-01] [ 6.25796396e-03 9.52556780e-04 9.99979965e-01 -1.23409782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.47592 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:26.50, Y:0.15, Z:-1.23 [[ 9.99697914e-01 2.37577936e-02 -6.29658699e-03 2.65036045e+01] [-2.37593973e-02 9.99717689e-01 -1.79993860e-04 1.50006236e-01] [ 6.29053314e-03 3.29542598e-04 9.99980160e-01 -1.23359697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.50592 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:26.54, Y:0.15, Z:-1.22 [[ 9.99516265e-01 3.04563571e-02 -6.29660670e-03 2.65396253e+01] [-3.04580888e-02 9.99536029e-01 -1.79301682e-04 1.53224400e-01] [ 6.28822438e-03 3.70997553e-04 9.99980160e-01 -1.22269058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.535919999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.56, Y:0.15, Z:-1.24 [[ 9.99731292e-01 2.23076127e-02 -6.30184545e-03 2.65638574e+01] [-2.23080294e-02 9.99751145e-01 4.16584077e-06 1.51393389e-01] [ 6.30037013e-03 1.36417032e-04 9.99980143e-01 -1.23527804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.56592 meters Centerline goodness : 0.994039 Centerline is valid? [True, True] Translation: X:26.57, Y:0.14, Z:-1.23 [[ 9.99478520e-01 3.16708640e-02 -6.29631407e-03 2.65698324e+01] [-3.16726527e-02 9.99498279e-01 -1.84551396e-04 1.42144330e-01] [ 6.28731017e-03 3.83876125e-04 9.99980161e-01 -1.23399021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.59592 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:26.62, Y:0.15, Z:-1.23 [[ 9.99598567e-01 2.76284231e-02 -6.27495163e-03 2.66155908e+01] [-2.76348759e-02 9.99617638e-01 -9.43959564e-04 1.53124805e-01] [ 6.24647222e-03 1.11698814e-03 9.99979867e-01 -1.23478788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.625919999999997 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:26.65, Y:0.15, Z:-1.23 [[ 9.99606031e-01 2.73528506e-02 -6.29315295e-03 2.66474494e+01] [-2.73542915e-02 9.99625791e-01 -1.42990446e-04 1.53506025e-01] [ 6.28688680e-03 3.15078852e-04 9.99980188e-01 -1.23346070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.65592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.68, Y:0.15, Z:-1.23 [[ 9.99609105e-01 2.72402889e-02 -6.29316861e-03 2.66801286e+01] [-2.72417232e-02 9.99628865e-01 -1.42297635e-04 1.54943081e-01] [ 6.28695677e-03 3.13678769e-04 9.99980188e-01 -1.23375355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.68592 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:26.71, Y:0.16, Z:-1.23 [[ 9.99603937e-01 2.74292844e-02 -6.29319217e-03 2.67119959e+01] [-2.74307158e-02 9.99623697e-01 -1.41247995e-04 1.56188500e-01] [ 6.28694969e-03 3.13818818e-04 9.99980188e-01 -1.23398817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.715919999999997 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:26.74, Y:0.15, Z:-1.23 [[ 9.99569303e-01 2.86636410e-02 -6.29321132e-03 2.67440703e+01] [-2.86650914e-02 9.99589062e-01 -1.40389773e-04 1.54889315e-01] [ 6.28660111e-03 3.20724786e-04 9.99980188e-01 -1.23490733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.745919999999998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:26.78, Y:0.15, Z:-1.23 [[ 9.99569522e-01 2.86560064e-02 -6.29322677e-03 2.67770989e+01] [-2.86574524e-02 9.99589281e-01 -1.39693581e-04 1.54722590e-01] [ 6.28663896e-03 3.19981293e-04 9.99980188e-01 -1.23367294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.77592 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:26.81, Y:0.16, Z:-1.24 [[ 9.99595016e-01 2.77524760e-02 -6.29324989e-03 2.68093897e+01] [-2.77538975e-02 9.99614777e-01 -1.38643931e-04 1.55174353e-01] [ 6.28697788e-03 3.13249995e-04 9.99980188e-01 -1.23527013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.805919999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.84, Y:0.16, Z:-1.23 [[ 9.99583246e-01 2.81731815e-02 -6.29326864e-03 2.68416129e+01] [-2.81746060e-02 9.99603007e-01 -1.37787630e-04 1.56065803e-01] [ 6.28688835e-03 3.15040571e-04 9.99980188e-01 -1.23379442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.835919999999998 meters Centerline goodness : 0.999753 Centerline is valid? [True, True] Translation: X:26.87, Y:0.16, Z:-1.24 [[ 9.99538437e-01 2.97205008e-02 -6.29328775e-03 2.68740126e+01] [-2.97219503e-02 9.99558196e-01 -1.36909416e-04 1.56818534e-01] [ 6.28643833e-03 3.23895010e-04 9.99980188e-01 -1.23621865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.86592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:26.91, Y:0.16, Z:-1.24 [[ 9.99504225e-01 3.08496130e-02 -6.29330314e-03 2.69056268e+01] [-3.08510804e-02 9.99523983e-01 -1.36198062e-04 1.57847610e-01] [ 6.28610577e-03 3.30285740e-04 9.99980188e-01 -1.23572283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.895919999999997 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:26.94, Y:0.16, Z:-1.23 [[ 9.99429813e-01 3.31729392e-02 -6.29332163e-03 2.69373230e+01] [-3.31744471e-02 9.99449567e-01 -1.35338178e-04 1.58844866e-01] [ 6.28536802e-03 3.44038476e-04 9.99980188e-01 -1.23429973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.925919999999998 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:26.97, Y:0.16, Z:-1.23 [[ 9.99378962e-01 3.46710843e-02 -6.29333654e-03 2.69689184e+01] [-3.46726175e-02 9.99398715e-01 -1.34641524e-04 1.59493642e-01] [ 6.28488428e-03 3.52764357e-04 9.99980188e-01 -1.23379265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.95592 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:27.00, Y:0.16, Z:-1.23 [[ 9.99297611e-01 3.69415620e-02 -6.29336460e-03 2.70011626e+01] [-3.69431317e-02 9.99317361e-01 -1.33316760e-04 1.62365892e-01] [ 6.28414357e-03 3.65719717e-04 9.99980188e-01 -1.23425067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.985919999999997 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:27.03, Y:0.16, Z:-1.23 [[ 9.99279662e-01 3.74239236e-02 -6.29337894e-03 2.70341856e+01] [-3.74254986e-02 9.99299412e-01 -1.32636249e-04 1.64923247e-01] [ 6.28400611e-03 3.68073551e-04 9.99980188e-01 -1.23425892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.015919999999998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:27.07, Y:0.17, Z:-1.23 [[ 9.99220708e-01 3.89662652e-02 -6.29340051e-03 2.70659413e+01] [-3.89678642e-02 9.99240456e-01 -1.31604760e-04 1.67310291e-01] [ 6.28349225e-03 3.76742578e-04 9.99980188e-01 -1.23399337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.04592 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:27.10, Y:0.17, Z:-1.23 [[ 9.99165359e-01 4.03606032e-02 -6.29341466e-03 2.70983040e+01] [-4.03622255e-02 9.99185105e-01 -1.30924790e-04 1.68923687e-01] [ 6.28300198e-03 3.84831737e-04 9.99980188e-01 -1.23363542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.07592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.13, Y:0.17, Z:-1.23 [[ 9.99195287e-01 3.96127725e-02 -6.29342876e-03 2.71314729e+01] [-3.96143757e-02 9.99215034e-01 -1.30243412e-04 1.71977900e-01] [ 6.28332933e-03 3.79448855e-04 9.99980188e-01 -1.23437210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.105919999999998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:27.16, Y:0.17, Z:-1.23 [[ 9.99247283e-01 3.82787203e-02 -6.29344974e-03 2.71636187e+01] [-3.82802907e-02 9.99267033e-01 -1.29221737e-04 1.73928295e-01] [ 6.28389040e-03 3.70039555e-04 9.99980188e-01 -1.23337200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.13592 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:27.20, Y:0.18, Z:-1.23 [[ 9.99298522e-01 3.69168951e-02 -6.29346358e-03 2.71952239e+01] [-3.69184344e-02 9.99318274e-01 -1.28544016e-04 1.77154352e-01] [ 6.28442772e-03 3.60798668e-04 9.99980188e-01 -1.23356104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.16592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:27.23, Y:0.18, Z:-1.23 [[ 9.99282391e-01 3.73509820e-02 -6.29347745e-03 2.72269927e+01] [-3.73525256e-02 9.99302143e-01 -1.27861654e-04 1.80645076e-01] [ 6.28430974e-03 3.62847177e-04 9.99980188e-01 -1.23263540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.195919999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.26, Y:0.19, Z:-1.23 [[ 9.99184743e-01 3.98778324e-02 -6.29349139e-03 2.72590849e+01] [-3.98794216e-02 9.99204491e-01 -1.27171710e-04 1.89860170e-01] [ 6.28341353e-03 3.78048829e-04 9.99980188e-01 -1.23112706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.22592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.29, Y:0.20, Z:-1.23 [[ 9.99078245e-01 4.24623682e-02 -6.29351533e-03 2.72910366e+01] [-4.24640009e-02 9.99097990e-01 -1.25975636e-04 1.96924650e-01] [ 6.28248929e-03 3.93107358e-04 9.99980188e-01 -1.23184686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.25592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:27.32, Y:0.20, Z:-1.23 [[ 9.99069774e-01 4.26611983e-02 -6.29352914e-03 2.73229920e+01] [-4.26628306e-02 9.99089519e-01 -1.25281894e-04 2.01398505e-01] [ 6.28245432e-03 3.93665121e-04 9.99980188e-01 -1.23143105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.285919999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.35, Y:0.21, Z:-1.23 [[ 9.99084142e-01 4.23233849e-02 -6.29354260e-03 2.73548196e+01] [-4.23250063e-02 9.99103888e-01 -1.24601910e-04 2.06748014e-01] [ 6.28262930e-03 3.90862022e-04 9.99980188e-01 -1.23130687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.31592 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:27.39, Y:0.21, Z:-1.23 [[ 9.99131590e-01 4.11880742e-02 -6.29356766e-03 2.73867964e+01] [-4.11896651e-02 9.99151338e-01 -1.23322840e-04 2.12533592e-01] [ 6.28314712e-03 3.82445690e-04 9.99980188e-01 -1.23216886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.34592 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:27.42, Y:0.22, Z:-1.23 [[ 9.99242499e-01 3.84033657e-02 -6.29358114e-03 2.74183456e+01] [-3.84048972e-02 9.99262252e-01 -1.22631438e-04 2.20799898e-01] [ 6.28422860e-03 3.64242881e-04 9.99980188e-01 -1.23134143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.375919999999997 meters Centerline goodness : 0.998914 Centerline is valid? [True, True] Translation: X:27.46, Y:0.23, Z:-1.22 [[ 9.99133286e-01 4.11468959e-02 -6.29359440e-03 2.74563373e+01] [-4.11484774e-02 9.99153035e-01 -1.21946778e-04 2.25604132e-01] [ 6.28324622e-03 3.80812912e-04 9.99980188e-01 -1.21727908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.40592 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:27.48, Y:0.23, Z:-1.22 [[ 9.99262815e-01 3.78705524e-02 -6.29666167e-03 2.74798963e+01] [-3.78710260e-02 9.99282634e-01 4.40476543e-05 2.33184419e-01] [ 6.29381277e-03 1.94445855e-04 9.99980175e-01 -1.21865107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.43592 meters Centerline goodness : 0.998716 Centerline is valid? [True, True] Translation: X:27.52, Y:0.23, Z:-1.22 [[ 9.99505160e-01 3.08192714e-02 -6.29347542e-03 2.75189635e+01] [-3.08206445e-02 9.99524924e-01 -1.21287672e-04 2.34585476e-01] [ 6.28674754e-03 3.15196623e-04 9.99980189e-01 -1.21696958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.465919999999997 meters Centerline goodness : 0.999011 Centerline is valid? [True, True] Translation: X:27.55, Y:0.24, Z:-1.22 [[ 9.99753203e-01 2.13045949e-02 -6.29664396e-03 2.75505746e+01] [-2.13046865e-02 9.99773028e-01 5.25284344e-05 2.37311408e-01] [ 6.29633390e-03 8.16325552e-05 9.99980175e-01 -1.21871530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.495919999999998 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:27.58, Y:0.24, Z:-1.22 [[ 9.99833922e-01 1.71022177e-02 -6.29626322e-03 2.75822679e+01] [-1.71023546e-02 9.99853744e-01 3.20947042e-05 2.36942385e-01] [ 6.29589124e-03 7.55915525e-05 9.99980178e-01 -1.21897195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.52592 meters Centerline goodness : 0.991997 Centerline is valid? [True, True] Translation: X:27.58, Y:0.22, Z:-1.23 [[ 9.99887586e-01 1.36079541e-02 -6.29589461e-03 2.75799442e+01] [-1.36081415e-02 9.99907405e-01 1.30741171e-05 2.23485858e-01] [ 6.29548956e-03 7.26027771e-05 9.99980181e-01 -1.23095247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.555919999999997 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:27.63, Y:0.23, Z:-1.22 [[ 9.99975754e-01 3.04646944e-03 -6.26185476e-03 2.76299198e+01] [-3.05276672e-03 9.99994844e-01 -9.96345115e-04 2.32120313e-01] [ 6.25878713e-03 1.01543694e-03 9.99979898e-01 -1.22094607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.585919999999998 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:27.67, Y:0.23, Z:-1.22 [[ 9.99980118e-01 5.57640169e-04 -6.28115567e-03 2.76659457e+01] [-5.59483950e-04 9.99999801e-01 -2.91788286e-04 2.31998176e-01] [ 6.28099171e-03 2.95296691e-04 9.99980231e-01 -1.22311757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.61592 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:27.70, Y:0.23, Z:-1.22 [[ 9.99980238e-01 8.09999314e-05 -6.28628179e-03 2.76990643e+01] [-8.16440067e-05 9.99999991e-01 -1.02200722e-04 2.30700834e-01] [ 6.28627346e-03 1.02711940e-04 9.99980236e-01 -1.21987763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.645919999999997 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:27.73, Y:0.23, Z:-1.23 [[ 9.99965318e-01 -5.46075616e-03 -6.28826559e-03 2.77255585e+01] [ 5.46067468e-03 9.99985090e-01 -3.01267887e-05 2.28566257e-01] [ 6.28833635e-03 -4.21242884e-06 9.99980228e-01 -1.22811331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.675919999999998 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:27.76, Y:0.23, Z:-1.22 [[ 9.99973935e-01 -3.55351756e-03 -6.28501133e-03 2.77591709e+01] [ 3.55267073e-03 9.99993679e-01 -1.45898304e-04 2.30131915e-01] [ 6.28549005e-03 1.23565925e-04 9.99980238e-01 -1.21791369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.70592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:27.79, Y:0.23, Z:-1.23 [[ 9.99954097e-01 -7.22956800e-03 -6.28791432e-03 2.77852547e+01] [ 7.22944159e-03 9.99973866e-01 -4.28322570e-05 2.29645447e-01] [ 6.28805965e-03 -2.62781848e-06 9.99980230e-01 -1.22694504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.735919999999997 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:27.81, Y:0.23, Z:-1.23 [[ 9.99966954e-01 -5.15751986e-03 -6.28421886e-03 2.78139642e+01] [ 5.15654791e-03 9.99986690e-01 -1.70857130e-04 2.29546182e-01] [ 6.28501642e-03 1.38446608e-04 9.99980240e-01 -1.22616039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.765919999999998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:27.84, Y:0.23, Z:-1.23 [[ 9.99979224e-01 -1.43537251e-03 -6.28420499e-03 2.78432127e+01] [ 1.43432411e-03 9.99998957e-01 -1.71334784e-04 2.29451230e-01] [ 6.28444436e-03 1.62317638e-04 9.99980240e-01 -1.22714210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.79592 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:27.87, Y:0.23, Z:-1.23 [[ 9.99978685e-01 -1.77095801e-03 -6.28437024e-03 2.78712897e+01] [ 1.76995163e-03 9.99998420e-01 -1.65697521e-04 2.30090165e-01] [ 6.28465376e-03 1.54570958e-04 9.99980239e-01 -1.22776338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.825919999999996 meters Centerline goodness : 0.999261 Centerline is valid? [True, True] Translation: X:27.91, Y:0.23, Z:-1.22 [[ 9.99973327e-01 3.72291876e-03 -6.28372379e-03 2.79061727e+01] [-3.72417119e-03 9.99993048e-01 -1.87624553e-04 2.31647723e-01] [ 6.28298160e-03 2.11021212e-04 9.99980240e-01 -1.21540777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.855919999999998 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] Translation: X:27.93, Y:0.23, Z:-1.21 [[ 9.99968256e-01 4.89237559e-03 -6.28896033e-03 2.79329396e+01] [-4.89252511e-03 9.99988031e-01 -8.39028686e-06 2.32283396e-01] [ 6.28884401e-03 3.91589169e-05 9.99980224e-01 -1.21415746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.88592 meters Centerline goodness : 0.999408 Centerline is valid? [True, True] Translation: X:27.96, Y:0.23, Z:-1.21 [[ 9.99953848e-01 7.26449719e-03 -6.28725219e-03 2.79645907e+01] [-7.26504783e-03 9.99973607e-01 -6.47456797e-05 2.33761996e-01] [ 6.28661591e-03 1.10419879e-04 9.99980233e-01 -1.21419209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.91592 meters Centerline goodness : 0.999408 Centerline is valid? [True, True] Translation: X:28.00, Y:0.24, Z:-1.22 [[ 9.99949765e-01 7.80508573e-03 -6.28878472e-03 2.79953919e+01] [-7.80533859e-03 9.99969538e-01 -1.56648824e-05 2.35089481e-01] [ 6.28847088e-03 6.47501896e-05 9.99980225e-01 -1.21584494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.945919999999997 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:28.02, Y:0.23, Z:-1.23 [[ 9.99979789e-01 9.29680944e-04 -6.28950276e-03 2.80179136e+01] [-9.29658417e-04 9.99999568e-01 6.50526784e-06 2.34596460e-01] [ 6.28950609e-03 -6.58047176e-07 9.99980221e-01 -1.22813223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.97592 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:28.05, Y:0.24, Z:-1.22 [[ 9.99952774e-01 7.41550510e-03 -6.28174144e-03 2.80548073e+01] [-7.41706380e-03 9.99972468e-01 -2.24872719e-04 2.36959045e-01] [ 6.27990094e-03 2.71454176e-04 9.99980244e-01 -1.21777681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.00592 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:28.08, Y:0.24, Z:-1.22 [[ 9.99954740e-01 7.13937862e-03 -6.28860078e-03 2.80839150e+01] [-7.13962641e-03 9.99974512e-01 -1.69529636e-05 2.38061727e-01] [ 6.28831946e-03 6.18504565e-05 9.99980226e-01 -1.21595066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.035919999999997 meters Centerline goodness : 0.981928 Centerline is valid? [True, True] Translation: X:28.08, Y:0.23, Z:-1.23 [[ 9.99910272e-01 1.18283272e-02 -6.28793316e-03 2.80790227e+01] [-1.18287898e-02 9.99930037e-01 -3.63833412e-05 2.27299456e-01] [ 6.28706288e-03 1.10758716e-04 9.99980230e-01 -1.23034340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.06592 meters Centerline goodness : 0.989346 Centerline is valid? [True, True] Translation: X:28.11, Y:0.23, Z:-1.23 [[ 9.99853997e-01 1.59198237e-02 -6.20835176e-03 2.81097578e+01] [-1.59277821e-02 9.99872383e-01 -1.23454760e-03 2.32837188e-01] [ 6.18790569e-03 1.33325263e-03 9.99979966e-01 -1.22997484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.09592 meters Centerline goodness : 0.999408 Centerline is valid? [True, True] Translation: X:28.16, Y:0.25, Z:-1.22 [[ 9.99802973e-01 1.88526762e-02 -6.21218444e-03 2.81638713e+01] [-1.88599893e-02 9.99821506e-01 -1.12074242e-03 2.49838202e-01] [ 6.18994661e-03 1.23768333e-03 9.99980076e-01 -1.21593528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.125919999999997 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:28.19, Y:0.25, Z:-1.22 [[ 9.99870084e-01 1.48599882e-02 -6.24465120e-03 2.81877734e+01] [-1.48597283e-02 9.99889584e-01 8.80177544e-05 2.51032986e-01] [ 6.24526964e-03 4.78750051e-06 9.99980498e-01 -1.22456434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.15592 meters Centerline goodness : 0.999408 Centerline is valid? [True, True] Translation: X:28.22, Y:0.25, Z:-1.21 [[ 9.99804508e-01 1.87624775e-02 -6.23813938e-03 2.82233941e+01] [-1.87637480e-02 9.99823935e-01 -1.45202288e-04 2.54359506e-01] [ 6.23431671e-03 2.62224777e-04 9.99980532e-01 -1.21444349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.18592 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:28.26, Y:0.26, Z:-1.21 [[ 9.99817020e-01 1.80820165e-02 -6.24242260e-03 2.82552753e+01] [-1.80823319e-02 9.99836501e-01 5.91933573e-06 2.56169276e-01] [ 6.24150900e-03 1.06959305e-04 9.99980516e-01 -1.21334234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.215919999999997 meters Centerline goodness : 0.984304 Centerline is valid? [True, True] Translation: X:28.25, Y:0.25, Z:-1.23 [[ 9.99858575e-01 1.56160619e-02 -6.24252627e-03 2.82485016e+01] [-1.56163070e-02 9.99878058e-01 9.48915790e-06 2.49805716e-01] [ 6.24191323e-03 8.79973905e-05 9.99980515e-01 -1.22891528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.245919999999998 meters Centerline goodness : 0.999605 Centerline is valid? [True, True] Translation: X:28.30, Y:0.27, Z:-1.21 [[ 9.99805231e-01 1.87329292e-02 -6.21099484e-03 2.83027042e+01] [-1.87393077e-02 9.99823933e-01 -9.70356244e-04 2.68029915e-01] [ 6.19172367e-03 1.08655699e-03 9.99980241e-01 -1.21377565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.27592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:28.33, Y:0.27, Z:-1.21 [[ 9.99868702e-01 1.49558967e-02 -6.23700382e-03 2.83342538e+01] [-1.49558513e-02 9.99888154e-01 5.39145991e-05 2.71455080e-01] [ 6.23711257e-03 3.93721815e-05 9.99980548e-01 -1.21023951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.305919999999997 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:28.36, Y:0.28, Z:-1.21 [[ 9.99928015e-01 1.02506114e-02 -6.23624303e-03 2.83644455e+01] [-1.02506584e-02 9.99947460e-01 2.44255613e-05 2.76776250e-01] [ 6.23616576e-03 3.95017939e-05 9.99980554e-01 -1.21455383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.335919999999998 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:28.39, Y:0.28, Z:-1.22 [[ 9.99949785e-01 7.84536637e-03 -6.23516397e-03 2.83934376e+01] [-7.84561774e-03 9.99969223e-01 -1.58559249e-05 2.79487872e-01] [ 6.23484767e-03 6.47738417e-05 9.99980561e-01 -1.21519555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.36592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:28.42, Y:0.28, Z:-1.22 [[ 9.99955771e-01 7.04129505e-03 -6.23511400e-03 2.84220766e+01] [-7.04154214e-03 9.99975208e-01 -1.76776682e-05 2.79889199e-01] [ 6.23483495e-03 6.15817043e-05 9.99980561e-01 -1.21501767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.395919999999997 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:28.45, Y:0.28, Z:-1.22 [[ 9.99972674e-01 3.97194536e-03 -6.23494477e-03 2.84502084e+01] [-3.97217006e-03 9.99992111e-01 -2.36551759e-05 2.82190154e-01] [ 6.23480162e-03 4.84207905e-05 9.99980562e-01 -1.21541670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.425919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.48, Y:0.28, Z:-1.22 [[ 9.99975408e-01 -3.21179038e-03 -6.23447067e-03 2.84782369e+01] [ 3.21160364e-03 9.99994842e-01 -3.99644798e-05 2.81823532e-01] [ 6.23456687e-03 1.99408483e-05 9.99980565e-01 -1.21756359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.45592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:28.51, Y:0.28, Z:-1.21 [[ 9.99916615e-01 -1.13096587e-02 -6.23338211e-03 2.85079859e+01] [ 1.13094012e-02 9.99936044e-01 -7.65681385e-05 2.76827826e-01] [ 6.23384941e-03 6.06593478e-06 9.99980569e-01 -1.21485472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.485919999999997 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:28.54, Y:0.27, Z:-1.21 [[ 9.99854525e-01 -1.58767017e-02 -6.23373099e-03 2.85361225e+01] [ 1.58766044e-02 9.99873957e-01 -6.50901837e-05 2.74891623e-01] [ 6.23397869e-03 -3.38897665e-05 9.99980568e-01 -1.21367623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.515919999999998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:28.56, Y:0.27, Z:-1.21 [[ 9.99791989e-01 -1.94197539e-02 -6.23318133e-03 2.85639587e+01] [ 1.94196161e-02 9.99811418e-01 -8.26324087e-05 2.74535768e-01] [ 6.23361056e-03 -3.84307683e-05 9.99980570e-01 -1.21470237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.54592 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:28.60, Y:0.27, Z:-1.21 [[ 9.99743453e-01 -2.17757120e-02 -6.23277588e-03 2.85950530e+01] [ 2.17755411e-02 9.99762880e-01 -9.52867581e-05 2.73713287e-01] [ 6.23337290e-03 -4.04597547e-05 9.99980572e-01 -1.21366855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.575919999999996 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:28.62, Y:0.27, Z:-1.23 [[ 9.99584540e-01 -2.81404504e-02 -6.23390389e-03 2.86214592e+01] [ 2.81406207e-02 9.99603972e-01 -6.04216404e-05 2.72219018e-01] [ 6.23313539e-03 -1.15029387e-04 9.99980567e-01 -1.22732095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.605919999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.65, Y:0.27, Z:-1.23 [[ 9.99460839e-01 -3.22369437e-02 -6.22982555e-03 2.86506528e+01] [ 3.22364305e-02 9.99480254e-01 -1.82798603e-04 2.66002314e-01] [ 6.23248049e-03 -1.81272936e-05 9.99980578e-01 -1.23050694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.63592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.68, Y:0.26, Z:-1.21 [[ 9.99555405e-01 -2.91580834e-02 -6.22890893e-03 2.86837850e+01] [ 2.91573409e-02 9.99574812e-01 -2.09988447e-04 2.64887778e-01] [ 6.23238333e-03 2.82766661e-05 9.99980578e-01 -1.21405000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.66592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.71, Y:0.26, Z:-1.23 [[ 9.99382798e-01 -3.45712943e-02 -6.23283120e-03 2.87100174e+01] [ 3.45713831e-02 9.99402227e-01 -9.35264882e-05 2.57694395e-01] [ 6.23233872e-03 -1.22008832e-04 9.99980571e-01 -1.22924757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.695919999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.74, Y:0.26, Z:-1.21 [[ 9.99552949e-01 -2.92421872e-02 -6.22862584e-03 2.87446815e+01] [ 2.92414137e-02 9.99572355e-01 -2.15228980e-04 2.57753109e-01] [ 6.23225597e-03 3.29989364e-05 9.99980579e-01 -1.21254758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.72592 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:28.77, Y:0.25, Z:-1.22 [[ 9.99504746e-01 -3.08449136e-02 -6.23330721e-03 2.87701274e+01] [ 3.08450168e-02 9.99524176e-01 -7.96016337e-05 2.53224639e-01] [ 6.23279656e-03 -1.12704255e-04 9.99980570e-01 -1.22230276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.75592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.80, Y:0.25, Z:-1.22 [[ 9.99566660e-01 -2.87696523e-02 -6.22898987e-03 2.87984471e+01] [ 2.87689595e-02 9.99586068e-01 -2.00810274e-04 2.53120132e-01] [ 6.23218873e-03 2.15216975e-05 9.99980579e-01 -1.22401865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.785919999999997 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:28.83, Y:0.25, Z:-1.21 [[ 9.99823544e-01 -1.77224843e-02 -6.22854147e-03 2.88319858e+01] [ 1.77214996e-02 9.99842939e-01 -2.13255977e-04 2.53217464e-01] [ 6.23134264e-03 1.02839251e-04 9.99980580e-01 -1.21128831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.81592 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:28.86, Y:0.25, Z:-1.21 [[ 9.99868571e-01 -1.49662612e-02 -6.23307962e-03 2.88618165e+01] [ 1.49659897e-02 9.99887999e-01 -9.01927718e-05 2.51736286e-01] [ 6.23373136e-03 -3.10328759e-06 9.99980570e-01 -1.20847419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.84592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.89, Y:0.25, Z:-1.22 [[ 9.99883452e-01 -1.39369571e-02 -6.23252105e-03 2.88868121e+01] [ 1.39365723e-02 9.99902876e-01 -1.05166628e-04 2.47232925e-01] [ 6.23338142e-03 1.82943911e-05 9.99980572e-01 -1.22475748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.875919999999997 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:28.92, Y:0.25, Z:-1.21 [[ 9.99962491e-01 -6.01965502e-03 -6.22743962e-03 2.89238467e+01] [ 6.01828894e-03 9.99981862e-01 -2.38081674e-04 2.48969743e-01] [ 6.22875983e-03 2.00594213e-04 9.99980581e-01 -1.21167254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.90592 meters Centerline goodness : 0.999260 Centerline is valid? [True, True] Translation: X:28.95, Y:0.25, Z:-1.21 [[ 9.99975057e-01 -3.31843296e-03 -6.23491602e-03 2.89529349e+01] [ 3.31822958e-03 9.99994494e-01 -4.29636044e-05 2.48919604e-01] [ 6.23502426e-03 2.22736499e-05 9.99980562e-01 -1.21309093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.93592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.98, Y:0.25, Z:-1.23 [[ 9.99939575e-01 -9.05435136e-03 -6.23423905e-03 2.89755548e+01] [ 9.05415270e-03 9.99959009e-01 -6.00886018e-05 2.47727959e-01] [ 6.23452756e-03 3.63921867e-06 9.99980565e-01 -1.22701819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.965919999999997 meters Centerline goodness : 0.999409 Centerline is valid? [True, True] Translation: X:29.01, Y:0.25, Z:-1.21 [[ 9.99977387e-01 -2.54110009e-03 -6.22635233e-03 2.90096022e+01] [ 2.53956980e-03 9.99996743e-01 -2.53670901e-04 2.51595615e-01] [ 6.22697665e-03 2.37852908e-04 9.99980584e-01 -1.21180013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.995919999999998 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:29.04, Y:0.25, Z:-1.21 [[ 9.99980552e-01 -2.36334964e-04 -6.23210136e-03 2.90384795e+01] [ 2.35644287e-04 9.99999966e-01 -1.11559852e-04 2.52128543e-01] [ 6.23212751e-03 1.10089124e-04 9.99980574e-01 -1.21062571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.02592 meters Centerline goodness : 0.995270 Centerline is valid? [True, True] Translation: X:29.03, Y:0.24, Z:-1.24 [[ 9.99971563e-01 -4.24650748e-03 -6.23225402e-03 2.90345492e+01] [ 4.24591741e-03 9.99990980e-01 -1.07908861e-04 2.38577311e-01] [ 6.23265604e-03 8.14441568e-05 9.99980573e-01 -1.23729528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.055919999999997 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:29.08, Y:0.25, Z:-1.22 [[ 9.99977950e-01 -2.41258644e-03 -6.18700145e-03 2.90820469e+01] [ 2.40608306e-03 9.99996545e-01 -1.05836476e-03 2.52545803e-01] [ 6.18953348e-03 1.04345498e-03 9.99980300e-01 -1.22296998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.085919999999998 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:29.11, Y:0.26, Z:-1.22 [[ 9.99980668e-01 -1.48499789e-05 -6.21791675e-03 2.91124630e+01] [ 1.27460726e-05 9.99999943e-01 -3.38401421e-04 2.55358552e-01] [ 6.21792142e-03 3.38315625e-04 9.99980611e-01 -1.22187013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.11592 meters Centerline goodness : 0.999555 Centerline is valid? [True, True] Translation: X:29.15, Y:0.26, Z:-1.21 [[ 9.99978483e-01 2.08612708e-03 -6.21938741e-03 2.91502550e+01] [-2.08805819e-03 9.99997774e-01 -3.04021757e-04 2.57018485e-01] [ 6.21873934e-03 3.17001658e-04 9.99980613e-01 -1.21356799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.145919999999997 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:29.17, Y:0.26, Z:-1.21 [[ 9.99965353e-01 5.52180509e-03 -6.22918921e-03 2.91744451e+01] [-5.52244723e-03 9.99984747e-01 -8.58889950e-05 2.61131130e-01] [ 6.22861993e-03 1.20286388e-04 9.99980595e-01 -1.21347742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.175919999999998 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:29.20, Y:0.26, Z:-1.21 [[ 9.99972779e-01 3.96440962e-03 -6.22295415e-03 2.92031692e+01] [-3.96587344e-03 9.99992111e-01 -2.22908378e-04 2.62867195e-01] [ 6.22202135e-03 2.47581759e-04 9.99980612e-01 -1.21393306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.20592 meters Centerline goodness : 0.998818 Centerline is valid? [True, True] Translation: X:29.24, Y:0.26, Z:-1.21 [[ 9.99978083e-01 2.25961823e-03 -6.22312327e-03 2.92391928e+01] [-2.26102665e-03 9.99997420e-01 -2.19293589e-04 2.63193601e-01] [ 6.22261169e-03 2.33359430e-04 9.99980612e-01 -1.20849766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.235919999999997 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:29.26, Y:0.26, Z:-1.23 [[ 9.99967993e-01 -5.02005189e-03 -6.22988969e-03 2.92612270e+01] [ 5.01967874e-03 9.99987398e-01 -7.55315780e-05 2.63051699e-01] [ 6.23019036e-03 4.42571156e-05 9.99980591e-01 -1.22875663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.265919999999998 meters Centerline goodness : 0.999260 Centerline is valid? [True, True] Translation: X:29.30, Y:0.27, Z:-1.21 [[ 9.99973377e-01 3.81692371e-03 -6.21901463e-03 2.93017618e+01] [-3.81886654e-03 9.99992663e-01 -3.00557421e-04 2.70044965e-01] [ 6.21782179e-03 3.24299007e-04 9.99980617e-01 -1.21130081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.29592 meters Centerline goodness : 0.999211 Centerline is valid? [True, True] Translation: X:29.33, Y:0.27, Z:-1.21 [[ 9.99969467e-01 4.71437415e-03 -6.23211617e-03 2.93289307e+01] [-4.71464203e-03 9.99988886e-01 -2.82933038e-05 2.74072844e-01] [ 6.23191352e-03 5.76746367e-05 9.99980580e-01 -1.21109833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.325919999999996 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:29.36, Y:0.28, Z:-1.21 [[ 9.99979301e-01 1.61006375e-03 -6.22938664e-03 2.93595983e+01] [-1.61061361e-03 9.99998699e-01 -8.32536091e-05 2.77619878e-01] [ 6.22924449e-03 9.32850208e-05 9.99980594e-01 -1.21156924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.355919999999998 meters Centerline goodness : 0.996398 Centerline is valid? [True, True] Translation: X:29.37, Y:0.29, Z:-1.22 [[ 9.99639977e-01 2.60978174e-02 -6.23061244e-03 2.93664530e+01] [-2.60986914e-02 9.99659369e-01 -5.89985136e-05 2.90976733e-01] [ 6.22695037e-03 2.21588104e-04 9.99980588e-01 -1.22418263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.38592 meters Centerline goodness : 0.998962 Centerline is valid? [True, True] Translation: X:29.42, Y:0.28, Z:-1.21 [[ 9.99974407e-01 3.56855029e-03 -6.20086047e-03 2.94163434e+01] [-3.57258790e-03 9.99993413e-01 -6.40182439e-04 2.84566478e-01] [ 6.19853511e-03 6.62319174e-04 9.99980570e-01 -1.21243997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.41592 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:29.45, Y:0.29, Z:-1.22 [[ 9.99980367e-01 6.77992433e-04 -6.22943284e-03 2.94453044e+01] [-6.78244837e-04 9.99999769e-01 -3.84054299e-05 2.90412386e-01] [ 6.22940536e-03 4.26297566e-05 9.99980596e-01 -1.21559973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.445919999999997 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:29.47, Y:0.29, Z:-1.22 [[ 9.99831439e-01 -1.72715401e-02 -6.22794890e-03 2.94711187e+01] [ 1.72714462e-02 9.99850835e-01 -6.88678698e-05 2.86611758e-01] [ 6.22820936e-03 -3.87094228e-05 9.99980604e-01 -1.21853998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.47592 meters Centerline goodness : 0.999013 Centerline is valid? [True, True] Translation: X:29.50, Y:0.29, Z:-1.21 [[ 9.99929037e-01 -1.01588252e-02 -6.22246159e-03 2.94982643e+01] [ 1.01579037e-02 9.99948391e-01 -1.79674535e-04 2.92675395e-01] [ 6.22396574e-03 1.16454619e-04 9.99980624e-01 -1.21070156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.50592 meters Centerline goodness : 0.999357 Centerline is valid? [True, True] Translation: X:29.53, Y:0.29, Z:-1.21 [[ 9.99919396e-01 -1.10681933e-02 -6.22061204e-03 2.95317986e+01] [ 1.10670616e-02 9.99938735e-01 -2.16323237e-04 2.94533095e-01] [ 6.22262524e-03 1.47461903e-04 9.99980628e-01 -1.21128013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.535919999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.55, Y:0.29, Z:-1.23 [[ 9.99800682e-01 -1.89697321e-02 -6.22454056e-03 2.95540552e+01] [ 1.89692323e-02 9.99820058e-01 -1.39332790e-04 2.93458087e-01] [ 6.22606361e-03 2.12302628e-05 9.99980618e-01 -1.22746971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.56592 meters Centerline goodness : 0.999259 Centerline is valid? [True, True] Translation: X:29.59, Y:0.30, Z:-1.21 [[ 9.99857017e-01 -1.57264558e-02 -6.21490380e-03 2.95893218e+01] [ 1.57247445e-02 9.99876306e-01 -3.24118019e-04 2.95483180e-01] [ 6.21923228e-03 2.26343900e-04 9.99980635e-01 -1.21342383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.59592 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:29.62, Y:0.30, Z:-1.21 [[ 9.99828759e-01 -1.74278264e-02 -6.22287282e-03 2.96178894e+01] [ 1.74270980e-02 9.99848122e-01 -1.71267142e-04 2.96053206e-01] [ 6.22491251e-03 6.27911993e-05 9.99980623e-01 -1.21349047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.625919999999997 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:29.65, Y:0.30, Z:-1.21 [[ 9.99818544e-01 -1.80045944e-02 -6.22209728e-03 2.96456211e+01] [ 1.80037864e-02 9.99837901e-01 -1.85846768e-04 2.96246337e-01] [ 6.22443479e-03 7.37917349e-05 9.99980625e-01 -1.21325481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.65592 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:29.68, Y:0.29, Z:-1.21 [[ 9.99806900e-01 -1.86402501e-02 -6.22130922e-03 2.96752453e+01] [ 1.86393634e-02 9.99826252e-01 -2.00492034e-04 2.94855484e-01] [ 6.22396550e-03 8.44920752e-05 9.99980627e-01 -1.21040176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.68592 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:29.71, Y:0.30, Z:-1.21 [[ 9.99781376e-01 -1.99623245e-02 -6.22137205e-03 2.97053055e+01] [ 1.99614705e-02 9.99800730e-01 -1.99339522e-04 2.95315854e-01] [ 6.22411160e-03 7.51082068e-05 9.99980627e-01 -1.21027044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.715919999999997 meters Centerline goodness : 0.998909 Centerline is valid? [True, True] Translation: X:29.73, Y:0.30, Z:-1.21 [[ 9.99779019e-01 -2.00798010e-02 -6.22208627e-03 2.97264316e+01] [ 2.00790293e-02 9.99798379e-01 -1.86467206e-04 2.99258571e-01] [ 6.22457599e-03 6.14925477e-05 9.99980625e-01 -1.21222490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.745919999999998 meters Centerline goodness : 0.984990 Centerline is valid? [True, True] Translation: X:29.81, Y:0.28, Z:-1.24 [[ 9.96974331e-01 -7.74827600e-02 -6.21332642e-03 2.98127625e+01] [ 7.74821373e-02 9.96993682e-01 -3.41239050e-04 2.80104209e-01] [ 6.22108733e-03 -1.41215237e-04 9.99980639e-01 -1.23574404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.77592 meters Centerline goodness : 0.999408 Centerline is valid? [True, True] Translation: X:29.80, Y:0.28, Z:-1.21 [[ 9.99205489e-01 -3.93548041e-02 -6.29211407e-03 2.98001851e+01] [ 3.93608729e-02 9.99224705e-01 8.43552300e-04 2.82754464e-01] [ 6.25403799e-03 -1.09054519e-03 9.99979849e-01 -1.21115613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.805919999999997 meters Centerline goodness : 0.997485 Centerline is valid? [True, True] Translation: X:29.81, Y:0.27, Z:-1.24 [[ 9.95471965e-01 -9.48531489e-02 -6.20054424e-03 2.98060529e+01] [ 9.48526974e-02 9.95491251e-01 -3.67519914e-04 2.65857551e-01] [ 6.20744796e-03 -2.22282575e-04 9.99980709e-01 -1.23647610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.835919999999998 meters Centerline goodness : 0.999109 Centerline is valid? [True, True] Translation: X:29.85, Y:0.30, Z:-1.21 [[ 9.99539128e-01 -2.97280849e-02 -6.14588742e-03 2.98539971e+01] [ 2.97219897e-02 9.99557620e-01 -1.08074114e-03 2.95231121e-01] [ 6.17529696e-03 8.97575050e-04 9.99980530e-01 -1.21118704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.86592 meters Centerline goodness : 0.994627 Centerline is valid? [True, True] Translation: X:29.86, Y:0.29, Z:-1.22 [[ 9.99847753e-01 -1.63093859e-02 -6.20286110e-03 2.98569618e+01] [ 1.63079518e-02 9.99866977e-01 -2.81712174e-04 2.92901497e-01] [ 6.20663053e-03 1.80513324e-04 9.99980722e-01 -1.22499203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.895919999999997 meters Centerline goodness : 0.999506 Centerline is valid? [True, True] Translation: X:29.91, Y:0.30, Z:-1.22 [[ 9.99880159e-01 -1.42077460e-02 -6.14871230e-03 2.99050840e+01] [ 1.42014703e-02 9.99898589e-01 -1.06312386e-03 3.03233551e-01] [ 6.16319335e-03 9.75675702e-04 9.99980531e-01 -1.21738596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.925919999999998 meters Centerline goodness : 0.999506 Centerline is valid? [True, True] Translation: X:29.93, Y:0.31, Z:-1.22 [[ 9.99911119e-01 -1.18052150e-02 -6.19605515e-03 2.99345927e+01] [ 1.18034237e-02 9.99930284e-01 -3.25590929e-04 3.07255217e-01] [ 6.19946685e-03 2.52427326e-04 9.99980751e-01 -1.21667429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.95592 meters Centerline goodness : 0.973635 Centerline is valid? [True, True] Translation: X:29.93, Y:0.30, Z:-1.23 [[ 9.99972953e-01 -3.96217079e-03 -6.19638783e-03 2.99323375e+01] [ 3.96026075e-03 9.99992107e-01 -3.20488614e-04 3.00759924e-01] [ 6.19760875e-03 2.95940634e-04 9.99980751e-01 -1.23375263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.985919999999997 meters Centerline goodness : 0.999110 Centerline is valid? [True, True] Translation: X:29.98, Y:0.32, Z:-1.22 [[ 9.99974978e-01 -3.51746638e-03 -6.13767194e-03 2.99824231e+01] [ 3.51010724e-03 9.99993108e-01 -1.20937263e-03 3.20736408e-01] [ 6.14188357e-03 1.18779849e-03 9.99980433e-01 -1.21777372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.015919999999998 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:30.01, Y:0.32, Z:-1.22 [[ 9.99960996e-01 -6.29870036e-03 -6.19142535e-03 3.00108983e+01] [ 6.29691953e-03 9.99980127e-01 -3.07080383e-04 3.21758597e-01] [ 6.19323651e-03 2.68081499e-04 9.99980786e-01 -1.21679834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.04592 meters Centerline goodness : 0.999506 Centerline is valid? [True, True] Translation: X:30.04, Y:0.33, Z:-1.22 [[ 9.99951905e-01 -7.60728767e-03 -6.19006256e-03 3.00399095e+01] [ 7.60539159e-03 9.99971024e-01 -3.29791181e-04 3.26518354e-01] [ 6.19239202e-03 2.82697470e-04 9.99980787e-01 -1.21706359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.075919999999996 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:30.07, Y:0.33, Z:-1.22 [[ 9.99942082e-01 -8.80395221e-03 -6.19049105e-03 3.00674735e+01] [ 8.80212286e-03 9.99961208e-01 -3.22693349e-04 3.33908094e-01] [ 6.19309189e-03 2.68185196e-04 9.99980787e-01 -1.21888246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.105919999999998 meters Centerline goodness : 0.999357 Centerline is valid? [True, True] Translation: X:30.09, Y:0.34, Z:-1.22 [[ 9.99943517e-01 -8.64051206e-03 -6.18911217e-03 3.00949353e+01] [ 8.63853962e-03 9.99962627e-01 -3.45357918e-04 3.37057381e-01] [ 6.19186493e-03 2.91873520e-04 9.99980788e-01 -1.21913591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.13592 meters Centerline goodness : 0.997963 Centerline is valid? [True, True] Translation: X:30.13, Y:0.34, Z:-1.21 [[ 9.99974311e-01 -3.61871650e-03 -6.18727259e-03 3.01317120e+01] [ 3.61646268e-03 9.99993390e-01 -3.75415716e-04 3.44122805e-01] [ 6.18859021e-03 3.53030032e-04 9.99980788e-01 -1.20758430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.16592 meters Centerline goodness : 0.998615 Centerline is valid? [True, True] Translation: X:30.16, Y:0.35, Z:-1.21 [[ 9.99959686e-01 -6.49668820e-03 -6.19841346e-03 3.01601055e+01] [ 6.49561915e-03 9.99978885e-01 -1.92586723e-04 3.48712555e-01] [ 6.19953375e-03 1.52316426e-04 9.99980771e-01 -1.21030523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.195919999999997 meters Centerline goodness : 0.999011 Centerline is valid? [True, True] Translation: X:30.18, Y:0.36, Z:-1.22 [[ 9.99934560e-01 -9.61757059e-03 -6.19497199e-03 3.01832791e+01] [ 9.61621991e-03 9.99953732e-01 -2.47778311e-04 3.55473223e-01] [ 6.19706839e-03 1.88189884e-04 9.99980780e-01 -1.22036762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.22592 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:30.21, Y:0.36, Z:-1.22 [[ 9.99939030e-01 -9.14744111e-03 -6.18557447e-03 3.02129868e+01] [ 9.14516244e-03 9.99958103e-01 -3.96569157e-04 3.59788338e-01] [ 6.18894291e-03 3.39976895e-04 9.99980791e-01 -1.21774484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.25592 meters Centerline goodness : 0.998913 Centerline is valid? [True, True] Translation: X:30.24, Y:0.37, Z:-1.21 [[ 9.99976763e-01 -2.86450373e-03 -6.18610440e-03 3.02427250e+01] [ 2.86215681e-03 9.99995829e-01 -3.88204717e-04 3.71722840e-01] [ 6.18719061e-03 3.70490096e-04 9.99980791e-01 -1.21005289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.285919999999997 meters Centerline goodness : 0.998913 Centerline is valid? [True, True] Translation: X:30.27, Y:0.37, Z:-1.21 [[ 9.99975372e-01 -3.30745469e-03 -6.19003473e-03 3.02703327e+01] [ 3.30549976e-03 9.99994484e-01 -3.26022886e-04 3.73221095e-01] [ 6.19107889e-03 3.05553698e-04 9.99980788e-01 -1.20985989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.31592 meters Centerline goodness : 0.999257 Centerline is valid? [True, True] Translation: X:30.30, Y:0.38, Z:-1.21 [[ 9.99973703e-01 -3.77903991e-03 -6.18965461e-03 3.03020382e+01] [ 3.77705725e-03 9.99992812e-01 -3.31975833e-04 3.79360659e-01] [ 6.19086467e-03 3.08588423e-04 9.99980789e-01 -1.21126638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.34592 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:30.33, Y:0.39, Z:-1.21 [[ 9.99971775e-01 -4.25111908e-03 -6.19496354e-03 3.03288310e+01] [ 4.24965835e-03 9.99990939e-01 -2.48937822e-04 3.87042334e-01] [ 6.19596568e-03 2.22604317e-04 9.99980780e-01 -1.21144076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.375919999999997 meters Centerline goodness : 0.993763 Centerline is valid? [True, True] Translation: X:30.34, Y:0.40, Z:-1.21 [[ 9.99973608e-01 3.80048679e-03 -6.19187058e-03 3.03380268e+01] [-3.80239565e-03 9.99992727e-01 -2.96542126e-04 4.01304069e-01] [ 6.19069854e-03 3.20078242e-04 9.99980786e-01 -1.20999939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.40592 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:30.38, Y:0.41, Z:-1.21 [[ 9.99959269e-01 -6.59651610e-03 -6.16010899e-03 3.03823853e+01] [ 6.59187079e-03 9.99977974e-01 -7.74094413e-04 4.10096993e-01] [ 6.16507963e-03 7.33456240e-04 9.99980727e-01 -1.20887349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.43592 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:30.41, Y:0.41, Z:-1.21 [[ 9.99914580e-01 -1.15126083e-02 -6.18812477e-03 3.04135853e+01] [ 1.15107382e-02 9.99933692e-01 -3.37736920e-04 4.12619558e-01] [ 6.19160268e-03 2.66478186e-04 9.99980796e-01 -1.20822488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.465919999999997 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:30.44, Y:0.42, Z:-1.21 [[ 9.99835118e-01 -1.70701834e-02 -6.19239276e-03 3.04411599e+01] [ 1.70688278e-02 9.99854280e-01 -2.71700899e-04 4.16420054e-01] [ 6.19612839e-03 1.65959215e-04 9.99980790e-01 -1.20982224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.495919999999998 meters Centerline goodness : 0.999406 Centerline is valid? [True, True] Translation: X:30.47, Y:0.42, Z:-1.21 [[ 9.99576134e-01 -2.84467948e-02 -6.19123797e-03 3.04690948e+01] [ 2.84455481e-02 9.99595302e-01 -2.89343358e-04 4.24163756e-01] [ 6.19696328e-03 1.13107558e-04 9.99980792e-01 -1.20850021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.52592 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:30.50, Y:0.43, Z:-1.20 [[ 9.99436953e-01 -3.29765405e-02 -6.19066160e-03 3.04982581e+01] [ 3.29753267e-02 9.99456122e-01 -2.98071867e-04 4.27870195e-01] [ 6.19712401e-03 9.37649498e-05 9.99980793e-01 -1.20454147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.555919999999997 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:30.53, Y:0.43, Z:-1.20 [[ 9.98958039e-01 -4.52161492e-02 -6.19160767e-03 3.05255126e+01] [ 4.52152584e-02 9.98977227e-01 -2.83839858e-04 4.30146719e-01] [ 6.19810920e-03 3.58896780e-06 9.99980792e-01 -1.20460356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.585919999999998 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:30.55, Y:0.43, Z:-1.22 [[ 9.98495055e-01 -5.44915170e-02 -6.18862511e-03 3.05525572e+01] [ 5.44905300e-02 9.98514233e-01 -3.28125378e-04 4.31388354e-01] [ 6.19731031e-03 -9.58989406e-06 9.99980796e-01 -1.21727327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.61592 meters Centerline goodness : 0.912048 Centerline is valid? [True, False] Translation: X:30.55, Y:0.43, Z:-1.22 [[ 9.98786166e-01 -4.88985784e-02 5.92656798e-03 3.05543155e+01] [ 4.88850688e-02 9.98801519e-01 2.40338922e-03 4.28691481e-01] [-6.03698741e-03 -2.11075122e-03 9.99979550e-01 -1.22147678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.645919999999997 meters Centerline goodness : 0.999604 Centerline is valid? [False, True] Translation: X:30.54, Y:0.43, Z:-1.22 [[ 9.99087340e-01 -3.88719891e-02 1.77046470e-02 3.05426067e+01] [ 3.89147683e-02 9.99240373e-01 -2.07806748e-03 4.30715476e-01] [-1.76104194e-02 2.76514314e-03 9.99841101e-01 -1.22255345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.675919999999998 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:30.58, Y:0.42, Z:-1.20 [[ 9.98946706e-01 -4.23783060e-02 1.75942661e-02 3.05772475e+01] [ 4.23725566e-02 9.99101635e-01 6.99603447e-04 4.24986218e-01] [-1.76081081e-02 4.66474790e-05 9.99844964e-01 -1.20442194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.70592 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:30.61, Y:0.43, Z:-1.20 [[ 9.98803067e-01 -4.56350469e-02 1.76032775e-02 3.06096578e+01] [ 4.56338403e-02 9.98958123e-01 4.70432979e-04 4.25556493e-01] [-1.76064053e-02 3.33435251e-04 9.99844940e-01 -1.20357622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.735919999999997 meters Centerline goodness : 0.999753 Centerline is valid? [True, True] Translation: X:30.64, Y:0.42, Z:-1.21 [[ 9.98673119e-01 -4.83958038e-02 1.76025148e-02 3.06418581e+01] [ 4.83946872e-02 9.98828171e-01 4.89649423e-04 4.23920711e-01] [-1.76055847e-02 3.62868482e-04 9.99844944e-01 -1.20619899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.765919999999998 meters Centerline goodness : 0.999555 Centerline is valid? [True, True] Translation: X:30.67, Y:0.42, Z:-1.21 [[ 9.98679106e-01 -4.82724405e-02 1.76015302e-02 3.06734366e+01] [ 4.82708671e-02 9.98834150e-01 5.14481386e-04 4.21534669e-01] [-1.76058447e-02 3.35839315e-04 9.99844949e-01 -1.20698551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.79592 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:30.71, Y:0.42, Z:-1.21 [[ 9.98846978e-01 -4.46639229e-02 1.76025075e-02 3.07053972e+01] [ 4.46622188e-02 9.99002025e-01 4.90106732e-04 4.18880993e-01] [-1.76068307e-02 2.96625412e-04 9.99844944e-01 -1.20700306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.825919999999996 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:30.73, Y:0.42, Z:-1.21 [[ 9.98856725e-01 -4.44446836e-02 1.76043458e-02 3.07344796e+01] [ 4.44437456e-02 9.99011790e-01 4.44706669e-04 4.19346273e-01] [-1.76067139e-02 3.38204820e-04 9.99844933e-01 -1.21278113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.855919999999998 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:30.76, Y:0.42, Z:-1.22 [[ 9.98913716e-01 -4.31472715e-02 1.75983151e-02 3.07629625e+01] [ 4.31435280e-02 9.99068709e-01 5.92499237e-04 4.19362062e-01] [-1.76074907e-02 1.67397785e-04 9.99844962e-01 -1.22456864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.88592 meters Centerline goodness : 0.999753 Centerline is valid? [True, True] Translation: X:30.80, Y:0.42, Z:-1.21 [[ 9.99196400e-01 -3.60143761e-02 1.75931240e-02 3.07967489e+01] [ 3.60072906e-02 9.99351268e-01 7.19444323e-04 4.21454929e-01] [-1.76076211e-02 -8.53854504e-05 9.99844970e-01 -1.21337401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.91592 meters Centerline goodness : 0.999555 Centerline is valid? [True, True] Translation: X:30.83, Y:0.42, Z:-1.21 [[ 9.99299652e-01 -3.30201816e-02 1.76032292e-02 3.08299933e+01] [ 3.30169833e-02 9.99454679e-01 4.72361898e-04 4.23539757e-01] [-1.76092272e-02 1.09174443e-04 9.99844940e-01 -1.21463891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.945919999999997 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:30.86, Y:0.43, Z:-1.21 [[ 9.99383915e-01 -3.03628824e-02 1.76036007e-02 3.08618168e+01] [ 3.03594318e-02 9.99538939e-01 4.63285563e-04 4.25155926e-01] [-1.76095510e-02 7.14351744e-05 9.99844937e-01 -1.21160571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.97592 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] Translation: X:30.89, Y:0.42, Z:-1.23 [[ 9.99349208e-01 -3.14841371e-02 1.76042242e-02 3.08891960e+01] [ 3.14811293e-02 9.99504246e-01 4.48020754e-04 4.24115879e-01] [-1.76096023e-02 1.06471671e-04 9.99844933e-01 -1.22942971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.00592 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:30.92, Y:0.42, Z:-1.22 [[ 9.99442312e-01 -2.83823981e-02 1.75927300e-02 3.09231963e+01] [ 2.83740075e-02 9.99597113e-01 7.26410481e-04 4.24712503e-01] [-1.76062594e-02 -2.26829117e-04 9.99844972e-01 -1.21846353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.03592 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:30.95, Y:0.43, Z:-1.22 [[ 9.99434226e-01 -2.86598520e-02 1.76022674e-02 3.09547468e+01] [ 2.86555670e-02 9.99589222e-01 4.95658840e-04 4.27378240e-01] [-1.76092422e-02 9.02454275e-06 9.99844945e-01 -1.22154570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.06592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:30.98, Y:0.43, Z:-1.23 [[ 9.99388616e-01 -3.02095850e-02 1.76004184e-02 3.09824521e+01] [ 3.02047488e-02 9.99543586e-01 5.40602594e-04 4.28522296e-01] [-1.76087168e-02 -8.65586066e-06 9.99844954e-01 -1.23216252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.09592 meters Centerline goodness : 0.999753 Centerline is valid? [True, True] Translation: X:31.02, Y:0.43, Z:-1.21 [[ 9.99576707e-01 -2.31711106e-02 1.75927853e-02 3.10198044e+01] [ 2.31619261e-02 9.99731463e-01 7.25665333e-04 4.29604724e-01] [-1.76048755e-02 -3.17875371e-04 9.99844972e-01 -1.21382284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.12592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:31.05, Y:0.43, Z:-1.22 [[ 9.99554865e-01 -2.40815683e-02 1.76110582e-02 3.10515656e+01] [ 2.40803776e-02 9.99709987e-01 2.79696218e-04 4.29569682e-01] [-1.76126863e-02 1.44509215e-04 9.99844874e-01 -1.21811426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.155919999999995 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:31.08, Y:0.43, Z:-1.21 [[ 9.99560346e-01 -2.38543004e-02 1.76093049e-02 3.10846610e+01] [ 2.38523333e-02 9.99715441e-01 3.21754761e-04 4.29742265e-01] [-1.76119693e-02 9.84097115e-05 9.99844892e-01 -1.21469321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.185919999999996 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:31.12, Y:0.43, Z:-1.22 [[ 9.99527772e-01 -2.51805605e-02 1.76116878e-02 3.11157936e+01] [ 2.51797956e-02 9.99682904e-01 2.65210849e-04 4.31492836e-01] [-1.76127814e-02 1.78373091e-04 9.99844867e-01 -1.22134012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.21592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:31.15, Y:0.43, Z:-1.22 [[ 9.99550138e-01 -2.42799047e-02 1.76070134e-02 3.11488632e+01] [ 2.42770602e-02 9.99705198e-01 3.75306302e-04 4.32326217e-01] [-1.76109353e-02 5.23090596e-05 9.99844914e-01 -1.21951656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.24592 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:31.18, Y:0.43, Z:-1.22 [[ 9.99565716e-01 -2.36270081e-02 1.76109183e-02 3.11801688e+01] [ 2.36256667e-02 9.99720835e-01 2.84243029e-04 4.33070899e-01] [-1.76127177e-02 1.31950098e-04 9.99844875e-01 -1.21857472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.27592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.21, Y:0.43, Z:-1.22 [[ 9.99523497e-01 -2.53512290e-02 1.76094910e-02 3.12106387e+01] [ 2.53495748e-02 9.99678598e-01 3.17180343e-04 4.34347063e-01] [-1.76118722e-02 1.29363904e-04 9.99844891e-01 -1.21986907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.30592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:31.24, Y:0.42, Z:-1.22 [[ 9.97830759e-01 -6.34339113e-02 1.76044023e-02 3.12375213e+01] [ 6.34361393e-02 9.97985806e-01 4.32395937e-04 4.16207328e-01] [-1.75963722e-02 6.85297352e-04 9.99844937e-01 -1.22480392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.33592 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:31.27, Y:0.42, Z:-1.22 [[ 9.99348094e-01 -3.15296725e-02 1.75859976e-02 3.12708383e+01] [ 3.15197014e-02 9.99502774e-01 8.43945623e-04 4.24195244e-01] [-1.76038627e-02 -2.89090057e-04 9.99844998e-01 -1.21795999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.365919999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.30, Y:0.42, Z:-1.22 [[ 9.99285652e-01 -3.34411923e-02 1.76031867e-02 3.13032644e+01] [ 3.34382539e-02 9.99440679e-01 4.61310254e-04 4.23760568e-01] [-1.76087677e-02 1.27639110e-04 9.99844945e-01 -1.22351763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.39592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.33, Y:0.42, Z:-1.24 [[ 9.98999478e-01 -4.11107714e-02 1.76053146e-02 3.13284166e+01] [ 4.11098530e-02 9.99154547e-01 4.14220327e-04 4.20612788e-01] [-1.76074590e-02 3.09946005e-04 9.99844929e-01 -1.23857712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.42592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.36, Y:0.42, Z:-1.22 [[ 9.99137347e-01 -3.76198490e-02 1.75871667e-02 3.13630180e+01] [ 3.76114387e-02 9.99292112e-01 8.08847921e-04 4.20131205e-01] [-1.76051457e-02 -1.46671523e-04 9.99845007e-01 -1.22251463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.45592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.40, Y:0.42, Z:-1.23 [[ 9.99209555e-01 -3.56432208e-02 1.76018838e-02 3.13955888e+01] [ 3.56401591e-02 9.99364569e-01 4.87702397e-04 4.15907273e-01] [-1.76080823e-02 1.40017044e-04 9.99844956e-01 -1.22556653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.48592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.43, Y:0.42, Z:-1.23 [[ 9.99334393e-01 -3.19532312e-02 1.76000759e-02 3.14274694e+01] [ 3.19489024e-02 9.99489365e-01 5.27140802e-04 4.16265631e-01] [-1.76079325e-02 3.55131729e-05 9.99844968e-01 -1.22641065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.51592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.46, Y:0.42, Z:-1.23 [[ 9.99368118e-01 -3.08813196e-02 1.75985683e-02 3.14597304e+01] [ 3.08762502e-02 9.99523058e-01 5.59760714e-04 4.16385017e-01] [-1.76074610e-02 -1.60292127e-05 9.99844977e-01 -1.22826932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.545919999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.49, Y:0.41, Z:-1.23 [[ 9.99405666e-01 -2.96419068e-02 1.75975010e-02 3.14924549e+01] [ 2.96362405e-02 9.99560580e-01 5.82743153e-04 4.12588814e-01] [-1.76070419e-02 -6.08730376e-05 9.99844982e-01 -1.22995174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.575919999999996 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:31.53, Y:0.41, Z:-1.22 [[ 9.99533436e-01 -2.49662267e-02 1.75953647e-02 3.15263311e+01] [ 2.49590253e-02 9.99688277e-01 6.28794698e-04 4.13133457e-01] [-1.76055785e-02 -1.89338172e-04 9.99844992e-01 -1.22169087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.60592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:31.55, Y:0.41, Z:-1.23 [[ 9.99489028e-01 -2.66771940e-02 1.76071271e-02 3.15544042e+01] [ 2.66747602e-02 9.99644096e-01 3.73106110e-04 4.14306241e-01] [-1.76108141e-02 9.67504304e-05 9.99844913e-01 -1.23007646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.63592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.58, Y:0.41, Z:-1.24 [[ 9.99484114e-01 -2.68684043e-02 1.75953276e-02 3.15820437e+01] [ 2.68615508e-02 9.99638968e-01 6.25770983e-04 4.14407555e-01] [-1.76057886e-02 -1.52810371e-04 9.99844994e-01 -1.24214210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.66592 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:31.61, Y:0.42, Z:-1.24 [[ 9.99566877e-01 -2.35965460e-02 1.75858392e-02 3.16140002e+01] [ 2.35856381e-02 9.99721478e-01 8.27438716e-04 4.16398224e-01] [-1.76004658e-02 -4.12307094e-04 9.99845015e-01 -1.24285867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.69592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:31.65, Y:0.42, Z:-1.24 [[ 9.99696252e-01 -1.72664182e-02 1.75861815e-02 3.16464882e+01] [ 1.72546606e-02 9.99850791e-01 8.20098544e-04 4.21317232e-01] [-1.75977176e-02 -5.16405848e-04 9.99845015e-01 -1.24209127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.725919999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.68, Y:0.42, Z:-1.24 [[ 9.99767050e-01 -1.25123269e-02 1.75865653e-02 3.16792114e+01] [ 1.24999806e-02 9.99921543e-01 8.11783400e-04 4.24890685e-01] [-1.75953428e-02 -5.91762571e-04 9.99845015e-01 -1.24418561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.755919999999996 meters Centerline goodness : 0.999110 Centerline is valid? [True, True] Translation: X:31.72, Y:0.43, Z:-1.23 [[ 9.99834040e-01 -4.75309058e-03 1.75869424e-02 3.17160632e+01] [ 4.73969064e-03 9.99988445e-01 8.03528990e-04 4.27794300e-01] [-1.75905585e-02 -7.20038970e-04 9.99845015e-01 -1.22585068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.78592 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:31.75, Y:0.43, Z:-1.23 [[ 9.99844992e-01 2.19708161e-04 1.76052444e-02 3.17455811e+01] [-2.26739152e-04 9.99999895e-01 3.97374027e-04 4.31311686e-01] [-1.76051553e-02 -4.01304229e-04 9.99844937e-01 -1.22730960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.81592 meters Centerline goodness : 0.998613 Centerline is valid? [True, True] Translation: X:31.78, Y:0.44, Z:-1.22 [[ 9.99844754e-01 -8.63958370e-04 1.75988786e-02 3.17792534e+01] [ 8.54632740e-04 9.99999490e-01 5.37413083e-04 4.36252413e-01] [-1.75993340e-02 -5.22289075e-04 9.99844983e-01 -1.22454209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.84592 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:31.81, Y:0.44, Z:-1.23 [[ 9.99838589e-01 -3.58737733e-03 1.76047350e-02 3.18069783e+01] [ 3.58072085e-03 9.99993505e-01 4.09614293e-04 4.40289550e-01] [-1.76060901e-02 -3.46510535e-04 9.99844941e-01 -1.22801309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.87592 meters Centerline goodness : 0.998566 Centerline is valid? [True, True] Translation: X:31.84, Y:0.44, Z:-1.23 [[ 9.99837508e-01 -3.93384593e-03 1.75921057e-02 3.18430140e+01] [ 3.92245744e-03 9.99992075e-01 6.81821752e-04 4.43138389e-01] [-1.75946484e-02 -6.12706676e-04 9.99845014e-01 -1.22706670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.905919999999995 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:31.87, Y:0.44, Z:-1.25 [[ 9.99790064e-01 -1.04832265e-02 1.76048110e-02 3.18684736e+01] [ 1.04776731e-02 9.99945025e-01 4.07657754e-04 4.43743002e-01] [-1.76081168e-02 -2.23114717e-04 9.99844940e-01 -1.24955343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.935919999999996 meters Centerline goodness : 0.998514 Centerline is valid? [True, True] Translation: X:31.91, Y:0.45, Z:-1.23 [[ 9.99818136e-01 -7.37996225e-03 1.75849860e-02 3.19063343e+01] [ 7.36653026e-03 9.99972524e-01 8.28486769e-04 4.47886224e-01] [-1.75906170e-02 -6.98795766e-04 9.99845029e-01 -1.23133247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.96592 meters Centerline goodness : 0.998416 Centerline is valid? [True, True] Translation: X:31.92, Y:0.43, Z:-1.24 [[ 9.97883640e-01 -6.25961488e-02 1.76057806e-02 3.19163327e+01] [ 6.25992239e-02 9.98038674e-01 3.76919678e-04 4.27907253e-01] [-1.75948436e-02 7.25986222e-04 9.99844935e-01 -1.23863636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.99592 meters Centerline goodness : 0.998172 Centerline is valid? [True, True] Translation: X:31.96, Y:0.44, Z:-1.24 [[ 9.99588145e-01 -2.27141340e-02 1.75387875e-02 3.19636880e+01] [ 2.26863723e-02 9.99741046e-01 1.78024408e-03 4.42862918e-01] [-1.75746825e-02 -1.38161941e-03 9.99844599e-01 -1.23927309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.02592 meters Centerline goodness : 0.997276 Centerline is valid? [True, True] Translation: X:31.99, Y:0.44, Z:-1.23 [[ 9.99564129e-01 -2.36995653e-02 1.76035011e-02 3.19940081e+01] [ 2.36971741e-02 9.99719123e-01 3.44444695e-04 4.42635799e-01] [-1.76067199e-02 7.28586684e-05 9.99844987e-01 -1.23264549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.05592 meters Centerline goodness : 0.997380 Centerline is valid? [True, True] Translation: X:32.02, Y:0.44, Z:-1.23 [[ 9.99541787e-01 -2.46275842e-02 1.75982599e-02 3.20233109e+01] [ 2.46233142e-02 9.99696695e-01 4.59308286e-04 4.44335386e-01] [-1.76042340e-02 -2.57703414e-05 9.99845033e-01 -1.23364387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.08592 meters Centerline goodness : 0.997282 Centerline is valid? [True, True] Translation: X:32.06, Y:0.44, Z:-1.24 [[ 9.99445174e-01 -2.82816859e-02 1.75923127e-02 3.20563232e+01] [ 2.82757266e-02 9.99599989e-01 5.87440638e-04 4.43206205e-01] [-1.76018894e-02 -8.96792868e-05 9.99845071e-01 -1.23501072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.115919999999996 meters Centerline goodness : 0.997182 Centerline is valid? [True, True] Translation: X:32.09, Y:0.44, Z:-1.24 [[ 9.99398403e-01 -2.98884881e-02 1.75928967e-02 3.20887417e+01] [ 2.98829999e-02 9.99553238e-01 5.74817194e-04 4.42377577e-01] [-1.76022173e-02 -4.87428560e-05 9.99845068e-01 -1.23586356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.14592 meters Centerline goodness : 0.997824 Centerline is valid? [True, True] Translation: X:32.12, Y:0.44, Z:-1.24 [[ 9.99388740e-01 -3.02108239e-02 1.75912439e-02 3.21221991e+01] [ 3.02047602e-02 9.99543546e-01 6.10349494e-04 4.39562654e-01] [-1.76016535e-02 -7.86371084e-05 9.99845076e-01 -1.23559657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.17592 meters Centerline goodness : 0.997824 Centerline is valid? [True, True] Translation: X:32.15, Y:0.44, Z:-1.24 [[ 9.99388818e-01 -3.02069447e-02 1.75935184e-02 3.21546717e+01] [ 3.02017423e-02 9.99543666e-01 5.61383939e-04 4.41209851e-01] [-1.76024476e-02 -2.96859217e-05 9.99845064e-01 -1.23618683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.20592 meters Centerline goodness : 0.997922 Centerline is valid? [True, True] Translation: X:32.19, Y:0.44, Z:-1.24 [[ 9.99404385e-01 -2.96873623e-02 1.75936028e-02 3.21876949e+01] [ 2.96821114e-02 9.99559232e-01 5.59564919e-04 4.40596972e-01] [-1.76024601e-02 -3.70163547e-05 9.99845064e-01 -1.23663415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.23592 meters Centerline goodness : 0.998322 Centerline is valid? [True, True] Translation: X:32.22, Y:0.44, Z:-1.24 [[ 9.99350097e-01 -3.14616717e-02 1.75939204e-02 3.22164226e+01] [ 3.14568174e-02 9.99504959e-01 5.52655507e-04 4.35487421e-01] [-1.76025982e-02 1.15240597e-06 9.99845062e-01 -1.23714317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.26592 meters Centerline goodness : 0.997476 Centerline is valid? [True, True] Translation: X:32.25, Y:0.43, Z:-1.24 [[ 9.99418507e-01 -2.92136632e-02 1.75843595e-02 3.22494556e+01] [ 2.92048250e-02 9.99573160e-01 7.59256800e-04 4.34211273e-01] [-1.75990345e-02 -2.45267154e-04 9.99845095e-01 -1.23807145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.295919999999995 meters Centerline goodness : 0.998717 Centerline is valid? [True, True] Translation: X:32.27, Y:0.43, Z:-1.24 [[ 9.99499858e-01 -2.62831111e-02 1.75849763e-02 3.22745084e+01] [ 2.62740559e-02 9.99654499e-01 7.45814983e-04 4.31862285e-01] [-1.75985031e-02 -2.83413319e-04 9.99845094e-01 -1.23516918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.325919999999996 meters Centerline goodness : 0.998615 Centerline is valid? [True, True] Translation: X:32.31, Y:0.43, Z:-1.24 [[ 9.99714719e-01 -1.61845640e-02 1.75653330e-02 3.23064038e+01] [ 1.61666146e-02 9.99868635e-01 1.16339083e-03 4.33326454e-01] [-1.75818545e-02 -8.79086965e-04 9.99845041e-01 -1.23796137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.35592 meters Centerline goodness : 0.995403 Centerline is valid? [True, True] Translation: X:32.31, Y:0.43, Z:-1.25 [[ 9.99843667e-01 -1.99610656e-03 1.75686626e-02 3.23076032e+01] [ 1.97724005e-03 9.99997450e-01 1.09117743e-03 4.31680104e-01] [-1.75707959e-02 -1.05626938e-03 9.99845064e-01 -1.24922380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.38592 meters Centerline goodness : 0.998863 Centerline is valid? [True, True] Translation: X:32.38, Y:0.43, Z:-1.25 [[ 9.99574732e-01 -2.33327076e-02 1.74911410e-02 3.23811701e+01] [ 2.32846445e-02 9.99724534e-01 2.94652210e-03 4.25347405e-01] [-1.75550731e-02 -2.53799403e-03 9.99842677e-01 -1.24754608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.41592 meters Centerline goodness : 0.997531 Centerline is valid? [True, True] Translation: X:32.36, Y:0.43, Z:-1.26 [[ 9.98979419e-01 -4.15861318e-02 1.76270608e-02 3.23582498e+01] [ 4.16146391e-02 9.99132950e-01 -1.25338233e-03 4.25430977e-01] [-1.75596539e-02 1.98564693e-03 9.99843846e-01 -1.26350967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.44592 meters Centerline goodness : 0.995500 Centerline is valid? [True, True] Translation: X:32.38, Y:0.44, Z:-1.25 [[ 9.99604899e-01 2.20471344e-02 1.74347374e-02 3.23840178e+01] [-2.20940360e-02 9.99752766e-01 2.50207531e-03 4.37098046e-01] [-1.73752634e-02 -2.88629045e-03 9.99844873e-01 -1.24993239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.475919999999995 meters Centerline goodness : 0.946601 Centerline is valid? [True, False] Translation: X:32.39, Y:0.43, Z:-1.25 [[ 9.99868678e-01 7.62425533e-03 1.43002447e-02 3.23850569e+01] [-7.73848640e-03 9.99938456e-01 7.94979807e-03 4.29038534e-01] [-1.42387533e-02 -8.05941634e-03 9.99866143e-01 -1.24985631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.505919999999996 meters Centerline goodness : 0.997088 Centerline is valid? [False, True] Translation: X:32.39, Y:0.43, Z:-1.25 [[ 9.99892531e-01 3.56723700e-03 1.42197600e-02 3.23852376e+01] [-3.60913551e-03 9.99989218e-01 2.92192722e-03 4.32883078e-01] [-1.42091834e-02 -2.97293424e-03 9.99894625e-01 -1.25081929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.53592 meters Centerline goodness : 0.995156 Centerline is valid? [True, True] Translation: X:32.42, Y:0.44, Z:-1.24 [[ 9.98833996e-01 4.61445954e-02 1.41888797e-02 3.24206121e+01] [-4.62028298e-02 9.98924836e-01 3.80401874e-03 4.40776585e-01] [-1.39980894e-02 -4.45514964e-03 9.99892097e-01 -1.24135319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.56592 meters Centerline goodness : 0.876118 Centerline is valid? [True, False] Translation: X:32.42, Y:0.43, Z:-1.24 [[ 9.99389996e-01 3.15202910e-02 1.50368672e-02 3.24195442e+01] [-3.16628428e-02 9.99454983e-01 9.33813888e-03 4.34288288e-01] [-1.47343310e-02 -9.80855254e-03 9.99843334e-01 -1.24165592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.59592 meters Centerline goodness : 0.897821 Centerline is valid? [False, False] Translation: X:32.42, Y:0.43, Z:-1.24 [[ 9.99774878e-01 1.58530166e-02 1.41023002e-02 3.24222393e+01] [-1.60480626e-02 9.99775614e-01 1.38268526e-02 4.27687940e-01] [-1.38799385e-02 -1.40500545e-02 9.99804953e-01 -1.24386858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.62592 meters Centerline goodness : 0.998320 Centerline is valid? [False, True] Translation: X:32.45, Y:0.43, Z:-1.24 [[ 9.99964709e-01 2.40281855e-03 8.05025483e-03 3.24457078e+01] [-2.45124238e-03 9.99978931e-01 6.01073486e-03 4.30709338e-01] [-8.03564251e-03 -6.03025586e-03 9.99949531e-01 -1.24373788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.655919999999995 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:32.47, Y:0.43, Z:-1.25 [[ 9.99961341e-01 -2.98931271e-03 8.26930015e-03 3.24707000e+01] [ 2.98920589e-03 9.99995532e-01 2.52769490e-05 4.34615922e-01] [-8.26933877e-03 -5.57331118e-07 9.99965808e-01 -1.25175339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.685919999999996 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:32.50, Y:0.44, Z:-1.25 [[ 9.99962721e-01 -2.52035109e-03 8.25855108e-03 3.25030103e+01] [ 2.51783847e-03 9.99996781e-01 3.14628257e-04 4.35839811e-01] [-8.25931747e-03 -2.93822831e-04 9.99965848e-01 -1.25190861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.71592 meters Centerline goodness : 0.861533 Centerline is valid? [True, False] Translation: X:32.50, Y:0.43, Z:-1.25 [[ 9.99966373e-01 1.43934216e-03 8.07346280e-03 3.25036102e+01] [-1.48385654e-03 9.99983717e-01 5.51038924e-03 4.31136986e-01] [-8.06540000e-03 -5.52218380e-03 9.99952226e-01 -1.25079820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.74592 meters Centerline goodness : 0.997977 Centerline is valid? [False, True] Translation: X:32.50, Y:0.43, Z:-1.25 [[ 9.99967945e-01 1.33818315e-03 7.89416749e-03 3.25042194e+01] [-1.38182797e-03 9.99983777e-01 5.52588168e-03 4.30823216e-01] [-7.88664479e-03 -5.53661293e-03 9.99953572e-01 -1.25086578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.77592 meters Centerline goodness : 0.997684 Centerline is valid? [True, True] Translation: X:32.54, Y:0.44, Z:-1.26 [[ 9.99963978e-01 2.63582717e-03 8.06816532e-03 3.25363987e+01] [-2.63613930e-03 9.99996525e-01 2.80526302e-05 4.36097133e-01] [-8.06806334e-03 -4.93204274e-05 9.99967451e-01 -1.25543308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.80592 meters Centerline goodness : 0.997039 Centerline is valid? [True, True] Translation: X:32.57, Y:0.44, Z:-1.25 [[ 9.99962982e-01 2.99938086e-03 8.06466704e-03 3.25698019e+01] [-3.00059150e-03 9.99995489e-01 1.38022009e-04 4.36309185e-01] [-8.06421667e-03 -1.62215671e-04 9.99967471e-01 -1.25440397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.83592 meters Centerline goodness : 0.997436 Centerline is valid? [True, True] Translation: X:32.60, Y:0.44, Z:-1.25 [[ 9.99954631e-01 5.06919836e-03 8.06465603e-03 3.26020662e+01] [-5.07047905e-03 9.99987135e-01 1.38364441e-04 4.37516173e-01] [-8.06385088e-03 -1.79249833e-04 9.99967471e-01 -1.25485360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.865919999999996 meters Centerline goodness : 0.999013 Centerline is valid? [True, True] Translation: X:32.63, Y:0.44, Z:-1.27 [[ 9.99967080e-01 8.94067065e-04 8.06474103e-03 3.26289230e+01] [-8.95190902e-04 9.99999590e-01 1.35743155e-04 4.36429174e-01] [-8.06461636e-03 -1.42958169e-04 9.99967470e-01 -1.26610126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.89592 meters Centerline goodness : 0.996795 Centerline is valid? [True, True] Translation: X:32.66, Y:0.43, Z:-1.29 [[ 9.99961876e-01 3.35803432e-03 8.06044567e-03 3.26599216e+01] [-3.36028691e-03 9.99994319e-01 2.65936228e-04 4.33944627e-01] [-8.05950685e-03 -2.93011499e-04 9.99967479e-01 -1.28677142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.92592 meters Centerline goodness : 0.925858 Centerline is valid? [True, False] Translation: X:32.66, Y:0.43, Z:-1.29 [[ 9.99962854e-01 3.33425608e-03 7.94813534e-03 3.26602894e+01] [-3.33555868e-03 9.99994426e-01 1.50637279e-04 4.34362979e-01] [-7.94758877e-03 -1.77143155e-04 9.99968402e-01 -1.28720043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.95592 meters Centerline goodness : 0.996695 Centerline is valid? [False, True] Translation: X:32.66, Y:0.44, Z:-1.29 [[ 9.99964834e-01 3.36362885e-03 7.68223731e-03 3.26610103e+01] [-3.36089987e-03 9.99994284e-01 -3.68114195e-04 4.36775202e-01] [-7.68343160e-03 3.42282019e-04 9.99970423e-01 -1.28805733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.98592 meters Centerline goodness : 0.995945 Centerline is valid? [True, True] Translation: X:32.69, Y:0.44, Z:-1.29 [[ 9.99958616e-01 4.90652427e-03 7.66104884e-03 3.26923152e+01] [-4.90831736e-03 9.99987931e-01 2.15269198e-04 4.37735679e-01] [-7.65990016e-03 -2.52863148e-04 9.99970631e-01 -1.28538981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.01592 meters Centerline goodness : 0.997134 Centerline is valid? [True, True] Translation: X:32.73, Y:0.44, Z:-1.29 [[ 9.99964942e-01 3.37974847e-03 7.66107555e-03 3.27251200e+01] [-3.38149122e-03 9.99994260e-01 2.14539288e-04 4.36688620e-01] [-7.66030648e-03 -2.40437627e-04 9.99970631e-01 -1.28810234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.045919999999995 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:32.76, Y:0.43, Z:-1.29 [[ 9.99970519e-01 -5.07189821e-04 7.66186213e-03 3.27588113e+01] [ 5.05724488e-04 9.99999853e-01 1.93186459e-04 4.34188903e-01] [-7.66195899e-03 -1.89305973e-04 9.99970629e-01 -1.29012022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.075919999999996 meters Centerline goodness : 0.993525 Centerline is valid? [True, True] Translation: X:32.76, Y:0.43, Z:-1.30 [[ 9.99967729e-01 2.41411018e-03 7.66240321e-03 3.27636705e+01] [-2.41554896e-03 9.99997067e-01 1.78522863e-04 4.28236116e-01] [-7.66194976e-03 -1.97026012e-04 9.99970627e-01 -1.29637913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.10592 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:32.81, Y:0.44, Z:-1.29 [[ 9.99967918e-01 2.44176769e-03 7.62891575e-03 3.28131371e+01] [-2.44998674e-03 9.99996428e-01 1.06819598e-03 4.35510431e-01] [-7.62628022e-03 -1.08685245e-03 9.99970329e-01 -1.28839794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.13592 meters Centerline goodness : 0.998964 Centerline is valid? [True, True] Translation: X:32.85, Y:0.44, Z:-1.29 [[ 9.99966045e-01 3.03840846e-03 7.66003923e-03 3.28474782e+01] [-3.03941587e-03 9.99995374e-01 1.19877039e-04 4.35866443e-01] [-7.65963956e-03 -1.43155013e-04 9.99970654e-01 -1.28606926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.16592 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:32.88, Y:0.44, Z:-1.29 [[ 9.99967746e-01 2.41040116e-03 7.66134503e-03 3.28782883e+01] [-2.41108635e-03 9.99997090e-01 8.01997883e-05 4.35312525e-01] [-7.66112943e-03 -9.86693660e-05 9.99970648e-01 -1.28745095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.19592 meters Centerline goodness : 0.999211 Centerline is valid? [True, True] Translation: X:32.91, Y:0.44, Z:-1.29 [[ 9.99961544e-01 4.27154536e-03 7.65931371e-03 3.29116177e+01] [-4.27275223e-03 9.99990862e-01 1.41212353e-04 4.35798875e-01] [-7.65864052e-03 -1.73933272e-04 9.99970657e-01 -1.28816459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.225919999999995 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:32.94, Y:0.44, Z:-1.29 [[ 9.99943023e-01 7.43482283e-03 7.65992228e-03 3.29440860e+01] [-7.43598375e-03 9.99972345e-01 1.23088846e-04 4.35501977e-01] [-7.65879531e-03 -1.80040891e-04 9.99970655e-01 -1.28841556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.255919999999996 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:32.98, Y:0.44, Z:-1.29 [[ 9.99937511e-01 8.14254369e-03 7.65982760e-03 3.29767160e+01] [-8.14374672e-03 9.99966831e-01 1.25880391e-04 4.36902419e-01] [-7.65854854e-03 -1.88252221e-04 9.99970655e-01 -1.28954661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.28592 meters Centerline goodness : 0.998914 Centerline is valid? [True, True] Translation: X:33.00, Y:0.44, Z:-1.30 [[ 9.99921597e-01 9.90597654e-03 7.65975235e-03 3.30023076e+01] [-9.90724798e-03 9.99950914e-01 1.28061345e-04 4.40669178e-01] [-7.65810779e-03 -2.03938370e-04 9.99970655e-01 -1.30098871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.31592 meters Centerline goodness : 0.998816 Centerline is valid? [True, True] Translation: X:33.04, Y:0.45, Z:-1.29 [[ 9.99814410e-01 1.76790955e-02 7.65481138e-03 3.30391831e+01] [-1.76816700e-02 9.99843631e-01 2.68781113e-04 4.45955173e-01] [-7.64886260e-03 -4.04081079e-04 9.99970665e-01 -1.28654978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.34592 meters Centerline goodness : 0.999260 Centerline is valid? [True, True] Translation: X:33.07, Y:0.45, Z:-1.29 [[ 9.99684656e-01 2.39142055e-02 7.66150932e-03 3.30682292e+01] [-2.39154676e-02 9.99713982e-01 7.31551385e-05 4.52590927e-01] [-7.65756854e-03 -2.56360648e-04 9.99970648e-01 -1.29162179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.37592 meters Centerline goodness : 0.998814 Centerline is valid? [True, True] Translation: X:33.10, Y:0.46, Z:-1.29 [[ 9.99655205e-01 2.51159564e-02 7.65893969e-03 3.31034323e+01] [-2.51178152e-02 9.99684487e-01 1.46586847e-04 4.55742975e-01] [-7.65284153e-03 -3.38912136e-04 9.99970659e-01 -1.29036199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.405919999999995 meters Centerline goodness : 0.998513 Centerline is valid? [True, True] Translation: X:33.13, Y:0.46, Z:-1.30 [[ 9.99743678e-01 2.13044589e-02 7.66147667e-03 3.31274727e+01] [-2.13056569e-02 9.99773006e-01 7.47690735e-05 4.63238448e-01] [-7.65814465e-03 -2.37982701e-04 9.99970648e-01 -1.30407570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.435919999999996 meters Centerline goodness : 0.998563 Centerline is valid? [True, True] Translation: X:33.16, Y:0.47, Z:-1.29 [[ 9.99640066e-01 2.57128591e-02 7.65420282e-03 3.31632560e+01] [-2.57157254e-02 9.99669258e-01 2.76286809e-04 4.70814779e-01] [-7.64456713e-03 -4.73020742e-04 9.99970668e-01 -1.29279366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.46592 meters Centerline goodness : 0.998315 Centerline is valid? [True, True] Translation: X:33.19, Y:0.48, Z:-1.30 [[ 9.99724222e-01 2.21991702e-02 7.66004774e-03 3.31864774e+01] [-2.22006645e-02 9.99753529e-01 1.10083096e-04 4.79203879e-01] [-7.65571601e-03 -2.80110887e-04 9.99970655e-01 -1.30081357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.49592 meters Centerline goodness : 0.998960 Centerline is valid? [True, True] Translation: X:33.23, Y:0.48, Z:-1.29 [[ 9.99646915e-01 2.54456358e-02 7.65277204e-03 3.32276941e+01] [-2.54487815e-02 9.99676078e-01 3.13944238e-04 4.82903410e-01] [-7.64230463e-03 -5.08587112e-04 9.99970668e-01 -1.29089645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.52592 meters Centerline goodness : 0.998613 Centerline is valid? [True, True] Translation: X:33.25, Y:0.49, Z:-1.31 [[ 9.99789102e-01 1.90528463e-02 7.66424833e-03 3.32487368e+01] [-1.90533110e-02 9.99818469e-01 -1.23857407e-05 4.86321205e-01] [-7.66309301e-03 -1.33646179e-04 9.99970629e-01 -1.30564643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.55592 meters Centerline goodness : 0.998662 Centerline is valid? [True, True] Translation: X:33.28, Y:0.49, Z:-1.31 [[ 9.99849417e-01 1.55745435e-02 7.65361902e-03 3.32812368e+01] [-1.55771351e-02 9.99878630e-01 2.79102557e-04 4.94067115e-01] [-7.64834321e-03 -3.98281986e-04 9.99970672e-01 -1.30736474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.58592 meters Centerline goodness : 0.998513 Centerline is valid? [True, True] Translation: X:33.31, Y:0.50, Z:-1.31 [[ 9.99878466e-01 1.35820911e-02 7.65370541e-03 3.33133482e+01] [-1.35846062e-02 9.99907687e-01 2.76713114e-04 5.01670973e-01] [-7.64924053e-03 -3.80652058e-04 9.99970672e-01 -1.31024511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.615919999999996 meters Centerline goodness : 0.998663 Centerline is valid? [True, True] Translation: X:33.34, Y:0.51, Z:-1.31 [[ 9.99892745e-01 1.24867129e-02 7.65381480e-03 3.33404202e+01] [-1.24891726e-02 9.99921970e-01 2.73653676e-04 5.06636954e-01] [-7.64980054e-03 -3.69214139e-04 9.99970672e-01 -1.30549060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.64592 meters Centerline goodness : 0.996979 Centerline is valid? [True, True] Translation: X:33.37, Y:0.51, Z:-1.31 [[ 9.99936248e-01 8.30444382e-03 7.65094269e-03 3.33744424e+01] [-8.30740192e-03 9.99965430e-01 3.54931986e-04 5.10183034e-01] [-7.64773068e-03 -4.18468815e-04 9.99970668e-01 -1.31066158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.67592 meters Centerline goodness : 0.998713 Centerline is valid? [True, True] Translation: X:33.41, Y:0.52, Z:-1.30 [[ 9.99895121e-01 1.22947967e-02 7.65403847e-03 3.34111049e+01] [-1.22971906e-02 9.99924351e-01 2.65778803e-04 5.15041712e-01] [-7.65019176e-03 -3.59874098e-04 9.99970672e-01 -1.30194227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.70592 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:33.44, Y:0.52, Z:-1.30 [[ 9.99937987e-01 8.08310067e-03 7.66066972e-03 3.34421674e+01] [-8.08389818e-03 9.99967322e-01 7.31445198e-05 5.20150264e-01] [-7.65982816e-03 -1.35068058e-04 9.99970654e-01 -1.30318362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.73592 meters Centerline goodness : 0.998258 Centerline is valid? [True, True] Translation: X:33.47, Y:0.52, Z:-1.31 [[ 9.99970599e-01 3.68342828e-04 7.65935934e-03 3.34682340e+01] [-3.69203403e-04 9.99999926e-01 1.10942352e-04 5.21218233e-01] [-7.65931790e-03 -1.13766952e-04 9.99970661e-01 -1.31157769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.76592 meters Centerline goodness : 0.998018 Centerline is valid? [True, True] Translation: X:33.50, Y:0.52, Z:-1.31 [[ 9.99969151e-01 -1.76575095e-03 7.65369568e-03 3.35011049e+01] [ 1.76372888e-03 9.99998408e-01 2.70937419e-04 5.23750100e-01] [-7.65416190e-03 -2.57430016e-04 9.99970673e-01 -1.31210174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.795919999999995 meters Centerline goodness : 0.977549 Centerline is valid? [True, True] Translation: X:33.50, Y:0.51, Z:-1.32 [[ 9.99967527e-01 -2.52283184e-03 7.65382082e-03 3.35048895e+01] [ 2.52085930e-03 9.99996787e-01 2.67355052e-04 5.08794534e-01] [-7.65447072e-03 -2.48052165e-04 9.99970673e-01 -1.31962662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.825919999999996 meters Centerline goodness : 0.997722 Centerline is valid? [True, True] Translation: X:33.55, Y:0.53, Z:-1.31 [[ 9.99967230e-01 -2.75507376e-03 7.61232993e-03 3.35476731e+01] [ 2.74395985e-03 9.99995155e-01 1.47004686e-03 5.26399075e-01] [-7.61634313e-03 -1.44911076e-03 9.99969945e-01 -1.31222928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.85592 meters Centerline goodness : 0.997923 Centerline is valid? [True, True] Translation: X:33.58, Y:0.53, Z:-1.31 [[ 9.99961899e-01 -4.21132313e-03 7.64625401e-03 3.35796456e+01] [ 4.20987857e-03 9.99991117e-01 2.05010056e-04 5.30149325e-01] [-7.64704945e-03 -1.72812444e-04 9.99970746e-01 -1.31292489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.88592 meters Centerline goodness : 0.759596 Centerline is valid? [True, False] Translation: X:33.58, Y:0.53, Z:-1.31 [[ 9.99972525e-01 -2.31903031e-04 7.40912464e-03 3.35803627e+01] [ 1.93574666e-04 9.99986599e-01 5.17342847e-03 5.26616817e-01] [-7.41022509e-03 -5.17185211e-03 9.99959169e-01 -1.31192371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.91592 meters Centerline goodness : 0.998264 Centerline is valid? [False, True] Translation: X:33.60, Y:0.52, Z:-1.31 [[ 9.99997460e-01 -1.43249236e-03 1.74037427e-03 3.36025045e+01] [ 1.40962805e-03 9.99913609e-01 1.30685330e-02 5.15928346e-01] [-1.75894450e-03 -1.30660466e-02 9.99913088e-01 -1.30719698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.94592 meters Centerline goodness : 0.996096 Centerline is valid? [True, True] Translation: X:33.63, Y:0.53, Z:-1.34 [[ 9.99967643e-01 -7.76362687e-03 2.10700241e-03 3.36301415e+01] [ 7.76405410e-03 9.99969840e-01 -1.94663863e-04 5.26191666e-01] [-2.10542757e-03 2.11016445e-04 9.99997761e-01 -1.33613567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.975919999999995 meters Centerline goodness : 0.993626 Centerline is valid? [True, True] Translation: X:33.64, Y:0.52, Z:-1.32 [[ 9.99995953e-01 1.91942726e-03 2.09994841e-03 3.36371264e+01] [-1.91955436e-03 9.99998156e-01 5.85099063e-05 5.22184935e-01] [-2.09983224e-03 -6.25406346e-05 9.99997793e-01 -1.32458896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.005919999999996 meters Centerline goodness : 0.997772 Centerline is valid? [True, True] Translation: X:33.69, Y:0.53, Z:-1.31 [[ 9.99996255e-01 1.76220659e-03 2.09377675e-03 3.36885905e+01] [-1.76280219e-03 9.99998406e-01 2.82653072e-04 5.26576719e-01] [-2.09327532e-03 -2.86342927e-04 9.99997768e-01 -1.31143404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.03592 meters Centerline goodness : 0.990529 Centerline is valid? [True, True] Translation: X:33.68, Y:0.52, Z:-1.34 [[ 9.99993818e-01 2.81993129e-03 2.10023466e-03 3.36843486e+01] [-2.81992194e-03 9.99996024e-01 -7.41378139e-06 5.15831611e-01] [-2.10024722e-03 1.49123777e-06 9.99997794e-01 -1.33769220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.06592 meters Centerline goodness : 0.997624 Centerline is valid? [True, True] Translation: X:33.74, Y:0.53, Z:-1.31 [[ 9.99971404e-01 7.26712821e-03 2.09280052e-03 3.37377564e+01] [-7.26780976e-03 9.99973538e-01 3.18244378e-04 5.27435555e-01] [-2.09043242e-03 -3.33445353e-04 9.99997759e-01 -1.31354768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.09592 meters Centerline goodness : 0.997624 Centerline is valid? [True, True] Translation: X:33.77, Y:0.53, Z:-1.31 [[ 9.99974969e-01 6.75716061e-03 2.09804581e-03 3.37695982e+01] [-6.75714402e-03 9.99977170e-01 -1.49936876e-05 5.28004716e-01] [-2.09809923e-03 8.16514616e-07 9.99997799e-01 -1.31372865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.12592 meters Centerline goodness : 0.997377 Centerline is valid? [True, True] Translation: X:33.80, Y:0.53, Z:-1.32 [[ 9.99973343e-01 6.99376685e-03 2.09791252e-03 3.38028528e+01] [-6.99376793e-03 9.99975543e-01 -6.82348439e-06 5.28453772e-01] [-2.09790893e-03 -7.84901081e-06 9.99997799e-01 -1.31565391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.155919999999995 meters Centerline goodness : 0.996983 Centerline is valid? [True, True] Translation: X:33.83, Y:0.53, Z:-1.31 [[ 9.99969629e-01 7.50597127e-03 2.09797375e-03 3.38333151e+01] [-7.50596604e-03 9.99971830e-01 -1.03650354e-05 5.27241868e-01] [-2.09799245e-03 -5.38259909e-06 9.99997799e-01 -1.31259970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.185919999999996 meters Centerline goodness : 0.998071 Centerline is valid? [True, True] Translation: X:33.86, Y:0.53, Z:-1.32 [[ 9.99957864e-01 8.93696858e-03 2.09793909e-03 3.38645114e+01] [-8.93697058e-03 9.99960064e-01 -8.42275874e-06 5.25478885e-01] [-2.09793058e-03 -1.03268160e-05 9.99997799e-01 -1.31614386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.21592 meters Centerline goodness : 0.998069 Centerline is valid? [True, True] Translation: X:33.89, Y:0.52, Z:-1.34 [[ 9.99966945e-01 7.85546576e-03 2.09793419e-03 3.38890285e+01] [-7.85546593e-03 9.99969145e-01 -8.15601985e-06 5.22070760e-01] [-2.09793353e-03 -8.32450030e-06 9.99997799e-01 -1.33899105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.24592 meters Centerline goodness : 0.997972 Centerline is valid? [True, True] Translation: X:33.92, Y:0.52, Z:-1.32 [[ 9.99895703e-01 1.42893287e-02 2.09701113e-03 3.39246605e+01] [-1.42894442e-02 9.99897900e-01 4.01067369e-05 5.23101337e-01] [-2.09622393e-03 -7.00676774e-05 9.99997800e-01 -1.31753717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.27592 meters Centerline goodness : 0.998021 Centerline is valid? [True, True] Translation: X:33.96, Y:0.52, Z:-1.32 [[ 9.99860333e-01 1.65805032e-02 2.09789304e-03 3.39586887e+01] [-1.65805263e-02 9.99862534e-01 -6.37006647e-06 5.22868368e-01] [-2.09771027e-03 -2.84149940e-05 9.99997799e-01 -1.31576888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.30592 meters Centerline goodness : 0.993562 Centerline is valid? [True, True] Translation: X:33.99, Y:0.50, Z:-1.32 [[ 9.99496915e-01 -3.16467148e-02 2.09811030e-03 3.39853489e+01] [ 3.16468212e-02 9.99499114e-01 -1.75489204e-05 5.01687657e-01] [-2.09650402e-03 8.39386134e-05 9.99997799e-01 -1.32346673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.335919999999994 meters Centerline goodness : 0.997876 Centerline is valid? [True, True] Translation: X:34.02, Y:0.53, Z:-1.32 [[ 9.99836649e-01 1.79520766e-02 2.09724306e-03 3.40179743e+01] [-1.79521696e-02 9.99838846e-01 2.55023384e-05 5.26579211e-01] [-2.09644726e-03 -6.31482357e-05 9.99997800e-01 -1.31833940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.365919999999996 meters Centerline goodness : 0.997824 Centerline is valid? [True, True] Translation: X:34.05, Y:0.52, Z:-1.32 [[ 9.99846891e-01 1.73722100e-02 2.09779430e-03 3.40529148e+01] [-1.73722470e-02 9.99849091e-01 -5.96122612e-07 5.22384783e-01] [-2.09748808e-03 -3.58473694e-05 9.99997800e-01 -1.31685847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.39592 meters Centerline goodness : 0.996786 Centerline is valid? [True, True] Translation: X:34.09, Y:0.52, Z:-1.32 [[ 9.99876123e-01 1.55992682e-02 2.09805442e-03 3.40862454e+01] [-1.55992760e-02 9.99878324e-01 -1.26304914e-05 5.18267927e-01] [-2.09799617e-03 -2.00992033e-05 9.99997799e-01 -1.31555900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.42592 meters Centerline goodness : 0.996886 Centerline is valid? [True, True] Translation: X:34.11, Y:0.52, Z:-1.32 [[ 9.99930740e-01 1.15806885e-02 2.09839812e-03 3.41144991e+01] [-1.15806546e-02 9.99932942e-01 -2.83219995e-05 5.18169310e-01] [-2.09858540e-03 4.01921405e-06 9.99997798e-01 -1.31861088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.45592 meters Centerline goodness : 0.995847 Centerline is valid? [True, True] Translation: X:34.15, Y:0.52, Z:-1.32 [[ 9.99949060e-01 9.87299902e-03 2.09780312e-03 3.41468184e+01] [-9.87301659e-03 9.99951261e-01 -1.98049643e-06 5.18051100e-01] [-2.09772043e-03 -1.87312495e-05 9.99997800e-01 -1.31821911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.48592 meters Centerline goodness : 0.997281 Centerline is valid? [True, True] Translation: X:34.18, Y:0.51, Z:-1.32 [[ 9.99957568e-01 8.97009630e-03 2.09773968e-03 3.41801522e+01] [-8.97011763e-03 9.99959768e-01 7.59622109e-07 5.14404130e-01] [-2.09764847e-03 -1.95765616e-05 9.99997800e-01 -1.31996575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.51592 meters Centerline goodness : 0.997680 Centerline is valid? [True, True] Translation: X:34.21, Y:0.51, Z:-1.32 [[ 9.99961080e-01 8.56964309e-03 2.09777131e-03 3.42129934e+01] [-8.56966073e-03 9.99963280e-01 -5.76829553e-07 5.11495565e-01] [-2.09769922e-03 -1.74003813e-05 9.99997800e-01 -1.32068746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.545919999999995 meters Centerline goodness : 0.998267 Centerline is valid? [True, True] Translation: X:34.25, Y:0.51, Z:-1.32 [[ 9.99949689e-01 9.80910639e-03 2.09763410e-03 3.42450621e+01] [-9.80913853e-03 9.99951889e-01 5.03498582e-06 5.07366093e-01] [-2.09748379e-03 -2.56107160e-05 9.99997800e-01 -1.32205982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.575919999999996 meters Centerline goodness : 0.998218 Centerline is valid? [True, True] Translation: X:34.28, Y:0.51, Z:-1.32 [[ 9.99943113e-01 1.04580382e-02 2.09756020e-03 3.42787536e+01] [-1.04580781e-02 9.99945313e-01 8.03177972e-06 5.06810890e-01] [-2.09736149e-03 -2.99677711e-05 9.99997800e-01 -1.32080424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.60592 meters Centerline goodness : 0.998511 Centerline is valid? [True, True] Translation: X:34.31, Y:0.50, Z:-1.32 [[ 9.99929242e-01 1.17094402e-02 2.09768886e-03 3.43108723e+01] [-1.17094720e-02 9.99931442e-01 2.87404424e-06 5.04721419e-01] [-2.09751139e-03 -2.74366699e-05 9.99997800e-01 -1.32136723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.63592 meters Centerline goodness : 0.998270 Centerline is valid? [True, True] Translation: X:34.34, Y:0.50, Z:-1.32 [[ 9.99931658e-01 1.15012765e-02 2.09760093e-03 3.43434986e+01] [-1.15013151e-02 9.99933858e-01 6.37783845e-06 5.03447256e-01] [-2.09738883e-03 -3.05025719e-05 9.99997800e-01 -1.32082507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.66592 meters Centerline goodness : 0.997481 Centerline is valid? [True, True] Translation: X:34.38, Y:0.50, Z:-1.32 [[ 9.99902649e-01 1.37947188e-02 2.09743512e-03 3.43774070e+01] [-1.37947759e-02 9.99904847e-01 1.27249924e-05 5.01341336e-01] [-2.09706000e-03 -4.16574009e-05 9.99997800e-01 -1.31958158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.69592 meters Centerline goodness : 0.998022 Centerline is valid? [True, True] Translation: X:34.41, Y:0.50, Z:-1.32 [[ 9.99934982e-01 1.12084758e-02 2.09793825e-03 3.44072388e+01] [-1.12084876e-02 9.99937183e-01 -6.17514618e-06 4.99898263e-01] [-2.09787568e-03 -1.73399701e-05 9.99997799e-01 -1.32406213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.725919999999995 meters Centerline goodness : 0.998073 Centerline is valid? [True, True] Translation: X:34.44, Y:0.50, Z:-1.32 [[ 9.99934285e-01 1.12706236e-02 2.09733050e-03 3.44404783e+01] [-1.12706817e-02 9.99936484e-01 1.58658334e-05 4.98450953e-01] [-2.09701846e-03 -3.95031351e-05 9.99997800e-01 -1.32295083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.755919999999996 meters Centerline goodness : 0.995483 Centerline is valid? [True, True] Translation: X:34.48, Y:0.48, Z:-1.33 [[ 9.99777464e-01 -2.09910220e-02 2.09751725e-03 3.44838417e+01] [ 2.09910493e-02 9.99779664e-01 9.00586362e-06 4.78702661e-01] [-2.09724413e-03 3.50252284e-05 9.99997800e-01 -1.33140491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.78592 meters Centerline goodness : 0.998613 Centerline is valid? [True, True] Translation: X:34.50, Y:0.49, Z:-1.32 [[ 9.99947232e-01 1.00558711e-02 2.10069238e-03 3.45006719e+01] [-1.00556601e-02 9.99949434e-01 -1.10986800e-04 4.94183015e-01] [-2.10170223e-03 8.98570944e-05 9.99997787e-01 -1.32200965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.81592 meters Centerline goodness : 0.997925 Centerline is valid? [True, True] Translation: X:34.53, Y:0.49, Z:-1.32 [[ 9.99937078e-01 1.10201420e-02 2.09673719e-03 3.45329767e+01] [-1.10202109e-02 9.99939275e-01 2.13163076e-05 4.92715862e-01] [-2.09637496e-03 -4.44214524e-05 9.99997802e-01 -1.32094948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.84592 meters Centerline goodness : 0.999408 Centerline is valid? [True, True] Translation: X:34.56, Y:0.49, Z:-1.33 [[ 9.99944578e-01 1.03172073e-02 2.09667978e-03 3.45626876e+01] [-1.03172785e-02 9.99946775e-01 2.31759261e-05 4.91079919e-01] [-2.09632908e-03 -4.48066710e-05 9.99997802e-01 -1.33120589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.87592 meters Centerline goodness : 0.999605 Centerline is valid? [True, True] Translation: X:34.59, Y:0.49, Z:-1.33 [[ 9.99931053e-01 1.15540532e-02 2.09589850e-03 3.45947115e+01] [-1.15541794e-02 9.99933247e-01 4.81224977e-05 4.90606184e-01] [-2.09520258e-03 -7.23355671e-05 9.99997802e-01 -1.33410255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.905919999999995 meters Centerline goodness : 0.999408 Centerline is valid? [True, True] Translation: X:34.63, Y:0.49, Z:-1.33 [[ 9.99919977e-01 1.24758876e-02 2.09570905e-03 3.46266996e+01] [-1.24760285e-02 9.99922170e-01 5.41630708e-05 4.91728978e-01] [-2.09487020e-03 -8.03048623e-05 9.99997803e-01 -1.33444721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.935919999999996 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:34.66, Y:0.49, Z:-1.33 [[ 9.99892838e-01 1.44886779e-02 2.09550622e-03 3.46597780e+01] [-1.44888367e-02 9.99895029e-01 6.06337253e-05 4.92600155e-01] [-2.09440775e-03 -9.09886751e-05 9.99997803e-01 -1.33388541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.96592 meters Centerline goodness : 0.999110 Centerline is valid? [True, True] Translation: X:34.70, Y:0.49, Z:-1.32 [[ 9.99878718e-01 1.54323796e-02 2.09558830e-03 3.46964013e+01] [-1.54325350e-02 9.99880910e-01 5.80174194e-05 4.93454209e-01] [-2.09444339e-03 -9.03506228e-05 9.99997803e-01 -1.32326240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.99592 meters Centerline goodness : 0.999408 Centerline is valid? [True, True] Translation: X:34.73, Y:0.49, Z:-1.33 [[ 9.99919545e-01 1.25103342e-02 2.09662243e-03 3.47258400e+01] [-1.25104144e-02 9.99921741e-01 2.51630944e-05 4.94965698e-01] [-2.09614355e-03 -5.13906854e-05 9.99997802e-01 -1.33225119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.02592 meters Centerline goodness : 0.998962 Centerline is valid? [True, True] Translation: X:34.76, Y:0.50, Z:-1.32 [[ 9.99903533e-01 1.37306643e-02 2.09593628e-03 3.47612037e+01] [-1.37307926e-02 9.99905727e-01 4.68392631e-05 4.96412754e-01] [-2.09509556e-03 -7.56136110e-05 9.99997802e-01 -1.32378307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.05592 meters Centerline goodness : 0.998664 Centerline is valid? [True, True] Translation: X:34.79, Y:0.50, Z:-1.32 [[ 9.99925714e-01 1.20070699e-02 2.09696708e-03 3.47937058e+01] [-1.20071257e-02 9.99927912e-01 1.40111837e-05 4.96454999e-01] [-2.09664768e-03 -3.91886902e-05 9.99997801e-01 -1.32327479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.085919999999994 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:34.82, Y:0.50, Z:-1.33 [[ 9.99989673e-01 4.03211010e-03 2.09685553e-03 3.48221699e+01] [-4.03215557e-03 9.99991871e-01 1.74565570e-05 4.95171181e-01] [-2.09676810e-03 -2.59112244e-05 9.99997801e-01 -1.33079894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.115919999999996 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:34.86, Y:0.50, Z:-1.32 [[ 9.99979376e-01 6.07087465e-03 2.09561157e-03 3.48560482e+01] [-6.07100407e-03 9.99981570e-01 5.53991172e-05 4.97642274e-01] [-2.09523663e-03 -6.81204410e-05 9.99997803e-01 -1.32276473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.14592 meters Centerline goodness : 0.998862 Centerline is valid? [True, True] Translation: X:34.89, Y:0.50, Z:-1.32 [[ 9.99989572e-01 4.05735023e-03 2.09634950e-03 3.48869465e+01] [-4.05742784e-03 9.99991768e-01 3.27700223e-05 4.99219113e-01] [-2.09619928e-03 -4.12754674e-05 9.99997802e-01 -1.32340005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.17592 meters Centerline goodness : 0.998467 Centerline is valid? [True, True] Translation: X:34.92, Y:0.50, Z:-1.32 [[ 9.99991237e-01 3.62399566e-03 2.09592941e-03 3.49190246e+01] [-3.62409911e-03 9.99993432e-01 4.55628659e-05 4.99486323e-01] [-2.09575053e-03 -5.31583225e-05 9.99997802e-01 -1.32113432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.20592 meters Centerline goodness : 0.998766 Centerline is valid? [True, True] Translation: X:34.95, Y:0.50, Z:-1.32 [[ 9.99994765e-01 2.46539820e-03 2.09588732e-03 3.49528961e+01] [-2.46550177e-03 9.99996960e-01 4.68306594e-05 4.97859297e-01] [-2.09576549e-03 -5.19978281e-05 9.99997803e-01 -1.32185642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.23592 meters Centerline goodness : 0.998567 Centerline is valid? [True, True] Translation: X:34.98, Y:0.50, Z:-1.32 [[ 9.99988480e-01 4.31808234e-03 2.09632208e-03 3.49849873e+01] [-4.31816268e-03 9.99990676e-01 3.37986780e-05 4.98511771e-01] [-2.09615659e-03 -4.28505484e-05 9.99997802e-01 -1.32068693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.26592 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:35.01, Y:0.50, Z:-1.33 [[ 9.99994969e-01 2.38078508e-03 2.09627083e-03 3.50113163e+01] [-2.38086433e-03 9.99997165e-01 3.53102391e-05 4.98088073e-01] [-2.09618082e-03 -4.03009979e-05 9.99997802e-01 -1.33024057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.295919999999995 meters Centerline goodness : 0.994132 Centerline is valid? [True, True] Translation: X:35.02, Y:0.50, Z:-1.33 [[ 9.99851330e-01 1.71152005e-02 2.09488799e-03 3.50230325e+01] [-1.71153960e-02 9.99853518e-01 7.54309898e-05 4.98971741e-01] [-2.09329011e-03 -1.11274613e-04 9.99997803e-01 -1.32930390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.325919999999996 meters Centerline goodness : 0.991842 Centerline is valid? [True, True] Translation: X:35.04, Y:0.51, Z:-1.34 [[ 9.99698946e-01 2.44474861e-02 2.08264291e-03 3.50425986e+01] [-2.44481985e-02 9.99701048e-01 3.17297577e-04 5.05424233e-01] [-2.07426317e-03 -3.68118921e-04 9.99997781e-01 -1.33681448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.35592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:35.09, Y:0.52, Z:-1.34 [[ 9.99726223e-01 2.33054546e-02 2.08196656e-03 3.50901124e+01] [-2.33062204e-02 9.99728314e-01 3.44340056e-04 5.15562654e-01] [-2.07337592e-03 -3.92768555e-04 9.99997773e-01 -1.33656249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.38592 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:35.12, Y:0.52, Z:-1.33 [[ 9.99642456e-01 2.66570842e-02 2.08796040e-03 3.51212681e+01] [-2.66572285e-02 9.99644632e-01 4.12966721e-05 5.23401256e-01] [-2.08611755e-03 -9.69411442e-05 9.99997819e-01 -1.33296817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.41592 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:35.16, Y:0.53, Z:-1.32 [[ 9.99501239e-01 3.15105371e-02 2.08785682e-03 3.51591078e+01] [-3.15107029e-02 9.99503413e-01 4.65379673e-05 5.28211592e-01] [-2.08535358e-03 -1.12304592e-04 9.99997819e-01 -1.32401502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.44592 meters Centerline goodness : 0.999753 Centerline is valid? [True, True] Translation: X:35.19, Y:0.53, Z:-1.33 [[ 9.99540875e-01 3.02270812e-02 2.08888484e-03 3.51873171e+01] [-3.02271344e-02 9.99543056e-01 -6.09577244e-06 5.30844246e-01] [-2.08811459e-03 -5.70480289e-05 9.99997818e-01 -1.33180054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.475919999999995 meters Centerline goodness : 0.999358 Centerline is valid? [True, True] Translation: X:35.22, Y:0.53, Z:-1.32 [[ 9.99523467e-01 3.07973879e-02 2.08822885e-03 3.52227753e+01] [-3.07975105e-02 9.99525644e-01 2.65894897e-05 5.34021534e-01] [-2.08641940e-03 -9.08890690e-05 9.99997819e-01 -1.32374700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.505919999999996 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:35.25, Y:0.54, Z:-1.33 [[ 9.99564018e-01 2.94518507e-02 2.08873033e-03 3.52499983e+01] [-2.94519174e-02 9.99566198e-01 1.17408086e-06 5.42154283e-01] [-2.08778965e-03 -6.26906820e-05 9.99997819e-01 -1.33404376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.53592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.28, Y:0.55, Z:-1.33 [[ 9.99555188e-01 2.97500665e-02 2.08794360e-03 3.52828709e+01] [-2.97502147e-02 9.99557364e-01 3.99537465e-05 5.46470779e-01] [-2.08583077e-03 -1.02052745e-04 9.99997819e-01 -1.33338667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.56592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:35.32, Y:0.55, Z:-1.32 [[ 9.99625452e-01 2.72872843e-02 2.08803358e-03 3.53160651e+01] [-2.72874178e-02 9.99627628e-01 3.54532192e-05 5.50587964e-01] [-2.08628863e-03 -9.24169848e-05 9.99997819e-01 -1.31968547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.59592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:35.35, Y:0.55, Z:-1.32 [[ 9.99629642e-01 2.71333435e-02 2.08835554e-03 3.53490267e+01] [-2.71334432e-02 9.99631820e-01 1.94107460e-05 5.51346089e-01] [-2.08705998e-03 -7.60678336e-05 9.99997819e-01 -1.32475470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.62592 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:35.38, Y:0.55, Z:-1.32 [[ 9.99716735e-01 2.37083668e-02 2.08856622e-03 3.53778292e+01] [-2.37084377e-02 9.99718915e-01 9.19295463e-06 5.53580237e-01] [-2.08776120e-03 -5.87069926e-05 9.99997819e-01 -1.31899541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.655919999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.41, Y:0.56, Z:-1.33 [[ 9.99816779e-01 1.90275475e-02 2.08830377e-03 3.54074378e+01] [-1.90276342e-02 9.99818958e-01 2.16531527e-05 5.59182471e-01] [-2.08751370e-03 -6.13846656e-05 9.99997819e-01 -1.33425888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.685919999999996 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:35.44, Y:0.56, Z:-1.32 [[ 9.99845226e-01 1.74689698e-02 2.08799030e-03 3.54440286e+01] [-1.74690839e-02 9.99847403e-01 3.64094406e-05 5.62312972e-01] [-2.08703564e-03 -7.28790830e-05 9.99997819e-01 -1.32455981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.71592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.47, Y:0.57, Z:-1.34 [[ 9.99936635e-01 1.10617824e-02 2.08878164e-03 3.54672115e+01] [-1.10618039e-02 9.99938816e-01 -1.23883005e-06 5.65813137e-01] [-2.08866754e-03 -2.18669414e-05 9.99997818e-01 -1.33618013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.74592 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:35.50, Y:0.57, Z:-1.34 [[ 9.99963219e-01 8.31880610e-03 2.08745682e-03 3.54987615e+01] [-8.31894795e-03 9.99965395e-01 5.92829360e-05 5.70174804e-01] [-2.08689142e-03 -7.66462002e-05 9.99997820e-01 -1.33612716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.77592 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:35.53, Y:0.57, Z:-1.32 [[ 9.99951606e-01 9.61390268e-03 2.08747706e-03 3.55346658e+01] [-9.61404539e-03 9.99953782e-01 5.83406616e-05 5.72129559e-01] [-2.08681970e-03 -7.84069374e-05 9.99997820e-01 -1.31785218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.80592 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:35.57, Y:0.57, Z:-1.32 [[ 9.99918539e-01 1.25917724e-02 2.08887284e-03 3.55709005e+01] [-1.25917809e-02 9.99920720e-01 -9.06769847e-06 5.74712522e-01] [-2.08882141e-03 -1.72356693e-05 9.99997818e-01 -1.32388357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.835919999999994 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:35.60, Y:0.57, Z:-1.32 [[ 9.99993118e-01 3.06548422e-03 2.08976501e-03 3.56005605e+01] [-3.06538483e-03 9.99995300e-01 -5.07588525e-05 5.74599435e-01] [-2.08991079e-03 4.43525692e-05 9.99997815e-01 -1.31997409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.865919999999996 meters Centerline goodness : 0.999358 Centerline is valid? [True, True] Translation: X:35.63, Y:0.58, Z:-1.32 [[ 9.99987751e-01 -4.48713316e-03 2.08906514e-03 3.56283779e+01] [ 4.48718551e-03 9.99989932e-01 -2.03747285e-05 5.75142734e-01] [-2.08895268e-03 2.97485017e-05 9.99997818e-01 -1.31839293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.89592 meters Centerline goodness : 0.999605 Centerline is valid? [True, True] Translation: X:35.66, Y:0.58, Z:-1.34 [[ 9.99926885e-01 -1.19106102e-02 2.08836251e-03 3.56554617e+01] [ 1.19106175e-02 9.99929066e-01 8.96285951e-06 5.75120624e-01] [-2.08832112e-03 1.59114828e-05 9.99997819e-01 -1.33989082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.92592 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:35.69, Y:0.57, Z:-1.32 [[ 9.99961404e-01 -8.53420331e-03 2.08733502e-03 3.56915290e+01] [ 8.53411543e-03 9.99963582e-01 5.10087163e-05 5.74253643e-01] [-2.08769433e-03 -3.31931896e-05 9.99997820e-01 -1.31986949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.95592 meters Centerline goodness : 0.998959 Centerline is valid? [True, True] Translation: X:35.72, Y:0.57, Z:-1.32 [[ 9.99916935e-01 -1.27185541e-02 2.08858912e-03 3.57212471e+01] [ 1.27185839e-02 9.99919116e-01 -9.75936213e-07 5.73268506e-01] [-2.08840777e-03 2.75397511e-05 9.99997819e-01 -1.31668992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.98592 meters Centerline goodness : 0.998959 Centerline is valid? [True, True] Translation: X:35.75, Y:0.57, Z:-1.32 [[ 9.99906773e-01 -1.34938561e-02 2.08834692e-03 3.57498445e+01] [ 1.34938673e-02 9.99908954e-01 8.76201329e-06 5.73606112e-01] [-2.08827502e-03 1.94186797e-05 9.99997819e-01 -1.31674630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.01592 meters Centerline goodness : 0.998814 Centerline is valid? [True, True] Translation: X:35.78, Y:0.57, Z:-1.32 [[ 9.99841406e-01 -1.76861769e-02 2.08831778e-03 3.57801865e+01] [ 1.76861948e-02 9.99843587e-01 9.90019488e-06 5.71562963e-01] [-2.08816624e-03 2.70357704e-05 9.99997819e-01 -1.31660738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.045919999999995 meters Centerline goodness : 0.998813 Centerline is valid? [True, True] Translation: X:35.81, Y:0.57, Z:-1.32 [[ 9.99790799e-01 -2.03469205e-02 2.08831558e-03 3.58092207e+01] [ 2.03469441e-02 9.99792979e-01 9.98457374e-06 5.69358809e-01] [-2.08808641e-03 3.25083554e-05 9.99997819e-01 -1.31757146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.075919999999996 meters Centerline goodness : 0.999358 Centerline is valid? [True, True] Translation: X:35.84, Y:0.56, Z:-1.32 [[ 9.99758005e-01 -2.18990947e-02 2.08826375e-03 3.58397613e+01] [ 2.18991176e-02 9.99760185e-01 1.19308073e-05 5.64951445e-01] [-2.08802422e-03 3.38032132e-05 9.99997820e-01 -1.31866350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.10592 meters Centerline goodness : 0.999258 Centerline is valid? [True, True] Translation: X:35.87, Y:0.56, Z:-1.32 [[ 9.99774147e-01 -2.11493242e-02 2.08834932e-03 3.58699840e+01] [ 2.11493520e-02 9.99776327e-01 8.80479146e-06 5.61792855e-01] [-2.08806843e-03 3.53644319e-05 9.99997819e-01 -1.31727042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.13592 meters Centerline goodness : 0.998914 Centerline is valid? [True, True] Translation: X:35.90, Y:0.56, Z:-1.32 [[ 9.99734910e-01 -2.29292053e-02 2.08836277e-03 3.58998163e+01] [ 2.29292379e-02 9.99737090e-01 8.33097707e-06 5.60218111e-01] [-2.08800474e-03 3.95557981e-05 9.99997819e-01 -1.31941887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.16592 meters Centerline goodness : 0.999110 Centerline is valid? [True, True] Translation: X:35.93, Y:0.56, Z:-1.32 [[ 9.99756000e-01 -2.19904572e-02 2.08821167e-03 3.59297959e+01] [ 2.19904769e-02 9.99758180e-01 1.35518799e-05 5.59726266e-01] [-2.08800471e-03 3.23721971e-05 9.99997820e-01 -1.32193683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.19592 meters Centerline goodness : 0.998860 Centerline is valid? [True, True] Translation: X:35.96, Y:0.56, Z:-1.32 [[ 9.99859200e-01 -1.66499237e-02 2.08816532e-03 3.59604994e+01] [ 1.66499284e-02 9.99861380e-01 1.50965455e-05 5.57543794e-01] [-2.08812721e-03 1.96733833e-05 9.99997820e-01 -1.31919662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.225919999999995 meters Centerline goodness : 0.999110 Centerline is valid? [True, True] Translation: X:35.99, Y:0.56, Z:-1.32 [[ 9.99919965e-01 -1.24780745e-02 2.08838683e-03 3.59896238e+01] [ 1.24780850e-02 9.99922146e-01 8.01240263e-06 5.56459365e-01] [-2.08832422e-03 1.80473069e-05 9.99997819e-01 -1.31874894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.255919999999996 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:36.02, Y:0.56, Z:-1.32 [[ 9.99932301e-01 -1.14469148e-02 2.08837837e-03 3.60192939e+01] [ 1.14469225e-02 9.99934482e-01 8.27369517e-06 5.56285156e-01] [-2.08833625e-03 1.56323703e-05 9.99997819e-01 -1.32004495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.28592 meters Centerline goodness : 0.999258 Centerline is valid? [True, True] Translation: X:36.05, Y:0.56, Z:-1.32 [[ 9.99942738e-01 -1.04956521e-02 2.08837135e-03 3.60481283e+01] [ 1.04956572e-02 9.99944919e-01 8.48482263e-06 5.56344767e-01] [-2.08834537e-03 1.34344931e-05 9.99997819e-01 -1.31945444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.31592 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:36.08, Y:0.56, Z:-1.32 [[ 9.99974481e-01 -6.83197447e-03 2.08827867e-03 3.60772448e+01] [ 6.83196594e-03 9.99976662e-01 1.12219501e-05 5.56241447e-01] [-2.08830660e-03 3.04538502e-06 9.99997819e-01 -1.32122667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.34592 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:36.11, Y:0.56, Z:-1.32 [[ 9.99962956e-01 -8.35024893e-03 2.08827367e-03 3.61069832e+01] [ 8.35024341e-03 9.99965136e-01 1.13632279e-05 5.55652184e-01] [-2.08829575e-03 6.07478646e-06 9.99997819e-01 -1.32246006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.37592 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:36.14, Y:0.55, Z:-1.32 [[ 9.99966998e-01 -7.85139105e-03 2.08773959e-03 3.61366712e+01] [ 7.85135355e-03 9.99969177e-01 2.61588139e-05 5.54852470e-01] [-2.08788063e-03 -9.76636894e-06 9.99997820e-01 -1.32317595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.405919999999995 meters Centerline goodness : 0.999555 Centerline is valid? [True, True] Translation: X:36.17, Y:0.56, Z:-1.32 [[ 9.99954406e-01 -9.31812243e-03 2.08764576e-03 3.61662901e+01] [ 9.31808283e-03 9.99956585e-01 2.86977832e-05 5.55499430e-01] [-2.08782254e-03 -9.24361862e-06 9.99997820e-01 -1.32329319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.435919999999996 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:36.20, Y:0.56, Z:-1.32 [[ 9.99958546e-01 -8.86276027e-03 2.08737832e-03 3.61959642e+01] [ 8.86270494e-03 9.99960725e-01 3.57597098e-05 5.55759235e-01] [-2.08761326e-03 -1.72584093e-05 9.99997821e-01 -1.32425230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.46592 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:36.23, Y:0.56, Z:-1.32 [[ 9.99953673e-01 -9.39651766e-03 2.08723335e-03 3.62257561e+01] [ 9.39645551e-03 9.99955852e-01 3.95826748e-05 5.55297765e-01] [-2.08751314e-03 -1.99682457e-05 9.99997821e-01 -1.32482844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.49592 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:36.26, Y:0.56, Z:-1.32 [[ 9.99940894e-01 -1.06702065e-02 2.08704609e-03 3.62556837e+01] [ 1.06701369e-02 9.99943071e-01 4.44821075e-05 5.55564681e-01] [-2.08740191e-03 -2.22104108e-05 9.99997821e-01 -1.32406217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.52592 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:36.29, Y:0.56, Z:-1.32 [[ 9.99959820e-01 -8.71796636e-03 2.08697118e-03 3.62857637e+01] [ 8.71788848e-03 9.99961997e-01 4.64103832e-05 5.58610180e-01] [-2.08729647e-03 -2.82145364e-05 9.99997821e-01 -1.32372020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.55592 meters Centerline goodness : 0.999110 Centerline is valid? [True, True] Translation: X:36.32, Y:0.56, Z:-1.32 [[ 9.99973020e-01 -7.04298472e-03 2.08715684e-03 3.63154096e+01] [ 7.04291304e-03 9.99975198e-01 4.16919564e-05 5.59855487e-01] [-2.08739871e-03 -2.69911674e-05 9.99997821e-01 -1.32420382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.585919999999994 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:36.34, Y:0.56, Z:-1.33 [[ 9.99978530e-01 -6.21143552e-03 2.08732389e-03 3.63448319e+01] [ 6.21137071e-03 9.99980709e-01 3.75267617e-05 5.61607806e-01] [-2.08751672e-03 -2.45608135e-05 9.99997821e-01 -1.32521797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.615919999999996 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:36.38, Y:0.57, Z:-1.33 [[ 9.99990114e-01 -3.92648515e-03 2.08696345e-03 3.63751224e+01] [ 3.92639682e-03 9.99992291e-01 4.64158416e-05 5.65963204e-01] [-2.08712961e-03 -3.82211360e-05 9.99997821e-01 -1.32621674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.64592 meters Centerline goodness : 0.999358 Centerline is valid? [True, True] Translation: X:36.41, Y:0.57, Z:-1.32 [[ 9.99996742e-01 -1.47008553e-03 2.08676447e-03 3.64067465e+01] [ 1.46998176e-03 9.99998918e-01 5.12618116e-05 5.69000771e-01] [-2.08683757e-03 -4.81941389e-05 9.99997821e-01 -1.32283183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.67592 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:36.44, Y:0.58, Z:-1.33 [[ 9.99994068e-01 2.74008296e-03 2.08717267e-03 3.64382790e+01] [-2.74017521e-03 9.99996245e-01 4.13406884e-05 5.75630837e-01] [-2.08705155e-03 -4.70596620e-05 9.99997821e-01 -1.32520644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.70592 meters Centerline goodness : 0.999505 Centerline is valid? [True, True] Translation: X:36.46, Y:0.58, Z:-1.34 [[ 9.99994369e-01 -2.62758468e-03 2.08729897e-03 3.64636344e+01] [ 2.62751044e-03 9.99996547e-01 3.83097055e-05 5.80666560e-01] [-2.08739243e-03 -3.28250900e-05 9.99997821e-01 -1.34122435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.73592 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:36.50, Y:0.58, Z:-1.34 [[ 9.99992247e-01 -3.34044574e-03 2.08515634e-03 3.64953128e+01] [ 3.34026806e-03 9.99994417e-01 8.86863836e-05 5.83877322e-01] [-2.08544095e-03 -8.17207149e-05 9.99997822e-01 -1.34259967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.76592 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:36.53, Y:0.59, Z:-1.34 [[ 9.99995161e-01 -2.30859101e-03 2.08516140e-03 3.65266659e+01] [ 2.30841134e-03 9.99997332e-01 8.85673905e-05 5.88548758e-01] [-2.08536030e-03 -8.37535518e-05 9.99997822e-01 -1.33503338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.795919999999995 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:36.56, Y:0.59, Z:-1.33 [[ 9.99990087e-01 -3.93399066e-03 2.08541068e-03 3.65582128e+01] [ 3.93382676e-03 9.99992259e-01 8.26898215e-05 5.93803211e-01] [-2.08571984e-03 -7.44853575e-05 9.99997822e-01 -1.32843918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.825919999999996 meters Centerline goodness : 0.999110 Centerline is valid? [True, True] Translation: X:36.59, Y:0.60, Z:-1.33 [[ 9.99982774e-01 -5.48623013e-03 2.08658218e-03 3.65890974e+01] [ 5.48612693e-03 9.99984950e-01 5.51770566e-05 5.95678829e-01] [-2.08685349e-03 -4.37288514e-05 9.99997822e-01 -1.32639566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.85592 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:36.62, Y:0.60, Z:-1.33 [[ 9.99909687e-01 -1.32764121e-02 2.08690373e-03 3.66196058e+01] [ 1.32763414e-02 9.99911864e-01 4.77245958e-05 5.96233475e-01] [-2.08735341e-03 -2.00138393e-05 9.99997821e-01 -1.32692057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.88592 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:36.65, Y:0.60, Z:-1.33 [[ 9.99869992e-01 -1.59889040e-02 2.08650491e-03 3.66485669e+01] [ 1.59888201e-02 9.99872169e-01 5.69298945e-05 5.98171261e-01] [-2.08714844e-03 -2.35617416e-05 9.99997822e-01 -1.32734736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.91592 meters Centerline goodness : 0.999257 Centerline is valid? [True, True] Translation: X:36.68, Y:0.60, Z:-1.33 [[ 9.99833865e-01 -1.81077373e-02 2.08639849e-03 3.66773339e+01] [ 1.81076529e-02 9.99836041e-01 5.93677190e-05 6.00651999e-01] [-2.08713142e-03 -2.15780764e-05 9.99997822e-01 -1.32814998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.94592 meters Centerline goodness : 0.999110 Centerline is valid? [True, True] Translation: X:36.71, Y:0.60, Z:-1.33 [[ 9.99771828e-01 -2.12588546e-02 2.08634359e-03 3.67075384e+01] [ 2.12587744e-02 9.99774005e-01 6.06158687e-05 6.03668600e-01] [-2.08716071e-03 -1.62489301e-05 9.99997822e-01 -1.32915651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.975919999999995 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:36.73, Y:0.60, Z:-1.34 [[ 9.99668856e-01 -2.56480910e-02 2.08636266e-03 3.67338062e+01] [ 2.56480212e-02 9.99671034e-01 6.01919896e-05 6.03679668e-01] [-2.08722012e-03 -6.66098366e-06 9.99997822e-01 -1.34228873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.005919999999996 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:36.76, Y:0.61, Z:-1.34 [[ 9.99597265e-01 -2.83012749e-02 2.08477459e-03 3.67627960e+01] [ 2.83011382e-02 9.99599438e-01 9.50308098e-05 6.06788569e-01] [-2.08662900e-03 -3.59910437e-05 9.99997822e-01 -1.34290657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.03592 meters Centerline goodness : 0.998960 Centerline is valid? [True, True] Translation: X:36.80, Y:0.61, Z:-1.33 [[ 9.99671453e-01 -2.55467986e-02 2.08476320e-03 3.67959829e+01] [ 2.55466554e-02 9.99673626e-01 9.52801566e-05 6.10655125e-01] [-2.08651689e-03 -4.19901257e-05 9.99997822e-01 -1.32821095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.06592 meters Centerline goodness : 0.998666 Centerline is valid? [True, True] Translation: X:36.82, Y:0.61, Z:-1.33 [[ 9.99611242e-01 -2.78030573e-02 2.08661709e-03 3.68241094e+01] [ 2.78030038e-02 9.99613420e-01 5.46709884e-05 6.10745424e-01] [-2.08733047e-03 3.36448834e-06 9.99997822e-01 -1.32903459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.09592 meters Centerline goodness : 0.998861 Centerline is valid? [True, True] Translation: X:36.85, Y:0.61, Z:-1.33 [[ 9.99588380e-01 -2.86132594e-02 2.08628753e-03 3.68530571e+01] [ 2.86131929e-02 9.99590557e-01 6.17372215e-05 6.11822683e-01] [-2.08719982e-03 -2.01646165e-06 9.99997822e-01 -1.32804135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.12592 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:36.88, Y:0.61, Z:-1.34 [[ 9.99409422e-01 -3.42994624e-02 2.08648273e-03 3.68781993e+01] [ 3.42994170e-02 9.99411600e-01 5.75769515e-05 6.13543380e-01] [-2.08722990e-03 1.40221932e-05 9.99997822e-01 -1.34259793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.155919999999995 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:36.91, Y:0.62, Z:-1.33 [[ 9.99545650e-01 -3.00690500e-02 2.08449339e-03 3.69107896e+01] [ 3.00689082e-02 9.99547823e-01 9.93260086e-05 6.16966120e-01] [-2.08653747e-03 -3.66024396e-05 9.99997823e-01 -1.32872744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.185919999999996 meters Centerline goodness : 0.847612 Centerline is valid? [True, False] Translation: X:36.89, Y:0.62, Z:-1.33 [[ 9.99598161e-01 -2.13705554e-02 1.86229761e-02 3.68941036e+01] [ 2.13663860e-02 9.99771623e-01 4.22847461e-04 6.15483233e-01] [-1.86277595e-02 -2.47718495e-05 9.99826488e-01 -1.32823936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.21592 meters Centerline goodness : 0.999852 Centerline is valid? [False, True] Translation: X:36.91, Y:0.62, Z:-1.32 [[ 9.99834175e-01 -8.24491656e-03 1.62370906e-02 3.69142495e+01] [ 8.20447948e-03 9.99963077e-01 2.55545562e-03 6.16693349e-01] [-1.62575606e-02 -2.42181498e-03 9.99864904e-01 -1.32459877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.24592 meters Centerline goodness : 0.999753 Centerline is valid? [True, True] Translation: X:36.95, Y:0.62, Z:-1.33 [[ 9.99843617e-01 -6.83958719e-03 1.63083201e-02 3.69456095e+01] [ 6.83831004e-03 9.99976609e-01 1.34076798e-04 6.24002573e-01] [-1.63088557e-02 -2.25344820e-05 9.99867002e-01 -1.33172927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.27592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.97, Y:0.62, Z:-1.34 [[ 9.99822246e-01 -9.46712478e-03 1.63048839e-02 3.69733278e+01] [ 9.46430862e-03 9.99955181e-01 2.49874324e-04 6.24199582e-01] [-1.63065187e-02 -9.55154550e-05 9.99867035e-01 -1.34417784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.30592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.01, Y:0.62, Z:-1.34 [[ 9.99835097e-01 -8.01045618e-03 1.62976181e-02 3.70061936e+01] [ 8.00351567e-03 9.99967851e-01 4.91040673e-04 6.23387238e-01] [-1.63010276e-02 -3.60521456e-04 9.99867064e-01 -1.34352804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.335919999999994 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:37.04, Y:0.63, Z:-1.33 [[ 9.99866438e-01 -1.21936474e-03 1.62978497e-02 3.70435670e+01] [ 1.21164993e-03 9.99999149e-01 4.83229225e-04 6.26033125e-01] [-1.62984251e-02 -4.63417395e-04 9.99867064e-01 -1.32597454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.365919999999996 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:37.07, Y:0.63, Z:-1.33 [[ 9.99857476e-01 -4.35787789e-03 1.63106397e-02 3.70727211e+01] [ 4.35772301e-03 9.99990504e-01 4.50364981e-05 6.30204458e-01] [-1.63106811e-02 2.60471708e-05 9.99866972e-01 -1.33062899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.39592 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:37.11, Y:0.63, Z:-1.33 [[ 9.99858037e-01 -4.24481968e-03 1.63060721e-02 3.71058057e+01] [ 4.24218388e-03 9.99990983e-01 1.96230768e-04 6.32451570e-01] [-1.63067580e-02 -1.27029554e-04 9.99867028e-01 -1.32988890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.42592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.14, Y:0.63, Z:-1.34 [[ 9.99743119e-01 -1.57397171e-02 1.63081817e-02 3.71412049e+01] [ 1.57397441e-02 9.99876115e-01 1.26704225e-04 6.28811630e-01] [-1.63081556e-02 1.30014930e-04 9.99867005e-01 -1.33706551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.45592 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:37.17, Y:0.64, Z:-1.33 [[ 9.99852777e-01 -5.31563608e-03 1.63146793e-02 3.71703132e+01] [ 5.31771928e-03 9.99985857e-01 -8.43100674e-05 6.35985176e-01] [-1.63140004e-02 1.71054540e-04 9.99866903e-01 -1.33294741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.48592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.20, Y:0.63, Z:-1.34 [[ 9.99827593e-01 -8.87941018e-03 1.63076924e-02 3.72008851e+01] [ 8.87835049e-03 9.99960577e-01 1.37378746e-04 6.34790810e-01] [-1.63082693e-02 7.43034773e-06 9.99867011e-01 -1.33573515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.51592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:37.23, Y:0.63, Z:-1.33 [[ 9.99820542e-01 -9.64771288e-03 1.63035217e-02 3.72349849e+01] [ 9.64460284e-03 9.99953453e-01 2.69375612e-04 6.34979530e-01] [-1.63053617e-02 -1.12086279e-04 9.99867052e-01 -1.33267045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.545919999999995 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:37.27, Y:0.64, Z:-1.33 [[ 9.99814440e-01 -1.02544999e-02 1.63073740e-02 3.72667743e+01] [ 1.02534060e-02 9.99947421e-01 1.50688229e-04 6.36413807e-01] [-1.63080618e-02 1.65458591e-05 9.99867015e-01 -1.33444260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.575919999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.29, Y:0.64, Z:-1.35 [[ 9.99672003e-01 -1.97470473e-02 1.63077081e-02 3.72926424e+01] [ 1.97473824e-02 9.99804992e-01 1.40494611e-04 6.36694798e-01] [-1.63073023e-02 1.81586019e-04 9.99867011e-01 -1.35103112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.60592 meters Centerline goodness : 0.866257 Centerline is valid? [True, False] Translation: X:37.31, Y:0.64, Z:-1.35 [[ 9.99868105e-01 -6.88612851e-03 1.47090040e-02 3.73114877e+01] [ 6.85607623e-03 9.99974307e-01 2.09257180e-03 6.36799395e-01] [-1.47230358e-02 -1.99144975e-03 9.99889627e-01 -1.34589956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.63592 meters Centerline goodness : 1.000000 Centerline is valid? [False, True] Translation: X:37.31, Y:0.63, Z:-1.35 [[ 9.99889405e-01 -2.92041947e-03 1.45825124e-02 3.73119217e+01] [ 2.82137342e-03 9.99972845e-01 6.80807098e-03 6.34342281e-01] [-1.46019988e-02 -6.76617533e-03 9.99870492e-01 -1.34548244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.66592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.34, Y:0.64, Z:-1.36 [[ 9.99837865e-01 -1.03059345e-02 1.47659026e-02 3.73365907e+01] [ 1.03107908e-02 9.99946810e-01 -2.52795208e-04 6.41582822e-01] [-1.47625119e-02 4.05002353e-04 9.99890946e-01 -1.36485767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.69592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.37, Y:0.64, Z:-1.35 [[ 9.99887530e-01 -2.72105810e-03 1.47486940e-02 3.73729180e+01] [ 2.71555629e-03 9.99996236e-01 3.93050938e-04 6.44094828e-01] [-1.47497079e-02 -3.52955823e-04 9.99891155e-01 -1.35373373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.725919999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.41, Y:0.64, Z:-1.35 [[ 9.99887733e-01 -2.59434578e-03 1.47577272e-02 3.74062917e+01] [ 2.59380311e-03 9.99996635e-01 5.59121800e-05 6.43609215e-01] [-1.47578226e-02 -1.76272642e-05 9.99891097e-01 -1.35268285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.755919999999996 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:37.44, Y:0.64, Z:-1.35 [[ 9.99881107e-01 -4.46701861e-03 1.47586744e-02 3.74385203e+01] [ 4.46719270e-03 9.99990022e-01 2.11710877e-05 6.43385151e-01] [-1.47586217e-02 4.47612720e-05 9.99891085e-01 -1.35344846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.78592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:37.47, Y:0.65, Z:-1.35 [[ 9.99878940e-01 -4.93186943e-03 1.47574177e-02 3.74718872e+01] [ 4.93142447e-03 9.99987838e-01 6.65415741e-05 6.45095425e-01] [-1.47575664e-02 6.24157198e-06 9.99891101e-01 -1.35293061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.81592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.50, Y:0.65, Z:-1.37 [[ 9.99809888e-01 -1.27415205e-02 1.47594233e-02 3.74962548e+01] [ 1.27429916e-02 9.99918805e-01 -5.62717862e-06 6.46505615e-01] [-1.47581532e-02 1.93705316e-04 9.99891074e-01 -1.36873287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.84592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.53, Y:0.65, Z:-1.35 [[ 9.99860072e-01 -7.89686686e-03 1.47470538e-02 3.75334773e+01] [ 7.89146703e-03 9.99968772e-01 4.24319191e-04 6.48247322e-01] [-1.47499441e-02 -3.07883928e-04 9.99891166e-01 -1.35453076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.87592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.56, Y:0.65, Z:-1.37 [[ 9.99817812e-01 -1.21063164e-02 1.47573685e-02 3.75589452e+01] [ 1.21066825e-02 9.99926709e-01 6.45295810e-05 6.47196139e-01] [-1.47570681e-02 1.14144950e-04 9.99891102e-01 -1.36683835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.905919999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.59, Y:0.65, Z:-1.37 [[ 9.99823736e-01 -1.16205644e-02 1.47464919e-02 3.75922792e+01] [ 1.16154258e-02 9.99932444e-01 4.34070285e-04 6.48129031e-01] [-1.47505398e-02 -2.62706993e-04 9.99891170e-01 -1.36721004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.935919999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.62, Y:0.65, Z:-1.37 [[ 9.99827829e-01 -1.12626781e-02 1.47467016e-02 3.76248322e+01] [ 1.12576074e-02 9.99936540e-01 4.26824546e-04 6.48603921e-01] [-1.47505730e-02 -2.60738482e-04 9.99891170e-01 -1.36913087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.96592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:37.66, Y:0.65, Z:-1.36 [[ 9.99867888e-01 -6.83636310e-03 1.47469078e-02 3.76604815e+01] [ 6.83091796e-03 9.99976581e-01 4.19578705e-04 6.49501494e-01] [-1.47494308e-02 -3.18788356e-04 9.99891170e-01 -1.35584474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.99592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.69, Y:0.65, Z:-1.37 [[ 9.99821641e-01 -1.17894196e-02 1.47544943e-02 3.76870939e+01] [ 1.17884939e-02 9.99930502e-01 1.49715755e-04 6.48919122e-01] [-1.47552340e-02 2.42442149e-05 9.99891135e-01 -1.37200455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.02592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.72, Y:0.65, Z:-1.36 [[ 9.99854969e-01 -8.51907315e-03 1.47467545e-02 3.77217562e+01] [ 8.51379142e-03 9.99963668e-01 4.20904759e-04 6.50538474e-01] [-1.47498045e-02 -2.95292922e-04 9.99891172e-01 -1.35755746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.05592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.75, Y:0.65, Z:-1.37 [[ 9.99844428e-01 -9.66852171e-03 1.47526280e-02 3.77495023e+01] [ 9.66641373e-03 9.99953256e-01 2.14189941e-04 6.50954472e-01] [-1.47540093e-02 -7.15516126e-05 9.99891151e-01 -1.37144410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.085919999999994 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:37.78, Y:0.65, Z:-1.36 [[ 9.99874926e-01 -5.71592433e-03 1.47465393e-02 3.77828539e+01] [ 5.71027296e-03 9.99983606e-01 4.25311358e-04 6.53514591e-01] [-1.47487286e-02 -3.41051398e-04 9.99891173e-01 -1.35700010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.115919999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.81, Y:0.66, Z:-1.37 [[ 9.99873264e-01 -5.98929128e-03 1.47507235e-02 3.78118153e+01] [ 5.98583110e-03 9.99982046e-01 2.78716347e-04 6.57112595e-01] [-1.47521280e-02 -1.90385685e-04 9.99891163e-01 -1.37379374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.14592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.84, Y:0.66, Z:-1.37 [[ 9.99883150e-01 -4.02797627e-03 1.47466073e-02 3.78441220e+01] [ 4.02218407e-03 9.99991822e-01 4.22419290e-04 6.60538191e-01] [-1.47481882e-02 -3.63056361e-04 9.99891174e-01 -1.37369531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.17592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.88, Y:0.66, Z:-1.37 [[ 9.99888221e-01 -2.46511745e-03 1.47467928e-02 3.78757699e+01] [ 2.45925240e-03 9.99996890e-01 4.15838091e-04 6.62266105e-01] [-1.47477721e-02 -3.79525523e-04 9.99891174e-01 -1.37333056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.20592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.91, Y:0.67, Z:-1.37 [[ 9.99890383e-01 -1.32226367e-03 1.47469632e-02 3.79081053e+01] [ 1.31636478e-03 9.99999050e-01 4.09706546e-04 6.65044923e-01] [-1.47474909e-02 -3.90249252e-04 9.99891174e-01 -1.37404270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.23592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.94, Y:0.67, Z:-1.36 [[ 9.99889034e-01 2.10745759e-03 1.47471570e-02 3.79430380e+01] [-2.11362454e-03 9.99997685e-01 4.02606009e-04 6.74482695e-01] [-1.47462744e-02 -4.33731287e-04 9.99891174e-01 -1.35885143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.26592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.98, Y:0.68, Z:-1.36 [[ 9.99879202e-01 4.88888228e-03 1.47540086e-02 3.79765766e+01] [-4.89165172e-03 9.99988024e-01 1.51626029e-04 6.80404299e-01] [-1.47530906e-02 -2.23779184e-04 9.99891142e-01 -1.36199137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.295919999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.00, Y:0.68, Z:-1.38 [[ 9.99891033e-01 -3.90937804e-04 1.47569859e-02 3.80017738e+01] [ 3.90332279e-04 9.99999923e-01 4.39132856e-05 6.83111850e-01] [-1.47570019e-02 -3.81483726e-05 9.99891109e-01 -1.37808775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.325919999999996 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:38.04, Y:0.69, Z:-1.36 [[ 9.99876968e-01 5.34730424e-03 1.47463416e-02 3.80384558e+01] [-5.35406118e-03 9.99985579e-01 4.18770353e-04 6.87885730e-01] [-1.47438897e-02 -4.97671647e-04 9.99891179e-01 -1.36261598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.35592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.07, Y:0.70, Z:-1.36 [[ 9.99879727e-01 4.77483896e-03 1.47557375e-02 3.80693069e+01] [-4.77655261e-03 9.99988589e-01 8.08939182e-05 6.95237895e-01] [-1.47551829e-02 -1.51365745e-04 9.99891125e-01 -1.36478108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.38592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.10, Y:0.70, Z:-1.36 [[ 9.99881559e-01 4.38052930e-03 1.47539545e-02 3.81024741e+01] [-4.38312702e-03 9.99990384e-01 1.43738098e-04 6.97460971e-01] [-1.47531830e-02 -2.08389530e-04 9.99891144e-01 -1.36399078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.41592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:38.13, Y:0.70, Z:-1.36 [[ 9.99891132e-01 -1.50703597e-04 1.47546890e-02 3.81349865e+01] [ 1.48976049e-04 9.99999982e-01 1.18183733e-04 7.00875564e-01] [-1.47547066e-02 -1.15972771e-04 9.99891137e-01 -1.36360741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.44592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.17, Y:0.71, Z:-1.37 [[ 9.99888831e-01 -2.15178555e-03 1.47545114e-02 3.81669710e+01] [ 2.15018576e-03 9.99997681e-01 1.24289393e-04 7.05315171e-01] [-1.47547446e-02 -9.25506356e-05 9.99891139e-01 -1.36502543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.475919999999995 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:38.20, Y:0.71, Z:-1.37 [[ 9.99863223e-01 -7.47270616e-03 1.47544618e-02 3.81983300e+01] [ 7.47166040e-03 9.99972079e-01 1.25999959e-04 7.12364944e-01] [-1.47549914e-02 -1.57423969e-05 9.99891139e-01 -1.36816470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.505919999999996 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:38.23, Y:0.71, Z:-1.37 [[ 9.99851363e-01 -8.92295891e-03 1.47523797e-02 3.82311370e+01] [ 8.92102456e-03 9.99960187e-01 1.96924514e-04 7.14923179e-01] [-1.47535496e-02 -6.52889020e-05 9.99891158e-01 -1.36716525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.53592 meters Centerline goodness : 0.995977 Centerline is valid? [True, True] Translation: X:38.24, Y:0.68, Z:-1.37 [[ 9.95086376e-01 -9.79053961e-02 1.47525292e-02 3.82378077e+01] [ 9.79132329e-02 9.95194937e-01 1.91850380e-04 6.75622967e-01] [-1.47004256e-02 1.25356013e-03 9.99891157e-01 -1.37250219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.56592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.29, Y:0.71, Z:-1.38 [[ 9.99678195e-01 -2.06707348e-02 1.47046398e-02 3.82851884e+01] [ 2.06480250e-02 9.99785371e-01 1.69455796e-03 7.14526460e-01] [-1.47365115e-02 -1.39039087e-03 9.99890445e-01 -1.38223166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.59592 meters Centerline goodness : 0.932306 Centerline is valid? [True, False] Translation: X:38.29, Y:0.71, Z:-1.38 [[ 9.99760295e-01 -1.72406389e-02 1.34949347e-02 3.82885828e+01] [ 1.71516797e-02 9.99830583e-01 6.68025964e-03 7.10156181e-01] [-1.36078204e-02 -6.44719755e-03 9.99886624e-01 -1.38236193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.62592 meters Centerline goodness : 0.999702 Centerline is valid? [False, True] Translation: X:38.31, Y:0.71, Z:-1.38 [[ 9.99957566e-01 -6.62679087e-03 6.39941508e-03 3.83125113e+01] [ 6.57124145e-03 9.99940886e-01 8.66274947e-03 7.11675024e-01] [-6.45644302e-03 -8.62032977e-03 9.99942000e-01 -1.37892641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.655919999999995 meters Centerline goodness : 0.973197 Centerline is valid? [True, True] Translation: X:38.31, Y:0.67, Z:-1.39 [[ 9.93972608e-01 -1.09437802e-01 6.46703724e-03 3.83080974e+01] [ 1.09441318e-01 9.93993240e-01 -1.91329543e-04 6.72242773e-01] [-6.40725261e-03 8.97937404e-04 9.99979070e-01 -1.39430115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.685919999999996 meters Centerline goodness : 0.955466 Centerline is valid? [True, True] Translation: X:38.39, Y:0.74, Z:-1.40 [[ 9.99954607e-01 -7.01656342e-03 6.44604454e-03 3.83948091e+01] [ 7.01032845e-03 9.99974938e-01 9.89341963e-04 7.40421619e-01] [-6.45282477e-03 -9.44108164e-04 9.99978735e-01 -1.40334483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.71592 meters Centerline goodness : 0.998313 Centerline is valid? [True, True] Translation: X:38.40, Y:0.73, Z:-1.40 [[ 9.99972076e-01 -4.09296394e-03 6.25251152e-03 3.84001338e+01] [ 4.10575804e-03 9.99989501e-01 -2.03477011e-03 7.31100772e-01] [-6.24411763e-03 2.06038459e-03 9.99978383e-01 -1.39780548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.74592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.40, Y:0.71, Z:-1.40 [[ 9.99934551e-01 -9.57517195e-03 6.26179486e-03 3.84035460e+01] [ 9.58002996e-03 9.99953832e-01 -7.46283080e-04 7.14874883e-01] [-6.25435997e-03 8.06222418e-04 9.99980116e-01 -1.39897015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.77592 meters Centerline goodness : 0.914491 Centerline is valid? [True, False] Translation: X:38.40, Y:0.70, Z:-1.40 [[ 9.99979091e-01 -1.74396073e-03 6.22701233e-03 3.84038717e+01] [ 1.68158119e-03 9.99948497e-01 1.00087927e-02 7.03912515e-01] [-6.24414656e-03 -9.99811223e-03 9.99930522e-01 -1.39675980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.80592 meters Centerline goodness : 0.999901 Centerline is valid? [False, True] Translation: X:38.40, Y:0.70, Z:-1.40 [[ 9.99979303e-01 2.17383512e-03 6.05537910e-03 3.84045238e+01] [-2.26620987e-03 9.99880531e-01 1.52901334e-02 6.99120224e-01] [-6.02141744e-03 -1.53035397e-02 9.99864763e-01 -1.39590929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.835919999999994 meters Centerline goodness : 0.993614 Centerline is valid? [True, True] Translation: X:38.43, Y:0.68, Z:-1.41 [[ 9.97641261e-01 -6.83910158e-02 5.88081665e-03 3.84255739e+01] [ 6.83941077e-02 9.97658328e-01 -3.26048810e-04 6.79757298e-01] [-5.84474690e-03 7.27492953e-04 9.99982655e-01 -1.41078220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.865919999999996 meters Centerline goodness : 0.924452 Centerline is valid? [True, False] Translation: X:38.41, Y:0.67, Z:-1.41 [[ 9.98215948e-01 -5.59682542e-02 2.07960493e-02 3.84105168e+01] [ 5.59254052e-02 9.98431468e-01 2.63679210e-03 6.74033739e-01] [-2.09110067e-02 -1.46906045e-03 9.99780262e-01 -1.41344036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.89592 meters Centerline goodness : 0.869036 Centerline is valid? [False, False] Translation: X:38.41, Y:0.67, Z:-1.42 [[ 9.98809827e-01 -3.93743627e-02 2.87852302e-02 3.84067199e+01] [ 3.93420012e-02 9.99224375e-01 1.68994977e-03 6.72961219e-01] [-2.88294443e-02 -5.55469880e-04 9.99584191e-01 -1.41530338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.92592 meters Centerline goodness : 0.999950 Centerline is valid? [False, True] Translation: X:38.41, Y:0.67, Z:-1.42 [[ 9.98826540e-01 -3.91975751e-02 2.84445500e-02 3.84078801e+01] [ 3.91518236e-02 9.99230931e-01 2.16381936e-03 6.70924618e-01] [-2.85074906e-02 -1.04762420e-03 9.99593030e-01 -1.41543108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.95592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.44, Y:0.68, Z:-1.42 [[ 9.99590258e-01 -3.13096429e-03 2.84519603e-02 3.84423013e+01] [ 3.12240516e-03 9.99995066e-01 3.45250962e-04 6.84955111e-01] [-2.84529009e-02 -2.56270950e-04 9.99595101e-01 -1.41674702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.98592 meters Centerline goodness : 0.999505 Centerline is valid? [True, True] Translation: X:38.48, Y:0.68, Z:-1.41 [[ 9.99592847e-01 2.13274193e-03 2.84533369e-02 3.84766376e+01] [-2.13194868e-03 9.99997726e-01 -5.82158868e-05 6.82870062e-01] [-2.84533964e-02 -2.46886992e-06 9.99595120e-01 -1.40687163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.01592 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:38.51, Y:0.68, Z:-1.41 [[ 9.99594044e-01 1.44305032e-03 2.84546092e-02 3.85074383e+01] [-1.43101028e-03 9.99998878e-01 -4.43490403e-04 6.81976342e-01] [-2.84552173e-02 4.02591527e-04 9.99594987e-01 -1.40761622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.045919999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.54, Y:0.68, Z:-1.42 [[ 9.99594310e-01 -1.25202138e-03 2.84543220e-02 3.85350669e+01] [ 1.26298974e-03 9.99999135e-01 -3.67503255e-04 6.80867155e-01] [-2.84538373e-02 4.03291679e-04 9.99595026e-01 -1.42289153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.075919999999996 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:38.57, Y:0.68, Z:-1.41 [[ 9.99587659e-01 3.87077404e-03 2.84522212e-02 3.85699559e+01] [-3.87582130e-03 9.99992482e-01 1.22247193e-04 6.80980735e-01] [-2.84515341e-02 -2.32472510e-04 9.99595146e-01 -1.40700874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.10592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:38.60, Y:0.68, Z:-1.41 [[ 9.99586991e-01 4.02584341e-03 2.84541607e-02 3.86011718e+01] [-4.01680713e-03 9.99991862e-01 -3.74725081e-04 6.79526806e-01] [-2.84554377e-02 2.60275440e-04 9.99595028e-01 -1.41164165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.13592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.63, Y:0.68, Z:-1.43 [[ 9.99594293e-01 1.28052544e-03 2.84536294e-02 3.86285223e+01] [-1.27377426e-03 9.99999156e-01 -2.55393656e-04 6.77582922e-01] [-2.84539324e-02 2.19046541e-04 9.99595081e-01 -1.42947992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.16592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.66, Y:0.68, Z:-1.42 [[ 9.99589238e-01 3.44211597e-03 2.84518321e-02 3.86612762e+01] [-3.44727034e-03 9.99994049e-01 1.32112713e-04 6.76928591e-01] [-2.84512081e-02 -2.30139603e-04 9.99595156e-01 -1.42488055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.19592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:38.67, Y:0.65, Z:-1.42 [[ 9.98217127e-01 -5.24691613e-02 2.84526694e-02 3.86732090e+01] [ 5.24920301e-02 9.98621341e-01 -5.69101074e-05 6.51357449e-01] [-2.84104569e-02 1.55034702e-03 9.99595139e-01 -1.41857019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.225919999999995 meters Centerline goodness : 0.891600 Centerline is valid? [True, False] Translation: X:38.67, Y:0.65, Z:-1.42 [[ 9.98534856e-01 -3.86210205e-02 3.79019416e-02 3.86668587e+01] [ 3.87748717e-02 9.99242416e-01 -3.33225951e-03 6.51182419e-01] [-3.77445324e-02 4.79702019e-03 9.99275907e-01 -1.42008081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.255919999999996 meters Centerline goodness : 0.999356 Centerline is valid? [False, True] Translation: X:38.67, Y:0.65, Z:-1.42 [[ 9.98659465e-01 -3.50334677e-02 3.81041991e-02 3.86658797e+01] [ 3.49722144e-02 9.99385700e-01 2.27307676e-03 6.45512572e-01] [-3.81604254e-02 -9.37441404e-04 9.99271186e-01 -1.41975885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.28592 meters Centerline goodness : 0.999406 Centerline is valid? [True, True] Translation: X:38.70, Y:0.65, Z:-1.42 [[ 9.98729207e-01 -3.29324070e-02 3.81500657e-02 3.86952092e+01] [ 3.29072532e-02 9.99457581e-01 1.28725644e-03 6.48901685e-01] [-3.81717648e-02 -3.02067343e-05 9.99271192e-01 -1.42094274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.31592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:38.73, Y:0.65, Z:-1.42 [[ 9.98768744e-01 -3.17254574e-02 3.81377987e-02 3.87284835e+01] [ 3.16894108e-02 9.99496563e-01 1.54945092e-03 6.52701495e-01] [-3.81677558e-02 -3.38978782e-04 9.99271288e-01 -1.42494413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.34592 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:38.76, Y:0.65, Z:-1.43 [[ 9.98785128e-01 -3.11890012e-02 3.81512080e-02 3.87592394e+01] [ 3.11635884e-02 9.99513502e-01 1.26075187e-03 6.53271326e-01] [-3.81719691e-02 -7.02916776e-05 9.99271182e-01 -1.42691422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.37592 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:38.79, Y:0.65, Z:-1.43 [[ 9.98873732e-01 -2.82150121e-02 3.81468334e-02 3.87872047e+01] [ 2.81838689e-02 9.99601839e-01 1.35402216e-03 6.53909271e-01] [-3.81698485e-02 -2.77371816e-04 9.99271227e-01 -1.42627446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.405919999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.82, Y:0.66, Z:-1.44 [[ 9.98740981e-01 -3.25923608e-02 3.81338454e-02 3.88169860e+01] [ 3.25538842e-02 9.99468653e-01 1.62964846e-03 6.55215847e-01] [-3.81666972e-02 -3.86191920e-04 9.99271312e-01 -1.44282900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.435919999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.85, Y:0.66, Z:-1.43 [[ 9.98829393e-01 -2.97698037e-02 3.81261515e-02 3.88515656e+01] [ 2.97230274e-02 9.99556565e-01 1.79324007e-03 6.60693929e-01] [-3.81626294e-02 -6.57916242e-04 9.99271325e-01 -1.43014626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.46592 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:38.88, Y:0.66, Z:-1.43 [[ 9.98787254e-01 -3.11190045e-02 3.81527026e-02 3.88821301e+01] [ 3.10949465e-02 9.99515686e-01 1.22394591e-03 6.64438071e-01] [-3.81723127e-02 -3.61053317e-05 9.99271171e-01 -1.43355387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.49592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:38.91, Y:0.67, Z:-1.43 [[ 9.98722711e-01 -3.31353282e-02 3.81444273e-02 3.89142248e+01] [ 3.31059722e-02 9.99450865e-01 1.40115216e-03 6.67291579e-01] [-3.81699085e-02 -1.36554131e-04 9.99271254e-01 -1.43436219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.52592 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:38.95, Y:0.67, Z:-1.43 [[ 9.98812808e-01 -3.03002863e-02 3.81427339e-02 3.89498962e+01] [ 3.02674812e-02 9.99540801e-01 1.43735188e-03 6.68240235e-01] [-3.81687710e-02 -2.81160988e-04 9.99271267e-01 -1.42940225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.55592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.97, Y:0.67, Z:-1.45 [[ 9.98484551e-01 -3.96357387e-02 3.81786471e-02 3.89730066e+01] [ 3.96389393e-02 9.99213841e-01 6.73417119e-04 6.65637971e-01] [-3.81753240e-02 8.40964484e-04 9.99270703e-01 -1.44855014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.585919999999994 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:39.01, Y:0.67, Z:-1.44 [[ 9.98546117e-01 -3.81086179e-02 3.81232924e-02 3.90070197e+01] [ 3.80665792e-02 9.99273533e-01 1.82823441e-03 6.67397655e-01] [-3.81652685e-02 -3.74353041e-04 9.99271371e-01 -1.43569946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.615919999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.04, Y:0.67, Z:-1.44 [[ 9.98498460e-01 -3.93194171e-02 3.81419452e-02 3.90404102e+01] [ 3.92932188e-02 9.99226691e-01 1.43654333e-03 6.68485999e-01] [-3.81689337e-02 6.43334916e-05 9.99271299e-01 -1.43886484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.64592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:39.07, Y:0.67, Z:-1.44 [[ 9.98482543e-01 -3.97198469e-02 3.81437553e-02 3.90728238e+01] [ 3.96953922e-02 9.99210849e-01 1.39854640e-03 6.68884061e-01] [-3.81692041e-02 1.17707164e-04 9.99271283e-01 -1.43903356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.67592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:39.10, Y:0.67, Z:-1.44 [[ 9.98523226e-01 -3.86835020e-02 3.81438462e-02 3.91044699e+01] [ 3.86583643e-02 9.99251510e-01 1.39663594e-03 6.67992924e-01] [-3.81693226e-02 8.00052727e-05 9.99271283e-01 -1.43643901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.70592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.14, Y:0.67, Z:-1.44 [[ 9.98494088e-01 -3.94271127e-02 3.81452298e-02 3.91362844e+01] [ 3.94036269e-02 9.99222440e-01 1.36759597e-03 6.67900780e-01] [-3.81694900e-02 1.37523911e-04 9.99271270e-01 -1.43706411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.73592 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:39.17, Y:0.67, Z:-1.44 [[ 9.98508244e-01 -3.90627578e-02 3.81495441e-02 3.91682888e+01] [ 3.90424050e-02 9.99236737e-01 1.27863760e-03 6.68583332e-01] [-3.81703731e-02 2.12719764e-04 9.99271223e-01 -1.43884914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.76592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:39.20, Y:0.67, Z:-1.44 [[ 9.98525066e-01 -3.86307293e-02 3.81491692e-02 3.92020496e+01] [ 3.86097660e-02 9.99253537e-01 1.28636493e-03 6.68530505e-01] [-3.81703854e-02 1.88462869e-04 9.99271228e-01 -1.44016354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.795919999999995 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:39.23, Y:0.67, Z:-1.44 [[ 9.98518738e-01 -3.87881386e-02 3.81550913e-02 3.92337140e+01] [ 3.87719422e-02 9.99247407e-01 1.16461898e-03 6.70214639e-01] [-3.81715494e-02 3.16453119e-04 9.99271151e-01 -1.44141424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.825919999999996 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:39.27, Y:0.67, Z:-1.44 [[ 9.98525131e-01 -3.86236612e-02 3.81546373e-02 3.92657485e+01] [ 3.86069895e-02 9.99253783e-01 1.17391513e-03 6.71544672e-01] [-3.81715066e-02 3.00851926e-04 9.99271157e-01 -1.44253892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.85592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:39.30, Y:0.67, Z:-1.44 [[ 9.98592142e-01 -3.68537553e-02 3.81514729e-02 3.92992198e+01] [ 3.68333361e-02 9.99320655e-01 1.23819548e-03 6.72990382e-01] [-3.81711870e-02 1.68793748e-04 9.99271200e-01 -1.44244686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.88592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:39.33, Y:0.68, Z:-1.45 [[ 9.98628707e-01 -3.58479634e-02 3.81527032e-02 3.93316747e+01] [ 3.58277640e-02 9.99357243e-01 1.21323506e-03 6.75284137e-01] [-3.81716723e-02 1.55354686e-04 9.99271184e-01 -1.44537356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.91592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:39.36, Y:0.68, Z:-1.45 [[ 9.98715130e-01 -3.33531957e-02 3.81530217e-02 3.93636130e+01] [ 3.33314228e-02 9.99443625e-01 1.20678478e-03 6.79180814e-01] [-3.81720445e-02 6.64602800e-05 9.99271180e-01 -1.44865849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.94592 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:39.40, Y:0.68, Z:-1.45 [[ 9.98778472e-01 -3.14066737e-02 3.81468762e-02 3.93967569e+01] [ 3.13787373e-02 9.99506680e-01 1.33098448e-03 6.82716936e-01] [-3.81698594e-02 -1.32357840e-04 9.99271257e-01 -1.44989504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.975919999999995 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:39.43, Y:0.69, Z:-1.45 [[ 9.98841070e-01 -2.93417984e-02 3.81520050e-02 3.94306908e+01] [ 2.93162837e-02 9.99569431e-01 1.22815405e-03 6.86277669e-01] [-3.81716142e-02 -1.08255697e-04 9.99271192e-01 -1.45087633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.005919999999996 meters Centerline goodness : 0.880394 Centerline is valid? [True, False] Translation: X:39.45, Y:0.69, Z:-1.45 [[ 9.99326370e-01 -1.75801996e-02 3.22140250e-02 3.94538364e+01] [ 1.74940671e-02 9.99842604e-01 2.95368298e-03 6.88066271e-01] [-3.22608810e-02 -2.38813898e-03 9.99476629e-01 -1.44723426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.03592 meters Centerline goodness : 0.999851 Centerline is valid? [False, True] Translation: X:39.48, Y:0.69, Z:-1.44 [[ 9.99661786e-01 -6.67630194e-03 2.51344488e-02 3.94773728e+01] [ 6.58096030e-03 9.99970841e-01 3.87407493e-03 6.93326942e-01] [-2.51595804e-02 -3.70735586e-03 9.99676573e-01 -1.44384034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.06592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:39.51, Y:0.70, Z:-1.45 [[ 9.99665875e-01 -5.58355689e-03 2.52381120e-02 3.95097301e+01] [ 5.57993726e-03 9.99984409e-01 2.13842256e-04 7.01525816e-01] [-2.52389125e-02 -7.29437243e-05 9.99681445e-01 -1.44869513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.09592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.54, Y:0.71, Z:-1.45 [[ 9.99668024e-01 -5.17191432e-03 2.52406870e-02 3.95415914e+01] [ 5.17039007e-03 9.99986626e-01 1.25651062e-04 7.07147862e-01] [-2.52409993e-02 4.89484885e-06 9.99681395e-01 -1.45042806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.12592 meters Centerline goodness : 0.916368 Centerline is valid? [True, False] Translation: X:39.54, Y:0.71, Z:-1.45 [[ 9.99683893e-01 -1.21776110e-03 2.51123723e-02 3.95420846e+01] [ 1.09816388e-03 9.99987993e-01 4.77572320e-03 7.05123473e-01] [-2.51178865e-02 -4.74663606e-03 9.99673227e-01 -1.44981635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.155919999999995 meters Centerline goodness : 1.000000 Centerline is valid? [False, True] Translation: X:39.54, Y:0.71, Z:-1.45 [[ 9.99681765e-01 -1.09019222e-03 2.52027909e-02 3.95419781e+01] [ 1.00517669e-03 9.99993763e-01 3.38568114e-03 7.11829064e-01] [-2.52063248e-02 -3.35927044e-03 9.99676626e-01 -1.45004752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.185919999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.57, Y:0.72, Z:-1.45 [[ 9.99680795e-01 1.37559350e-04 2.52643814e-02 3.95748050e+01] [-1.51435145e-04 9.99999839e-01 5.47311166e-04 7.19507606e-01] [-2.52643020e-02 -5.50962377e-04 9.99680655e-01 -1.45177702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.21592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:39.61, Y:0.73, Z:-1.44 [[ 9.99677248e-01 2.66418636e-03 2.52646427e-02 3.96115857e+01] [-2.67855672e-03 9.99996270e-01 5.34968635e-04 7.26197138e-01] [-2.52631232e-02 -6.02468751e-04 9.99680655e-01 -1.44250464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.24592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:39.64, Y:0.73, Z:-1.44 [[ 9.99675731e-01 3.08801760e-03 2.52764311e-02 3.96436143e+01] [-3.08829785e-03 9.99995231e-01 -2.79491655e-05 7.30840341e-01] [-2.52763969e-02 -5.01210456e-05 9.99680500e-01 -1.44222520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.27592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.67, Y:0.74, Z:-1.45 [[ 9.99675524e-01 -3.16582555e-03 2.52749540e-02 3.96710401e+01] [ 3.16577120e-03 9.99994988e-01 4.21642200e-05 7.38657246e-01] [-2.52749608e-02 3.78641827e-05 9.99680536e-01 -1.45270241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.30592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.71, Y:0.74, Z:-1.45 [[ 9.99654388e-01 -7.26857523e-03 2.52640595e-02 3.97083299e+01] [ 7.25709131e-03 9.99973518e-01 5.46213662e-04 7.40246365e-01] [-2.52673607e-02 -3.62681297e-04 9.99680663e-01 -1.44511799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.335919999999994 meters Centerline goodness : 0.895280 Centerline is valid? [True, False] Translation: X:39.71, Y:0.74, Z:-1.44 [[ 9.99678174e-01 -3.25339344e-03 2.51587616e-02 3.97086701e+01] [ 3.13476995e-03 9.99983791e-01 4.75300050e-03 7.40244655e-01] [-2.51738172e-02 -4.67260393e-03 9.99672169e-01 -1.44447518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.365919999999996 meters Centerline goodness : 0.873826 Centerline is valid? [False, False] Translation: X:39.71, Y:0.75, Z:-1.44 [[ 9.99678832e-01 -3.13447579e-03 2.51477035e-02 3.97087612e+01] [ 3.05809047e-03 9.99990595e-01 3.07535069e-03 7.48034296e-01] [-2.51571066e-02 -2.99745903e-03 9.99679016e-01 -1.44463216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.39592 meters Centerline goodness : 0.999801 Centerline is valid? [False, True] Translation: X:39.71, Y:0.75, Z:-1.45 [[ 9.99709892e-01 -6.97647194e-04 2.40758224e-02 3.97141952e+01] [ 5.73978885e-04 9.99986609e-01 5.14314655e-03 7.50347090e-01] [-2.40790881e-02 -5.12783546e-03 9.99696905e-01 -1.44943703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.42592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.74, Y:0.76, Z:-1.46 [[ 9.99687125e-01 -6.45579231e-03 2.41655911e-02 3.97417978e+01] [ 6.46000538e-03 9.99979129e-01 -9.62784945e-05 7.57385843e-01] [-2.41644652e-02 2.52358220e-04 9.99707965e-01 -1.46416923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.45592 meters Centerline goodness : 0.782151 Centerline is valid? [True, False] Translation: X:39.74, Y:0.76, Z:-1.46 [[ 9.99705317e-01 -2.45146469e-03 2.41509632e-02 3.97419293e+01] [ 2.34606547e-03 9.99987605e-01 4.39155076e-03 7.56212887e-01] [-2.41614296e-02 -4.33359691e-03 9.99698677e-01 -1.46319971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.48592 meters Centerline goodness : 0.999950 Centerline is valid? [False, True] Translation: X:39.75, Y:0.76, Z:-1.47 [[ 9.99727385e-01 8.45234543e-05 2.33484012e-02 3.97465159e+01] [-2.45341203e-04 9.99976268e-01 6.88496267e-03 7.57290937e-01] [-2.33472652e-02 -6.88881405e-03 9.99703681e-01 -1.46716970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.51592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.78, Y:0.77, Z:-1.47 [[ 9.99726333e-01 8.52987206e-05 2.33934112e-02 3.97786265e+01] [-8.89397758e-05 9.99999984e-01 1.54604073e-04 7.66131504e-01] [-2.33933976e-02 -1.56642368e-04 9.99726325e-01 -1.47081324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.545919999999995 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:39.81, Y:0.77, Z:-1.46 [[ 9.99720151e-01 -3.51630727e-03 2.33934747e-02 3.98093961e+01] [ 3.51389293e-03 9.99993816e-01 1.44311559e-04 7.66061903e-01] [-2.33938375e-02 -6.20690083e-05 9.99726325e-01 -1.46251323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.575919999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.84, Y:0.76, Z:-1.47 [[ 9.99721950e-01 -2.96195094e-03 2.33933711e-02 3.98406112e+01] [ 2.95898427e-03 9.99995609e-01 1.61430639e-04 7.64577140e-01] [-2.33937465e-02 -9.21651363e-05 9.99726325e-01 -1.47366642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.60592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.87, Y:0.76, Z:-1.48 [[ 9.99724812e-01 -1.74456561e-03 2.33935257e-02 3.98730363e+01] [ 1.74189480e-03 9.99998474e-01 1.34545613e-04 7.63592063e-01] [-2.33937247e-02 -9.37595266e-05 9.99726325e-01 -1.47529130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.63592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:39.91, Y:0.76, Z:-1.46 [[ 9.99726018e-01 -7.93042139e-04 2.33935810e-02 3.99050208e+01] [ 7.90354531e-04 9.99999680e-01 1.24132213e-04 7.64172614e-01] [-2.33936719e-02 -1.05608980e-04 9.99726325e-01 -1.46204417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.66592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.94, Y:0.76, Z:-1.48 [[ 9.99725837e-01 9.84690250e-04 2.33940422e-02 3.99351711e+01] [-9.85746993e-04 9.99999514e-01 3.36396244e-05 7.64120392e-01] [-2.33939977e-02 -5.66910084e-05 9.99726321e-01 -1.47556979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.69592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.97, Y:0.76, Z:-1.48 [[ 9.99723883e-01 2.21268715e-03 2.33936129e-02 3.99682267e+01] [-2.21606462e-03 9.99997538e-01 1.18452209e-04 7.62951830e-01] [-2.33932932e-02 -1.70261260e-04 9.99726325e-01 -1.47711265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.725919999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.00, Y:0.76, Z:-1.48 [[ 9.99714045e-01 4.95625263e-03 2.33936667e-02 4.00003392e+01] [-4.96010467e-03 9.99987693e-01 1.06638549e-04 7.62537978e-01] [-2.33928503e-02 -2.22643091e-04 9.99726325e-01 -1.47723963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.755919999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.03, Y:0.76, Z:-1.48 [[ 9.99685137e-01 9.07530277e-03 2.33937091e-02 4.00325397e+01] [-9.08004165e-03 9.99958771e-01 9.63541073e-05 7.64442215e-01] [-2.33918702e-02 -3.08739622e-04 9.99726325e-01 -1.47690902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.78592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:40.06, Y:0.77, Z:-1.48 [[ 9.99619971e-01 1.45823965e-02 2.33937467e-02 4.00647353e+01] [-1.45884037e-02 9.99893580e-01 8.61350604e-05 7.70333375e-01] [-2.33900011e-02 -4.27379748e-04 9.99726325e-01 -1.47838634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.81592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.10, Y:0.77, Z:-1.48 [[ 9.99588736e-01 1.65858117e-02 2.33937799e-02 4.00977099e+01] [-1.65921284e-02 9.99862338e-01 7.59280829e-05 7.72694732e-01] [-2.33893001e-02 -4.64049456e-04 9.99726325e-01 -1.47943186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.84592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.13, Y:0.77, Z:-1.47 [[ 9.99541518e-01 1.92219302e-02 2.33938115e-02 4.01298599e+01] [-1.92286996e-02 9.99815109e-01 6.44366460e-05 7.73993909e-01] [-2.33882476e-02 -5.14239678e-04 9.99726325e-01 -1.46668263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.87592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.16, Y:0.78, Z:-1.47 [[ 9.99464151e-01 2.28937540e-02 2.33941526e-02 4.01633173e+01] [-2.28981541e-02 9.99737800e-01 -7.98082673e-05 7.75765280e-01] [-2.33898458e-02 -4.55917410e-04 9.99726316e-01 -1.46732505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.905919999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.19, Y:0.78, Z:-1.48 [[ 9.99491027e-01 2.16882510e-02 2.33945869e-02 4.01922113e+01] [-2.16881576e-02 9.99764751e-01 -2.57749063e-04 7.75897459e-01] [-2.33946735e-02 -2.49767613e-04 9.99726276e-01 -1.48047569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.935919999999996 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:40.23, Y:0.78, Z:-1.47 [[ 9.99677857e-01 9.84439735e-03 2.33937952e-02 4.02269728e+01] [-9.84846400e-03 9.99951501e-01 5.86255342e-05 7.77117295e-01] [-2.33920835e-02 -2.88999599e-04 9.99726326e-01 -1.47382261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.96592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.25, Y:0.79, Z:-1.48 [[ 9.99539775e-01 1.93115051e-02 2.33945270e-02 4.02549792e+01] [-1.93107004e-02 9.99813497e-01 -2.60332361e-04 7.86568185e-01] [-2.33951912e-02 -1.91552152e-04 9.99726277e-01 -1.48358862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.99592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:40.29, Y:0.79, Z:-1.48 [[ 9.99624221e-01 1.42881017e-02 2.33937555e-02 4.02891423e+01] [-1.42933459e-02 9.99897843e-01 5.69692073e-05 7.86709028e-01] [-2.33905516e-02 -3.91322839e-04 9.99726327e-01 -1.47784940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.02592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:40.32, Y:0.79, Z:-1.48 [[ 9.99597275e-01 1.60621125e-02 2.33943485e-02 4.03211350e+01] [-1.60612274e-02 9.99870985e-01 -2.25742538e-04 7.87550597e-01] [-2.33949562e-02 -1.50090325e-04 9.99726289e-01 -1.47555610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.05592 meters Centerline goodness : 0.999302 Centerline is valid? [True, True] Translation: X:40.35, Y:0.79, Z:-1.47 [[ 9.99581695e-01 1.70040941e-02 2.33943457e-02 4.03539263e+01] [-1.70035027e-02 9.99855405e-01 -2.24213308e-04 7.92611363e-01] [-2.33947755e-02 -1.73666303e-04 9.99726290e-01 -1.47335064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.085919999999994 meters Centerline goodness : 0.999452 Centerline is valid? [True, True] Translation: X:40.39, Y:0.80, Z:-1.48 [[ 9.99592005e-01 1.63868328e-02 2.33943448e-02 4.03862563e+01] [-1.63860827e-02 9.99865714e-01 -2.23773644e-04 7.98865502e-01] [-2.33948702e-02 -1.59659323e-04 9.99726290e-01 -1.47512668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.115919999999996 meters Centerline goodness : 0.999302 Centerline is valid? [True, True] Translation: X:40.42, Y:0.80, Z:-1.48 [[ 9.99610444e-01 1.52204612e-02 2.33944091e-02 4.04181990e+01] [-1.52187236e-02 9.99884157e-01 -2.52326083e-04 7.99438713e-01] [-2.33955396e-02 -1.03805258e-04 9.99726282e-01 -1.47649096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.14592 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:40.45, Y:0.80, Z:-1.48 [[ 9.99615155e-01 1.49080027e-02 2.33943224e-02 4.04518829e+01] [-1.49069772e-02 9.99888861e-01 -2.18239023e-04 7.96569881e-01] [-2.33949758e-02 -1.30583595e-04 9.99726292e-01 -1.47517063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.17592 meters Centerline goodness : 0.998905 Centerline is valid? [True, True] Translation: X:40.48, Y:0.80, Z:-1.48 [[ 9.99639718e-01 1.31573207e-02 2.33948516e-02 4.04844370e+01] [-1.31508770e-02 9.99913431e-01 -4.29272534e-04 7.96720046e-01] [-2.33984744e-02 1.21455059e-04 9.99726211e-01 -1.47682677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.20592 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:40.52, Y:0.80, Z:-1.48 [[ 9.99673256e-01 1.02988773e-02 2.33947564e-02 4.05161239e+01] [-1.02924003e-02 9.99946953e-01 -3.97256940e-04 7.97176376e-01] [-2.33976067e-02 1.56338941e-04 9.99726226e-01 -1.47790929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.23592 meters Centerline goodness : 0.998653 Centerline is valid? [True, True] Translation: X:40.55, Y:0.80, Z:-1.48 [[ 9.99700957e-01 7.11995062e-03 2.33945064e-02 4.05492646e+01] [-7.11451984e-03 9.99974642e-01 -3.15363855e-04 7.97579234e-01] [-2.33961585e-02 1.48828868e-04 9.99726261e-01 -1.47766251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.265919999999994 meters Centerline goodness : 0.998758 Centerline is valid? [True, True] Translation: X:40.58, Y:0.80, Z:-1.48 [[ 9.99706307e-01 6.32412639e-03 2.33945354e-02 4.05827247e+01] [-6.31825598e-03 9.99979987e-01 -3.24839439e-04 7.97879128e-01] [-2.33961216e-02 1.76931373e-04 9.99726258e-01 -1.47725161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.295919999999995 meters Centerline goodness : 0.998805 Centerline is valid? [True, True] Translation: X:40.62, Y:0.80, Z:-1.48 [[ 9.99695615e-01 7.83375551e-03 2.33946404e-02 4.06152156e+01] [-7.82760890e-03 9.99969301e-01 -3.54300583e-04 7.99294234e-01] [-2.33966977e-02 1.71068644e-04 9.99726245e-01 -1.47831607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.325919999999996 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:40.65, Y:0.80, Z:-1.48 [[ 9.99681159e-01 9.50139968e-03 2.33945394e-02 4.06479444e+01] [-9.49629471e-03 9.99954855e-01 -3.29300595e-04 7.99238348e-01] [-2.33966120e-02 1.07034160e-04 9.99726256e-01 -1.47972490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.35592 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:40.68, Y:0.80, Z:-1.48 [[ 9.99657920e-01 1.16931062e-02 2.33947383e-02 4.06787386e+01] [-1.16875501e-02 9.99931628e-01 -3.74217517e-04 7.99035995e-01] [-2.33975145e-02 1.00662329e-04 9.99726236e-01 -1.48066516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.38592 meters Centerline goodness : 0.998907 Centerline is valid? [True, True] Translation: X:40.71, Y:0.80, Z:-1.48 [[ 9.99624180e-01 1.42900036e-02 2.33943376e-02 4.07125460e+01] [-1.42870949e-02 9.99897892e-01 -2.91478405e-04 8.00075518e-01] [-2.33961140e-02 -4.28682584e-05 9.99726273e-01 -1.48099512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.41592 meters Centerline goodness : 0.998408 Centerline is valid? [True, True] Translation: X:40.74, Y:0.80, Z:-1.48 [[ 9.99623826e-01 1.43136237e-02 2.33950079e-02 4.07442995e+01] [-1.43079719e-02 9.99897552e-01 -4.08964040e-04 8.01287284e-01] [-2.33984649e-02 7.40750833e-05 9.99726216e-01 -1.48293371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.44592 meters Centerline goodness : 0.998607 Centerline is valid? [True, True] Translation: X:40.78, Y:0.80, Z:-1.48 [[ 9.99621538e-01 1.44731456e-02 2.33946445e-02 4.07778459e+01] [-1.44690095e-02 9.99895259e-01 -3.46069436e-04 8.04423783e-01] [-2.33972029e-02 7.44112759e-06 9.99726248e-01 -1.48415483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.475919999999995 meters Centerline goodness : 0.998706 Centerline is valid? [True, True] Translation: X:40.81, Y:0.81, Z:-1.49 [[ 9.99616921e-01 1.47883649e-02 2.33947758e-02 4.08111803e+01] [-1.47838067e-02 9.99890646e-01 -3.67793015e-04 8.07006083e-01] [-2.33976565e-02 2.17882784e-05 9.99726237e-01 -1.48553566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.505919999999996 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:40.84, Y:0.81, Z:-1.49 [[ 9.99640033e-01 1.31332501e-02 2.33949238e-02 4.08423469e+01] [-1.31276941e-02 9.99913752e-01 -3.91059685e-04 8.10961456e-01] [-2.33980419e-02 8.37975139e-05 9.99726225e-01 -1.48871624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.53592 meters Centerline goodness : 0.985695 Centerline is valid? [True, True] Translation: X:40.84, Y:0.79, Z:-1.51 [[ 9.99681745e-01 9.43976591e-03 2.33944541e-02 4.08353458e+01] [-9.43482147e-03 9.99955439e-01 -3.21720784e-04 7.93581878e-01] [-2.33964486e-02 1.00895897e-04 9.99726261e-01 -1.50917678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.56592 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:40.89, Y:0.82, Z:-1.49 [[ 9.99443814e-01 2.37708396e-02 2.33882281e-02 4.08917115e+01] [-2.38524979e-02 9.99710307e-01 3.21863393e-03 8.17636907e-01] [-2.33049431e-02 -3.77471144e-03 9.99721277e-01 -1.48858674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.59592 meters Centerline goodness : 0.971517 Centerline is valid? [True, True] Translation: X:40.88, Y:0.80, Z:-1.52 [[ 9.99708327e-01 -6.10322709e-03 2.33668857e-02 4.08803793e+01] [ 6.12121324e-03 9.99981021e-01 -6.98278265e-04 7.96779842e-01] [-2.33621805e-02 8.41108287e-04 9.99726713e-01 -1.51552172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.62592 meters Centerline goodness : 0.992390 Centerline is valid? [True, True] Translation: X:40.92, Y:0.80, Z:-1.51 [[ 9.99717735e-01 5.57235761e-03 2.30954353e-02 4.09161785e+01] [-5.68324175e-03 9.99972624e-01 4.73827438e-03 7.98344462e-01] [-2.30683997e-02 -4.86819387e-03 9.99722036e-01 -1.50790449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.655919999999995 meters Centerline goodness : 0.999302 Centerline is valid? [True, True] Translation: X:40.97, Y:0.82, Z:-1.49 [[ 9.99496321e-01 2.17655069e-02 2.30947339e-02 4.09732234e+01] [-2.18693009e-02 9.99751800e-01 4.25123146e-03 8.19887961e-01] [-2.29964716e-02 -4.75415588e-03 9.99724242e-01 -1.48882169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.685919999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.00, Y:0.83, Z:-1.50 [[ 9.99600310e-01 1.63675933e-02 2.30504190e-02 4.10017307e+01] [-1.63570295e-02 9.99866006e-01 -6.46773568e-04 8.25749043e-01] [-2.30579165e-02 2.69478677e-04 9.99734095e-01 -1.50126591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.71592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.04, Y:0.83, Z:-1.50 [[ 9.99591834e-01 1.68719405e-02 2.30543297e-02 4.10351291e+01] [-1.68717430e-02 9.99857641e-01 -2.03091632e-04 8.25330522e-01] [-2.30544743e-02 -1.85957989e-04 9.99734193e-01 -1.50194490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.74592 meters Centerline goodness : 0.999501 Centerline is valid? [True, True] Translation: X:41.07, Y:0.83, Z:-1.49 [[ 9.99596880e-01 1.65704475e-02 2.30542191e-02 4.10706612e+01] [-1.65698961e-02 9.99862687e-01 -2.14962713e-04 8.26884274e-01] [-2.30546154e-02 -1.67129956e-04 9.99734193e-01 -1.48934848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.77592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:41.10, Y:0.83, Z:-1.50 [[ 9.99652980e-01 1.27506893e-02 2.30507818e-02 4.11001762e+01] [-1.27409995e-02 9.99918669e-01 -5.67187398e-04 8.30939385e-01] [-2.30561391e-02 2.73300573e-04 9.99734135e-01 -1.50028162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.80592 meters Centerline goodness : 0.999003 Centerline is valid? [True, True] Translation: X:41.13, Y:0.83, Z:-1.49 [[ 9.99669092e-01 1.14111473e-02 2.30541160e-02 4.11320392e+01] [-1.14090231e-02 9.99934890e-01 -2.23670979e-04 8.32221847e-01] [-2.30551673e-02 -3.94279776e-05 9.99734194e-01 -1.48840972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.835919999999994 meters Centerline goodness : 0.999502 Centerline is valid? [True, True] Translation: X:41.16, Y:0.83, Z:-1.49 [[ 9.99680839e-01 1.03325074e-02 2.30534196e-02 4.11647011e+01] [-1.03284403e-02 9.99946617e-01 -2.95485777e-04 8.33453099e-01] [-2.30552421e-02 5.72856008e-05 9.99734191e-01 -1.48994913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.865919999999996 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:41.19, Y:0.83, Z:-1.50 [[ 9.99715712e-01 6.09334269e-03 2.30513699e-02 4.11942252e+01] [-6.08334726e-03 9.99981369e-01 -5.03715555e-04 8.31694744e-01] [-2.30540098e-02 3.63342867e-04 9.99734155e-01 -1.50472558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.89592 meters Centerline goodness : 0.999303 Centerline is valid? [True, True] Translation: X:41.23, Y:0.83, Z:-1.49 [[ 9.99728258e-01 3.45252237e-03 2.30540794e-02 4.12279006e+01] [-3.44835786e-03 9.99994030e-01 -2.20393407e-04 8.28447792e-01] [-2.30547026e-02 1.40834801e-04 9.99734195e-01 -1.49281115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.92592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:41.26, Y:0.83, Z:-1.49 [[ 9.99733517e-01 1.22866729e-03 2.30517893e-02 4.12595862e+01] [-1.21858756e-03 9.99999156e-01 -4.51306780e-04 8.27741547e-01] [-2.30523243e-02 4.23095891e-04 9.99734170e-01 -1.49173778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.95592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.29, Y:0.83, Z:-1.50 [[ 9.99734061e-01 -6.39704267e-04 2.30520641e-02 4.12899164e+01] [ 6.49647462e-04 9.99999699e-01 -4.23850167e-04 8.27917230e-01] [-2.30517860e-02 4.38713164e-04 9.99734176e-01 -1.50399984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.98592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.32, Y:0.83, Z:-1.50 [[ 9.99731155e-01 -2.47602094e-03 2.30539927e-02 4.13217914e+01] [ 2.48205966e-03 9.99996892e-01 -2.33327381e-04 8.28976980e-01] [-2.30533434e-02 2.90486038e-04 9.99734194e-01 -1.50476632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.015919999999994 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:41.36, Y:0.83, Z:-1.49 [[ 9.99731516e-01 -2.32694069e-03 2.30538809e-02 4.13551881e+01] [ 2.33318360e-03 9.99997248e-01 -2.43901902e-04 8.27145759e-01] [-2.30532499e-02 2.97625355e-04 9.99734194e-01 -1.49475403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.045919999999995 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:41.39, Y:0.82, Z:-1.49 [[ 9.99729288e-01 -3.15725879e-03 2.30517383e-02 4.13854960e+01] [ 3.16841429e-03 9.99994880e-01 -4.47425781e-04 8.24022827e-01] [-2.30502076e-02 5.20342114e-04 9.99734173e-01 -1.49247474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.075919999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.42, Y:0.82, Z:-1.50 [[ 9.99730847e-01 -2.60038905e-03 2.30536665e-02 4.14172553e+01] [ 2.60717064e-03 9.99996566e-01 -2.64113879e-04 8.23659538e-01] [-2.30529005e-02 3.24147635e-04 9.99734194e-01 -1.49757553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.10592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.45, Y:0.82, Z:-1.50 [[ 9.99733087e-01 -1.52227315e-03 2.30529461e-02 4.14490913e+01] [ 1.53031481e-03 9.99998774e-01 -3.31196936e-04 8.23031489e-01] [-2.30524137e-02 3.66386800e-04 9.99734191e-01 -1.49620662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.13592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.48, Y:0.82, Z:-1.50 [[ 9.99733059e-01 -1.54362533e-03 2.30527202e-02 4.14797786e+01] [ 1.55215343e-03 9.99998733e-01 -3.52050577e-04 8.20430339e-01] [-2.30521476e-02 3.87737959e-04 9.99734189e-01 -1.49787692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.16592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.51, Y:0.82, Z:-1.50 [[ 9.99733728e-01 9.96653213e-04 2.30538557e-02 4.15133343e+01] [-9.91215870e-04 9.99999478e-01 -2.47279921e-04 8.17888500e-01] [-2.30540902e-02 2.24362730e-04 9.99734194e-01 -1.49663288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.19592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.54, Y:0.82, Z:-1.51 [[ 9.99734219e-01 2.44610618e-04 2.30528174e-02 4.15434491e+01] [-2.36856874e-04 9.99999914e-01 -3.39076779e-04 8.17218840e-01] [-2.30528983e-02 3.33526440e-04 9.99734191e-01 -1.51019016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.225919999999995 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:41.58, Y:0.82, Z:-1.50 [[ 9.99733144e-01 1.47205898e-03 2.30536978e-02 4.15753794e+01] [-1.46642132e-03 9.99998891e-01 -2.61447917e-04 8.15700255e-01] [-2.30540571e-02 2.27571714e-04 9.99734194e-01 -1.50012903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.255919999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.61, Y:0.81, Z:-1.51 [[ 9.99734024e-01 6.88253717e-04 2.30522783e-02 4.16050932e+01] [-6.79587417e-04 9.99999695e-01 -3.83773117e-04 8.13716859e-01] [-2.30525354e-02 3.68005005e-04 9.99734187e-01 -1.51212501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.28592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.64, Y:0.81, Z:-1.51 [[ 9.99733954e-01 7.42517386e-04 2.30536109e-02 4.16380631e+01] [-7.36488263e-04 9.99999692e-01 -2.70015575e-04 8.12736348e-01] [-2.30538043e-02 2.52965024e-04 9.99734194e-01 -1.51201683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.31592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:41.67, Y:0.81, Z:-1.50 [[ 9.99733956e-01 7.44840286e-04 2.30534618e-02 4.16682452e+01] [-7.38531055e-04 9.99999687e-01 -2.82191003e-04 8.10780688e-01] [-2.30536648e-02 2.65090230e-04 9.99734194e-01 -1.50200986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.34592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.70, Y:0.80, Z:-1.51 [[ 9.99733580e-01 -1.12943739e-03 2.30541427e-02 4.16990364e+01] [ 1.13498430e-03 9.99999330e-01 -2.27520316e-04 8.03540002e-01] [-2.30538703e-02 2.53625790e-04 9.99734192e-01 -1.51477677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.37592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:41.73, Y:0.80, Z:-1.51 [[ 9.99733714e-01 -1.02201412e-03 2.30533209e-02 4.17308127e+01] [ 1.02902672e-03 9.99999428e-01 -2.92330032e-04 8.00621340e-01] [-2.30530090e-02 3.15974672e-04 9.99734194e-01 -1.51459806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.405919999999995 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:41.76, Y:0.80, Z:-1.52 [[ 9.99733325e-01 -1.35096194e-03 2.30532722e-02 4.17641458e+01] [ 1.35814948e-03 9.99999034e-01 -2.96125579e-04 7.98697157e-01] [-2.30528498e-02 3.27356400e-04 9.99734194e-01 -1.51610440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.435919999999996 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:41.80, Y:0.80, Z:-1.50 [[ 9.99733312e-01 -1.36378783e-03 2.30531073e-02 4.17952228e+01] [ 1.37126280e-03 9.99999012e-01 -3.08444769e-04 7.95507036e-01] [-2.30526639e-02 3.39974379e-04 9.99734194e-01 -1.50494724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.46592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:41.83, Y:0.79, Z:-1.51 [[ 9.99733517e-01 -1.20721942e-03 2.30529133e-02 4.18267472e+01] [ 1.21497859e-03 9.99999210e-01 -3.22577304e-04 7.92353196e-01] [-2.30525056e-02 3.50500139e-04 9.99734194e-01 -1.50561733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.49592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:41.86, Y:0.79, Z:-1.52 [[ 9.99734247e-01 1.43980011e-05 2.30528974e-02 4.18588400e+01] [-6.93731382e-06 9.99999948e-01 -3.23713331e-04 7.87477116e-01] [-2.30529008e-02 3.23467378e-04 9.99734194e-01 -1.51928840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.52592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:41.89, Y:0.79, Z:-1.51 [[ 9.99733366e-01 1.32955635e-03 2.30527584e-02 4.18902841e+01] [-1.32222357e-03 9.99999070e-01 -3.33326410e-04 7.85655038e-01] [-2.30531801e-02 3.02756633e-04 9.99734194e-01 -1.50795887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.55592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:41.92, Y:0.78, Z:-1.51 [[ 9.99725064e-01 4.28358135e-03 2.30531417e-02 4.19219396e+01] [-4.27763676e-03 9.99990804e-01 -3.07171754e-04 7.81208576e-01] [-2.30542455e-02 2.08474335e-04 9.99734194e-01 -1.50970226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.585919999999994 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:41.95, Y:0.78, Z:-1.51 [[ 9.99717646e-01 5.76316771e-03 2.30524168e-02 4.19539891e+01] [-5.75649616e-03 9.99983368e-01 -3.55757524e-04 7.78794603e-01] [-2.30540836e-02 2.22955926e-04 9.99734194e-01 -1.51224941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.615919999999996 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:41.99, Y:0.78, Z:-1.51 [[ 9.99698516e-01 8.45692448e-03 2.30511982e-02 4.19856686e+01] [-8.44910329e-03 9.99964210e-01 -4.36671047e-04 7.76043357e-01] [-2.30540661e-02 2.41777443e-04 9.99734190e-01 -1.51222315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.64592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.02, Y:0.77, Z:-1.52 [[ 9.99682379e-01 1.01882443e-02 2.30508366e-02 4.20167130e+01] [-1.01803415e-02 9.99948073e-01 -4.60167883e-04 7.74790350e-01] [-2.30543280e-02 2.25356335e-04 9.99734188e-01 -1.52433608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.67592 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:42.05, Y:0.77, Z:-1.51 [[ 9.99624621e-01 1.48054816e-02 2.30524190e-02 4.20513556e+01] [-1.48011529e-02 9.99890393e-01 -3.58395842e-04 7.72144294e-01] [-2.30551985e-02 1.70589291e-05 9.99734193e-01 -1.50991263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.70592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.08, Y:0.77, Z:-1.53 [[ 9.99628729e-01 1.45317219e-02 2.30485181e-02 4.20805306e+01] [-1.45215497e-02 9.99894371e-01 -6.08658234e-04 7.70351912e-01] [-2.30549284e-02 2.73732055e-04 9.99734162e-01 -1.52573055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.73592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:42.11, Y:0.77, Z:-1.53 [[ 9.99602408e-01 1.62361346e-02 2.30524107e-02 4.21130899e+01] [-1.62321913e-02 9.99868185e-01 -3.58182313e-04 7.68200857e-01] [-2.30551875e-02 -1.61512365e-05 9.99734194e-01 -1.52765010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.765919999999994 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:42.15, Y:0.77, Z:-1.51 [[ 9.99567701e-01 1.82484748e-02 2.30522189e-02 4.21459991e+01] [-1.82447910e-02 9.99833481e-01 -3.70127170e-04 7.66261321e-01] [-2.30551345e-02 -5.06157516e-05 9.99734194e-01 -1.51397013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.795919999999995 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:42.18, Y:0.76, Z:-1.53 [[ 9.99579132e-01 1.76149970e-02 2.30493224e-02 4.21756327e+01] [-1.76070445e-02 9.99844834e-01 -5.47934111e-04 7.63597483e-01] [-2.30553978e-02 1.41873058e-04 9.99734179e-01 -1.52890716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.825919999999996 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:42.21, Y:0.76, Z:-1.51 [[ 9.99519496e-01 2.07213891e-02 2.30521318e-02 4.22091674e+01] [-2.07182394e-02 9.99785284e-01 -3.75482364e-04 7.59945705e-01] [-2.30549626e-02 -1.02297641e-04 9.99734194e-01 -1.51360211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.85592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.24, Y:0.76, Z:-1.53 [[ 9.99510123e-01 2.11731434e-02 2.30480260e-02 4.22377072e+01] [-2.11643700e-02 9.99775815e-01 -6.24552666e-04 7.59209786e-01] [-2.30560827e-02 1.36449763e-04 9.99734164e-01 -1.52973494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.88592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:42.27, Y:0.76, Z:-1.53 [[ 9.99477144e-01 2.26724615e-02 2.30520719e-02 4.22696798e+01] [-2.26697818e-02 9.99742936e-01 -3.77599886e-04 7.58521452e-01] [-2.30547071e-02 -1.45182983e-04 9.99734194e-01 -1.53079193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.91592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:42.30, Y:0.75, Z:-1.53 [[ 9.99413189e-01 2.53355103e-02 2.30519004e-02 4.23013555e+01] [-2.53333038e-02 9.99678985e-01 -3.87790961e-04 7.54596555e-01] [-2.30543253e-02 -1.96417395e-04 9.99734194e-01 -1.53257549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.94592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:42.33, Y:0.75, Z:-1.53 [[ 9.99396515e-01 2.59850584e-02 2.30517235e-02 4.23339814e+01] [-2.59827884e-02 9.99662311e-01 -3.98035466e-04 7.51930384e-01] [-2.30542822e-02 -2.01152797e-04 9.99734194e-01 -1.53364603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.975919999999995 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:42.37, Y:0.75, Z:-1.53 [[ 9.99369398e-01 2.70080485e-02 2.30515132e-02 4.23664094e+01] [-2.70057777e-02 9.99635193e-01 -4.09862938e-04 7.49589256e-01] [-2.30541735e-02 -2.12919565e-04 9.99734195e-01 -1.53493828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.005919999999996 meters Centerline goodness : 0.913324 Centerline is valid? [True, False] Translation: X:42.37, Y:0.74, Z:-1.53 [[ 9.99723543e-01 1.64502767e-02 1.67995543e-02 4.23700431e+01] [-1.66009555e-02 9.99822855e-01 8.86948635e-03 7.38322534e-01] [-1.66506728e-02 -9.14592297e-03 9.99819537e-01 -1.53483376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.03592 meters Centerline goodness : 0.999752 Centerline is valid? [False, True] Translation: X:42.39, Y:0.73, Z:-1.53 [[ 9.99878386e-01 9.33849136e-03 1.24902066e-02 4.23933747e+01] [-9.48385970e-03 9.99887388e-01 1.16304395e-02 7.31067379e-01] [-1.23801893e-02 -1.17474804e-02 9.99854353e-01 -1.53141161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.06592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:42.43, Y:0.74, Z:-1.53 [[ 9.99864774e-01 1.06931556e-02 1.24936116e-02 4.24260931e+01] [-1.06940246e-02 9.99942817e-01 2.75113261e-06 7.41444211e-01] [-1.24928678e-02 -1.36357751e-04 9.99921952e-01 -1.53406428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.09592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.46, Y:0.74, Z:-1.53 [[ 9.99841662e-01 1.26712152e-02 1.24936099e-02 4.24586910e+01] [-1.26721605e-02 9.99919705e-01 -3.49931263e-06 7.41444673e-01] [-1.24926511e-02 -1.54822271e-04 9.99921952e-01 -1.53381911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.12592 meters Centerline goodness : 0.999551 Centerline is valid? [True, True] Translation: X:42.49, Y:0.74, Z:-1.52 [[ 9.99769963e-01 1.74335871e-02 1.24936050e-02 4.24932499e+01] [-1.74348260e-02 9.99848002e-01 -9.75521448e-06 7.41770471e-01] [-1.24918761e-02 -2.08070859e-04 9.99921952e-01 -1.52069355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.155919999999995 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:42.52, Y:0.74, Z:-1.53 [[ 9.99777558e-01 1.69925844e-02 1.24934251e-02 4.25211886e+01] [-1.69916273e-02 9.99855615e-01 -1.82759132e-04 7.40371072e-01] [-1.24947268e-02 -2.95651449e-05 9.99921937e-01 -1.53410406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.185919999999996 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:42.56, Y:0.74, Z:-1.52 [[ 9.99697475e-01 2.11865348e-02 1.24935775e-02 4.25573039e+01] [-2.11880502e-02 9.99775508e-01 -1.10724538e-05 7.38413627e-01] [-1.24910074e-02 -2.53645443e-04 9.99921952e-01 -1.52048486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.21592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.58, Y:0.74, Z:-1.54 [[ 9.99773484e-01 1.72308179e-02 1.24931603e-02 4.25846448e+01] [-1.72287235e-02 9.99851537e-01 -2.75255651e-04 7.36181139e-01] [-1.24960484e-02 5.99520974e-05 9.99921920e-01 -1.53638775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.24592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.62, Y:0.73, Z:-1.54 [[ 9.99742279e-01 1.89549138e-02 1.24934333e-02 4.26164423e+01] [-1.89562311e-02 9.99820314e-01 -1.29879427e-05 7.33761693e-01] [-1.24914346e-02 -2.23843814e-04 9.99921954e-01 -1.53630603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.27592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:42.65, Y:0.73, Z:-1.54 [[ 9.99716131e-01 2.02872292e-02 1.24934254e-02 4.26485203e+01] [-2.02885827e-02 9.99794165e-01 -1.84077451e-05 7.34569449e-01] [-1.24912272e-02 -2.35071374e-04 9.99921954e-01 -1.53549110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.30592 meters Centerline goodness : 0.998407 Centerline is valid? [True, True] Translation: X:42.69, Y:0.72, Z:-1.53 [[ 9.99880150e-01 -9.14326856e-03 1.24934152e-02 4.26946825e+01] [ 9.14427901e-03 9.99958190e-01 -2.37558574e-05 7.19225657e-01] [-1.24926756e-02 1.37996285e-04 9.99921954e-01 -1.53165515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.335919999999994 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:42.71, Y:0.74, Z:-1.52 [[ 9.99510066e-01 2.86992527e-02 1.24892641e-02 4.27149121e+01] [-2.86900118e-02 9.99587935e-01 -9.18485164e-04 7.39391056e-01] [-1.25104775e-02 5.59718033e-04 9.99921584e-01 -1.52143914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.365919999999996 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:42.75, Y:0.74, Z:-1.52 [[ 9.99520055e-01 2.83485417e-02 1.24907977e-02 4.27467686e+01] [-2.83469437e-02 9.99598098e-01 -3.04998644e-04 7.38877269e-01] [-1.24944239e-02 -4.92236775e-05 9.99921940e-01 -1.52271420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.39592 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:42.78, Y:0.74, Z:-1.52 [[ 9.99489162e-01 2.94175612e-02 1.24908426e-02 4.27797736e+01] [-2.94162935e-02 9.99567207e-01 -2.85242370e-04 7.39147998e-01] [-1.24938277e-02 -8.23376336e-05 9.99921946e-01 -1.52394416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.42592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:42.81, Y:0.74, Z:-1.53 [[ 9.99492107e-01 2.93173536e-02 1.24908411e-02 4.28122861e+01] [-2.93160685e-02 9.99570151e-01 -2.86001586e-04 7.39247914e-01] [-1.24938567e-02 -8.03260256e-05 9.99921946e-01 -1.52589977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.45592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.84, Y:0.74, Z:-1.53 [[ 9.99647010e-01 2.34485398e-02 1.24908475e-02 4.28439933e+01] [-2.34468492e-02 9.99725045e-01 -2.81790708e-04 7.37906465e-01] [-1.24940207e-02 -1.11797792e-05 9.99921947e-01 -1.52994049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.48592 meters Centerline goodness : 0.998956 Centerline is valid? [True, True] Translation: X:42.88, Y:0.72, Z:-1.54 [[ 9.99841413e-01 -1.26935770e-02 1.24909010e-02 4.28838140e+01] [ 1.26976853e-02 9.99919350e-01 -2.49648800e-04 7.21471258e-01] [-1.24867246e-02 4.08214738e-04 9.99921954e-01 -1.53594767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.515919999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.90, Y:0.74, Z:-1.54 [[ 9.99813875e-01 1.47041981e-02 1.24900758e-02 4.29027866e+01] [-1.46965421e-02 9.99891752e-01 -7.04528882e-04 7.38352977e-01] [-1.24990833e-02 5.20836826e-04 9.99921748e-01 -1.53981754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.545919999999995 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:42.94, Y:0.74, Z:-1.53 [[ 9.99786515e-01 1.64597541e-02 1.24900180e-02 4.29375962e+01] [-1.64610515e-02 9.99864508e-01 1.07732483e-06 7.38607825e-01] [-1.24883080e-02 -2.06675926e-04 9.99921997e-01 -1.52587420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.575919999999996 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:42.97, Y:0.74, Z:-1.53 [[ 9.99784786e-01 1.65644677e-02 1.24899698e-02 4.29682305e+01] [-1.65631271e-02 9.99862800e-01 -2.10771703e-04 7.37302808e-01] [-1.24917475e-02 3.85338518e-06 9.99921975e-01 -1.52768431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.60592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:43.00, Y:0.74, Z:-1.53 [[ 9.99789347e-01 1.62868463e-02 1.24899695e-02 4.29999812e+01] [-1.62855482e-02 9.99867361e-01 -2.05642551e-04 7.37212506e-01] [-1.24916621e-02 2.19323268e-06 9.99921976e-01 -1.52807948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.63592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.03, Y:0.74, Z:-1.53 [[ 9.99812318e-01 1.48097947e-02 1.24899664e-02 4.30329444e+01] [-1.48084614e-02 9.99890329e-01 -1.99233759e-04 7.36687266e-01] [-1.24915472e-02 1.42391809e-05 9.99921977e-01 -1.52862158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.66592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:43.06, Y:0.74, Z:-1.53 [[ 9.99852898e-01 1.17551109e-02 1.24899793e-02 4.30643937e+01] [-1.17533290e-02 9.99930904e-01 -2.16063779e-04 7.38224057e-01] [-1.24916561e-02 6.92331599e-05 9.99921974e-01 -1.53143582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.69592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.10, Y:0.74, Z:-1.53 [[ 9.99861634e-01 1.09869989e-02 1.24899168e-02 4.30977791e+01] [-1.09858734e-02 9.99939641e-01 -1.58715235e-04 7.37830317e-01] [-1.24909068e-02 2.14806285e-05 9.99921985e-01 -1.53263004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.725919999999995 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:43.13, Y:0.74, Z:-1.53 [[ 9.99906115e-01 5.63586122e-03 1.24899351e-02 4.31260803e+01] [-5.63406237e-03 9.99984112e-01 -1.79205761e-04 7.35118451e-01] [-1.24907467e-02 1.08819863e-04 9.99921982e-01 -1.52943723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.755919999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.16, Y:0.73, Z:-1.53 [[ 9.99911582e-01 4.56458198e-03 1.24897312e-02 4.31606305e+01] [-4.56488150e-03 9.99989581e-01 -4.52668554e-06 7.32581706e-01] [-1.24896217e-02 -5.24878574e-05 9.99922000e-01 -1.52814048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.78592 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:43.18, Y:0.74, Z:-1.54 [[ 9.99741053e-01 1.90218255e-02 1.24898964e-02 4.31777578e+01] [-1.90211573e-02 9.99819067e-01 -1.72299866e-04 7.38288929e-01] [-1.24909140e-02 -6.53170342e-05 9.99921983e-01 -1.54117373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.81592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.22, Y:0.73, Z:-1.54 [[ 9.99921861e-01 5.51723716e-04 1.24887290e-02 4.32205028e+01] [-5.59118690e-04 9.99999670e-01 5.88648132e-04 7.27402835e-01] [-1.24884001e-02 -5.95584817e-04 9.99921840e-01 -1.54048381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.84592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:43.25, Y:0.73, Z:-1.54 [[ 9.99921351e-01 1.15439341e-03 1.24883404e-02 4.32533437e+01] [-1.15318947e-03 9.99999330e-01 -1.03605743e-04 7.25863725e-01] [-1.24884517e-02 8.91961715e-05 9.99922012e-01 -1.53514091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.87592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.28, Y:0.72, Z:-1.54 [[ 9.99921905e-01 4.73963571e-04 1.24883288e-02 4.32832087e+01] [-4.71848943e-04 9.99999874e-01 -1.72274197e-04 7.21972474e-01] [-1.24884088e-02 1.66368139e-04 9.99922003e-01 -1.54109774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.905919999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.31, Y:0.72, Z:-1.54 [[ 9.99921200e-01 1.27864254e-03 1.24883145e-02 4.33147952e+01] [-1.27794591e-03 9.99999181e-01 -6.37622196e-05 7.19492368e-01] [-1.24883858e-02 4.77978047e-05 9.99922016e-01 -1.54147072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.935919999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.35, Y:0.72, Z:-1.55 [[ 9.99918033e-01 2.82299421e-03 1.24883159e-02 4.33459206e+01] [-2.82258286e-03 9.99996015e-01 -5.05635343e-05 7.15241334e-01] [-1.24884089e-02 1.53100833e-05 9.99922017e-01 -1.54631627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.96592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.38, Y:0.71, Z:-1.53 [[ 9.99895165e-01 7.32805497e-03 1.24883255e-02 4.33803210e+01] [-7.32859523e-03 9.99973145e-01 -2.50198465e-06 7.14521514e-01] [-1.24880085e-02 -8.90201607e-05 9.99922018e-01 -1.53429802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.99592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:43.41, Y:0.71, Z:-1.53 [[ 9.99884508e-01 8.66109044e-03 1.24882207e-02 4.34130923e+01] [-8.65962452e-03 9.99962490e-01 -1.71454251e-04 7.12528266e-01] [-1.24892373e-02 6.32911474e-05 9.99922004e-01 -1.53405503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.02592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:43.44, Y:0.71, Z:-1.55 [[ 9.99905100e-01 5.81689770e-03 1.24882068e-02 4.34403614e+01] [-5.81459286e-03 9.99983071e-01 -2.20862741e-04 7.10598527e-01] [-1.24892801e-02 1.48227943e-04 9.99921995e-01 -1.54791990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.05592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.47, Y:0.71, Z:-1.55 [[ 9.99896641e-01 7.12415578e-03 1.24881599e-02 4.34728200e+01] [-7.12474431e-03 9.99974619e-01 2.63846998e-06 7.07849711e-01] [-1.24878241e-02 -9.16131435e-05 9.99922020e-01 -1.54534482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.085919999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.50, Y:0.71, Z:-1.55 [[ 9.99889003e-01 8.12567482e-03 1.24881581e-02 4.35046928e+01] [-8.12626331e-03 9.99966981e-01 -3.61873368e-06 7.07114884e-01] [-1.24877752e-02 -9.78637289e-05 9.99922020e-01 -1.54614915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.115919999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.54, Y:0.71, Z:-1.55 [[ 9.99883044e-01 8.82861505e-03 1.24881541e-02 4.35379271e+01] [-8.82918990e-03 9.99961022e-01 -9.10113784e-06 7.05967992e-01] [-1.24877477e-02 -1.01160211e-04 9.99922020e-01 -1.54733636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.14592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.57, Y:0.70, Z:-1.55 [[ 9.99870375e-01 1.01626066e-02 1.24881465e-02 4.35697318e+01] [-1.01632079e-02 9.99948353e-01 -1.53137491e-05 7.03517918e-01] [-1.24876571e-02 -1.11607865e-04 9.99922020e-01 -1.54846383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.17592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:43.60, Y:0.70, Z:-1.55 [[ 9.99842329e-01 1.26239267e-02 1.24881375e-02 4.36022270e+01] [-1.26246525e-02 9.99920306e-01 -2.07100218e-05 6.99429216e-01] [-1.24874037e-02 -1.36951640e-04 9.99922020e-01 -1.54785427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.20592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.63, Y:0.70, Z:-1.55 [[ 9.99821955e-01 1.41458169e-02 1.24881261e-02 4.36347409e+01] [-1.41465933e-02 9.99899932e-01 -2.61641191e-05 6.99461342e-01] [-1.24872465e-02 -1.50504980e-04 9.99922020e-01 -1.54863502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.23592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.67, Y:0.70, Z:-1.55 [[ 9.99767806e-01 1.75608070e-02 1.24881100e-02 4.36670996e+01] [-1.75617723e-02 9.99845780e-01 -3.23700493e-05 7.01065869e-01] [-1.24867525e-02 -1.86950811e-04 9.99922020e-01 -1.54892697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.265919999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.70, Y:0.70, Z:-1.55 [[ 9.99742174e-01 1.89639693e-02 1.24880925e-02 4.37003778e+01] [-1.89649723e-02 9.99820148e-01 -3.81116481e-05 7.00584556e-01] [-1.24865692e-02 -1.98734506e-04 9.99922020e-01 -1.54935866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.295919999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.74, Y:0.70, Z:-1.54 [[ 9.99579902e-01 2.61546941e-02 1.24880709e-02 4.37388802e+01] [-2.61561817e-02 9.99657868e-01 -4.42226175e-05 6.99358586e-01] [-1.24849549e-02 -2.82436210e-04 9.99922020e-01 -1.53646698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.325919999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.77, Y:0.70, Z:-1.54 [[ 9.99589409e-01 2.57894723e-02 1.24866842e-02 4.37700601e+01] [-2.57863842e-02 9.99667393e-01 -4.08273946e-04 6.97734035e-01] [-1.24930602e-02 8.61198754e-05 9.99921955e-01 -1.53944601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.35592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:43.80, Y:0.70, Z:-1.54 [[ 9.99664073e-01 2.27116812e-02 1.24868244e-02 4.38022244e+01] [-2.27088716e-02 9.99742053e-01 -3.66764403e-04 6.97872566e-01] [-1.24919333e-02 8.30795046e-05 9.99921969e-01 -1.54020550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.38592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:43.83, Y:0.70, Z:-1.54 [[ 9.99667193e-01 2.25739438e-02 1.24867909e-02 4.38329150e+01] [-2.25709642e-02 9.99745171e-01 -3.79512349e-04 6.97033847e-01] [-1.24921760e-02 9.75471345e-05 9.99921965e-01 -1.54320121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.41592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.87, Y:0.69, Z:-1.54 [[ 9.99743022e-01 1.89200209e-02 1.24869149e-02 4.38651847e+01] [-1.89175770e-02 9.99820997e-01 -3.13813334e-04 6.92216985e-01] [-1.24906170e-02 7.75105171e-05 9.99921986e-01 -1.54144360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.44592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.89, Y:0.69, Z:-1.55 [[ 9.99845937e-01 1.23361147e-02 1.24869170e-02 4.38910469e+01] [-1.23331728e-02 9.99923895e-01 -3.12573115e-04 6.89236784e-01] [-1.24898226e-02 1.58521653e-04 9.99921987e-01 -1.55413021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.475919999999995 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:43.92, Y:0.69, Z:-1.56 [[ 9.99857128e-01 1.13925980e-02 1.24872464e-02 4.39227409e+01] [-1.13933148e-02 9.99935094e-01 -1.37387582e-05 6.85971667e-01] [-1.24865924e-02 -1.28534333e-04 9.99922031e-01 -1.55641127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.505919999999996 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:43.96, Y:0.68, Z:-1.54 [[ 9.99784251e-01 1.65987765e-02 1.24872381e-02 4.39601123e+01] [-1.65998321e-02 9.99862213e-01 -1.91093157e-05 6.84812720e-01] [-1.24858348e-02 -1.88180864e-04 9.99922031e-01 -1.54246301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.53592 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:43.99, Y:0.68, Z:-1.55 [[ 9.99767135e-01 1.75999940e-02 1.24866167e-02 4.39925550e+01] [-1.75968298e-02 9.99845098e-01 -3.63236563e-04 6.82928956e-01] [-1.24910754e-02 1.43427110e-04 9.99921973e-01 -1.54607467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.56592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.03, Y:0.68, Z:-1.55 [[ 9.99682233e-01 2.18978449e-02 1.24866875e-02 4.40251871e+01] [-2.18955551e-02 9.99760212e-01 -3.20075695e-04 6.79090817e-01] [-1.24907023e-02 4.65710304e-05 9.99921987e-01 -1.55025099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.59592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.06, Y:0.68, Z:-1.55 [[ 9.99622183e-01 2.44861933e-02 1.24867249e-02 4.40590760e+01] [-2.44845434e-02 9.99700168e-01 -2.85013226e-04 6.76405898e-01] [-1.24899599e-02 -2.08262159e-05 9.99921997e-01 -1.54699755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.62592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:44.09, Y:0.68, Z:-1.54 [[ 9.99566958e-01 2.66454102e-02 1.24866972e-02 4.40913519e+01] [-2.66434150e-02 9.99644948e-01 -3.26144752e-04 6.75120700e-01] [-1.24909540e-02 -6.68473760e-06 9.99921985e-01 -1.54241262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.655919999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.12, Y:0.67, Z:-1.55 [[ 9.99485268e-01 2.95513268e-02 1.24866900e-02 4.41233479e+01] [-2.95492470e-02 9.99563264e-01 -3.51061370e-04 6.74202163e-01] [-1.24916110e-02 -1.80916207e-05 9.99921977e-01 -1.54683717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.685919999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.15, Y:0.67, Z:-1.56 [[ 9.99627228e-01 2.42793450e-02 1.24867012e-02 4.41470099e+01] [-2.42766232e-02 9.99705211e-01 -3.69524407e-04 6.69690164e-01] [-1.24919921e-02 6.62517195e-05 9.99921970e-01 -1.56128820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.71592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.18, Y:0.67, Z:-1.55 [[ 9.99464689e-01 3.02395824e-02 1.24860998e-02 4.41847774e+01] [-3.02421812e-02 9.99542600e-01 1.93396656e-05 6.69448074e-01] [-1.24798039e-02 -3.96936206e-04 9.99922045e-01 -1.55165375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.74592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.22, Y:0.67, Z:-1.55 [[ 9.99475457e-01 2.98814456e-02 1.24864123e-02 4.42166292e+01] [-2.98799743e-02 9.99553448e-01 -3.04417609e-04 6.69561491e-01] [-1.24899329e-02 -6.88357485e-05 9.99921995e-01 -1.55024622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.77592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.24, Y:0.67, Z:-1.56 [[ 9.99567517e-01 2.66245955e-02 1.24863841e-02 4.42426198e+01] [-2.66230989e-02 9.99645502e-01 -2.86089451e-04 6.68626566e-01] [-1.24895747e-02 -4.64605167e-05 9.99922001e-01 -1.56084709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.80592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.28, Y:0.67, Z:-1.56 [[ 9.99465435e-01 3.02150330e-02 1.24858255e-02 4.42764212e+01] [-3.02171169e-02 9.99543358e-01 -2.17608789e-05 6.67599315e-01] [-1.24807815e-02 -3.55536404e-04 9.99922049e-01 -1.55963744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.835919999999994 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:44.31, Y:0.67, Z:-1.55 [[ 9.99339701e-01 3.41213014e-02 1.24859666e-02 4.43125760e+01] [-3.41226877e-02 9.99417646e-01 -1.02050030e-04 6.66239551e-01] [-1.24821774e-02 -3.24072093e-04 9.99922042e-01 -1.54767835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.865919999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.34, Y:0.66, Z:-1.56 [[ 9.99413578e-01 3.18840610e-02 1.24862334e-02 4.43387694e+01] [-3.18816967e-02 9.99491574e-01 -3.88409735e-04 6.64067487e-01] [-1.24922691e-02 -9.90034131e-06 9.99921969e-01 -1.56049287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.89592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:44.37, Y:0.66, Z:-1.55 [[ 9.99263801e-01 3.62762288e-02 1.24856154e-02 4.43746009e+01] [-3.62776901e-02 9.99341742e-01 -1.09501264e-04 6.64095390e-01] [-1.24813689e-02 -3.43528637e-04 9.99922046e-01 -1.54876825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.92592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:44.41, Y:0.66, Z:-1.55 [[ 9.99255346e-01 3.65082625e-02 1.24860070e-02 4.44063959e+01] [-3.65064305e-02 9.99333348e-01 -3.74686455e-04 6.61627075e-01] [-1.24913623e-02 -8.14121029e-05 9.99921977e-01 -1.54788281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.95592 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:44.43, Y:0.66, Z:-1.56 [[ 9.99378053e-01 3.29789486e-02 1.24858477e-02 4.44347673e+01] [-3.29776450e-02 9.99456041e-01 -3.10330969e-04 6.59057212e-01] [-1.24892903e-02 -1.01615894e-04 9.99922001e-01 -1.55735221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.98592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.46, Y:0.66, Z:-1.56 [[ 9.99495444e-01 2.92057382e-02 1.24853193e-02 4.44635852e+01] [-2.92061588e-02 9.99573398e-01 -1.48682373e-04 6.57154173e-01] [-1.24843354e-02 -2.16040864e-04 9.99922044e-01 -1.56259066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.015919999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.50, Y:0.66, Z:-1.56 [[ 9.99493382e-01 2.92763953e-02 1.24848996e-02 4.44967405e+01] [-2.92783089e-02 9.99571298e-01 -2.95176115e-05 6.57767239e-01] [-1.24804115e-02 -3.36034090e-04 9.99922060e-01 -1.56349969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.045919999999995 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:44.53, Y:0.66, Z:-1.55 [[ 9.99510618e-01 2.86818647e-02 1.24849594e-02 4.45300855e+01] [-2.86835077e-02 9.99588542e-01 -4.74793473e-05 6.55021086e-01] [-1.24811841e-02 -3.10656316e-04 9.99922059e-01 -1.55389764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.075919999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.56, Y:0.65, Z:-1.57 [[ 9.99603052e-01 2.52557557e-02 1.24853808e-02 4.45574563e+01] [-2.52555587e-02 9.99681012e-01 -1.73471665e-04 6.51353745e-01] [-1.24857793e-02 -1.41922463e-04 9.99922040e-01 -1.56688288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.10592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.59, Y:0.65, Z:-1.57 [[ 9.99642389e-01 2.36479927e-02 1.24846358e-02 4.45896249e+01] [-2.36501844e-02 9.99720295e-01 2.79210590e-05 6.47379597e-01] [-1.24804835e-02 -3.23175012e-04 9.99922064e-01 -1.56750277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.13592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.62, Y:0.65, Z:-1.57 [[ 9.99602944e-01 2.52604350e-02 1.24845840e-02 4.46208269e+01] [-2.52629402e-02 9.99680840e-01 4.29717656e-05 6.49059521e-01] [-1.24795139e-02 -3.58352002e-04 9.99922064e-01 -1.56617422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.16592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:44.65, Y:0.65, Z:-1.55 [[ 9.99479829e-01 2.97356351e-02 1.24845280e-02 4.46530332e+01] [-2.97387035e-02 9.99557705e-01 6.01608540e-05 6.49508164e-01] [-1.24772173e-02 -4.31403238e-04 9.99922063e-01 -1.55398670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.19592 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:44.68, Y:0.65, Z:-1.57 [[ 9.99505861e-01 2.88472267e-02 1.24848589e-02 4.46815892e+01] [-2.88487734e-02 9.99583786e-01 -5.62283477e-05 6.46891430e-01] [-1.24812845e-02 -3.03972301e-04 9.99922060e-01 -1.56691881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.225919999999995 meters Centerline goodness : 0.999406 Centerline is valid? [True, True] Translation: X:44.72, Y:0.64, Z:-1.56 [[ 9.99292364e-01 3.54811209e-02 1.24844459e-02 4.47180142e+01] [-3.54849583e-02 9.99370207e-01 8.59224362e-05 6.44725853e-01] [-1.24735346e-02 -5.28871675e-04 9.99922063e-01 -1.55539228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.255919999999996 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:44.75, Y:0.64, Z:-1.57 [[ 9.99451538e-01 3.06715727e-02 1.24851425e-02 4.47452795e+01] [-3.06717114e-02 9.99529496e-01 -1.80410000e-04 6.42801237e-01] [-1.24848017e-02 -2.02629636e-04 9.99922041e-01 -1.56940109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.28592 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:44.78, Y:0.65, Z:-1.55 [[ 9.99140846e-01 3.95184386e-02 1.24844657e-02 4.47806494e+01] [-3.95220002e-02 9.99218700e-01 3.85986236e-05 6.45079383e-01] [-1.24731862e-02 -5.31976518e-04 9.99922065e-01 -1.55419658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.31592 meters Centerline goodness : 0.999505 Centerline is valid? [True, True] Translation: X:44.81, Y:0.64, Z:-1.56 [[ 9.99234452e-01 3.70760187e-02 1.24851192e-02 4.48109281e+01] [-3.70764335e-02 9.99312413e-01 -1.98314910e-04 6.44644813e-01] [-1.24838873e-02 -2.64740599e-04 9.99922038e-01 -1.55598186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.34592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:44.85, Y:0.65, Z:-1.55 [[ 9.99058763e-01 4.15417281e-02 1.24849377e-02 4.48455912e+01] [-4.15432719e-02 9.99136696e-01 -1.35774346e-04 6.45371503e-01] [-1.24797997e-02 -3.83018610e-04 9.99922051e-01 -1.55408989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.37592 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:44.87, Y:0.65, Z:-1.56 [[ 9.99076212e-01 4.11197861e-02 1.24854094e-02 4.48726032e+01] [-4.11192938e-02 9.99154200e-01 -2.96241609e-04 6.47466065e-01] [-1.24870307e-02 -2.17423275e-04 9.99922010e-01 -1.55588474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.405919999999995 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:44.90, Y:0.65, Z:-1.56 [[ 9.99149027e-01 3.93109484e-02 1.24848185e-02 4.49045963e+01] [-3.93124790e-02 9.99226958e-01 -1.22882200e-04 6.45826728e-01] [-1.24799978e-02 -3.68031535e-04 9.99922054e-01 -1.55666352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.435919999999996 meters Centerline goodness : 0.999753 Centerline is valid? [True, True] Translation: X:44.92, Y:0.65, Z:-1.56 [[ 9.98943274e-01 4.42319359e-02 1.24848144e-02 4.49200391e+01] [-4.42338625e-02 9.99021196e-01 -1.21907869e-04 6.45650387e-01] [-1.24779864e-02 -4.30472517e-04 9.99922054e-01 -1.55866480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.46592 meters Centerline goodness : 0.999753 Centerline is valid? [True, True] Translation: X:44.96, Y:0.65, Z:-1.56 [[ 9.99183889e-01 3.84158229e-02 1.24812463e-02 4.49646227e+01] [-3.84271980e-02 9.99261176e-01 6.72753091e-04 6.46531836e-01] [-1.24461805e-02 -1.15182337e-03 9.99921880e-01 -1.55870979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.49592 meters Centerline goodness : 0.999753 Centerline is valid? [True, True] Translation: X:45.00, Y:0.65, Z:-1.56 [[ 9.99190153e-01 3.82519679e-02 1.24829779e-02 4.49973862e+01] [-3.82525641e-02 9.99268085e-01 -1.91083348e-04 6.48597159e-01] [-1.24811508e-02 -2.86577314e-04 9.99922066e-01 -1.55984419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.52592 meters Centerline goodness : 0.999753 Centerline is valid? [True, True] Translation: X:45.03, Y:0.65, Z:-1.56 [[ 9.99192317e-01 3.81954142e-02 1.24829562e-02 4.50299235e+01] [-3.81961415e-02 9.99270245e-01 -1.80228847e-04 6.48715907e-01] [-1.24807306e-02 -2.96717483e-04 9.99922069e-01 -1.56024631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.55592 meters Centerline goodness : 0.999506 Centerline is valid? [True, True] Translation: X:45.06, Y:0.65, Z:-1.56 [[ 9.99146179e-01 3.93838737e-02 1.24829571e-02 4.50621214e+01] [-3.93846883e-02 9.99224106e-01 -1.80661804e-04 6.48171514e-01] [-1.24803868e-02 -3.11129824e-04 9.99922069e-01 -1.55764846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.585919999999994 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:45.09, Y:0.65, Z:-1.56 [[ 9.99106410e-01 4.03801826e-02 1.24829132e-02 4.50933728e+01] [-4.03813380e-02 9.99184328e-01 -1.59573603e-04 6.52079408e-01] [-1.24791748e-02 -3.44645727e-04 9.99922073e-01 -1.56116498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.615919999999996 meters Centerline goodness : 0.994783 Centerline is valid? [True, True] Translation: X:45.09, Y:0.64, Z:-1.58 [[ 9.99106342e-01 4.03818869e-02 1.24827890e-02 4.50937477e+01] [-4.03837731e-02 9.99184238e-01 -1.01016161e-04 6.43819206e-01] [-1.24766853e-02 -4.03176233e-04 9.99922082e-01 -1.57639223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.64592 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:45.14, Y:0.66, Z:-1.57 [[ 9.98985677e-01 4.32666225e-02 1.24746717e-02 4.51429386e+01] [-4.32900898e-02 9.99061236e-01 1.61722459e-03 6.55838104e-01] [-1.23929891e-02 -2.15561386e-03 9.99920880e-01 -1.56508885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.67592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.17, Y:0.66, Z:-1.57 [[ 9.99083623e-01 4.09431534e-02 1.24728630e-02 4.51730066e+01] [-4.09450835e-02 9.99161393e-01 -1.00688757e-04 6.58772835e-01] [-1.24665257e-02 -4.10105928e-04 9.99922206e-01 -1.56749445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.70592 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:45.21, Y:0.67, Z:-1.56 [[ 9.98952254e-01 4.40320163e-02 1.24729720e-02 4.52106045e+01] [-4.40355773e-02 9.99029963e-01 1.08724306e-05 6.66629354e-01] [-1.24603940e-02 -5.60115561e-04 9.99922209e-01 -1.55927042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.73592 meters Centerline goodness : 0.999505 Centerline is valid? [True, True] Translation: X:45.24, Y:0.67, Z:-1.56 [[ 9.99159714e-01 3.90423851e-02 1.24723320e-02 4.52401847e+01] [-3.90412067e-02 9.99237544e-01 -3.38042110e-04 6.69418903e-01] [-1.24760204e-02 -1.49176834e-04 9.99922160e-01 -1.56281838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.765919999999994 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:45.27, Y:0.67, Z:-1.57 [[ 9.99340153e-01 3.41130070e-02 1.24724003e-02 4.52677374e+01] [-3.41127302e-02 9.99417964e-01 -2.34993023e-04 6.69516891e-01] [-1.24731572e-02 -1.90629662e-04 9.99922189e-01 -1.57151426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.795919999999995 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:45.30, Y:0.67, Z:-1.56 [[ 9.99354313e-01 3.36956171e-02 1.24724734e-02 4.53043124e+01] [-3.36982611e-02 9.99432052e-01 1.82497557e-06 6.69203578e-01] [-1.24653282e-02 -4.22124463e-04 9.99922216e-01 -1.56147011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.825919999999996 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:45.33, Y:0.67, Z:-1.57 [[ 9.99545526e-01 2.74442080e-02 1.24722208e-02 4.53304349e+01] [-2.74429332e-02 9.99623334e-01 -2.73376995e-04 6.70124582e-01] [-1.24750255e-02 -6.90215688e-05 9.99922181e-01 -1.57056692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.85592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.36, Y:0.67, Z:-1.58 [[ 9.99604907e-01 2.51886890e-02 1.24723722e-02 4.53634851e+01] [-2.51912655e-02 9.99682648e-01 4.94864066e-05 6.70121617e-01] [-1.24671676e-02 -3.63661694e-04 9.99922216e-01 -1.57732063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.88592 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:45.40, Y:0.67, Z:-1.56 [[ 9.99517228e-01 2.84561563e-02 1.24723222e-02 4.54006592e+01] [-2.84582400e-02 9.99594982e-01 -1.04231057e-05 6.70669434e-01] [-1.24675672e-02 -3.44522263e-04 9.99922218e-01 -1.56337828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.91592 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:45.43, Y:0.67, Z:-1.57 [[ 9.99542479e-01 2.75551284e-02 1.24718934e-02 4.54318171e+01] [-2.75533151e-02 9.99620285e-01 -3.17228546e-04 6.70248728e-01] [-1.24758990e-02 -2.65586023e-05 9.99922173e-01 -1.56660233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.94592 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:45.47, Y:0.67, Z:-1.57 [[ 9.99470539e-01 3.00514899e-02 1.24719822e-02 4.54650649e+01] [-3.00508383e-02 9.99548343e-01 -2.39685829e-04 6.70899920e-01] [-1.24735521e-02 -1.35234597e-04 9.99922193e-01 -1.56575797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.975919999999995 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:45.49, Y:0.67, Z:-1.58 [[ 9.99555098e-01 2.70934691e-02 1.24719523e-02 4.54882675e+01] [-2.70921626e-02 9.99632903e-01 -2.73729330e-04 6.71668957e-01] [-1.24747901e-02 -6.42846104e-05 9.99922185e-01 -1.57698577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.005919999999996 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:45.53, Y:0.67, Z:-1.57 [[ 9.99417219e-01 3.17752991e-02 1.24720487e-02 4.55263282e+01] [-3.17789966e-02 9.99494915e-01 9.83414613e-05 6.72798827e-01] [-1.24626244e-02 -4.94633342e-04 9.99922216e-01 -1.56701237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.03592 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:45.56, Y:0.67, Z:-1.57 [[ 9.99408772e-01 3.20399843e-02 1.24717790e-02 4.55601910e+01] [-3.20396448e-02 9.99486573e-01 -2.27077695e-04 6.72660656e-01] [-1.24726512e-02 -1.72647930e-04 9.99922199e-01 -1.56779836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.06592 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:45.58, Y:0.67, Z:-1.57 [[ 9.99321586e-01 3.46529111e-02 1.24716716e-02 4.55845675e+01] [-3.46517513e-02 9.99399400e-01 -3.09135077e-04 6.72105967e-01] [-1.24748936e-02 -1.23239908e-04 9.99922178e-01 -1.56670426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.09592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:45.61, Y:0.67, Z:-1.58 [[ 9.99670821e-01 2.24210148e-02 1.24718684e-02 4.56149756e+01] [-2.24225976e-02 9.99748582e-01 -1.29281148e-05 6.65274909e-01] [-1.24690226e-02 -2.66727827e-04 9.99922223e-01 -1.58207534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.12592 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:45.65, Y:0.67, Z:-1.57 [[ 9.99620249e-01 2.45725391e-02 1.24718710e-02 4.56519982e+01] [-2.45743324e-02 9.99698005e-01 -9.46259491e-06 6.65561184e-01] [-1.24683371e-02 -2.97028903e-04 9.99922223e-01 -1.56832357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.155919999999995 meters Centerline goodness : 0.999753 Centerline is valid? [True, True] Translation: X:45.69, Y:0.66, Z:-1.57 [[ 9.99671157e-01 2.24061678e-02 1.24716654e-02 4.56853280e+01] [-2.24041096e-02 9.99748950e-01 -3.04739397e-04 6.64336791e-01] [-1.24753624e-02 2.52226266e-05 9.99922179e-01 -1.57021342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.185919999999996 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:45.72, Y:0.66, Z:-1.57 [[ 9.99693126e-01 2.14035540e-02 1.24716655e-02 4.57179163e+01] [-2.14014261e-02 9.99770917e-01 -3.04071461e-04 6.62801202e-01] [-1.24753167e-02 3.70667215e-05 9.99922180e-01 -1.57055043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.21592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:45.74, Y:0.66, Z:-1.58 [[ 9.99742956e-01 1.89335634e-02 1.24716681e-02 4.57428587e+01] [-1.89314000e-02 9.99820742e-01 -2.91515325e-04 6.57603138e-01] [-1.24749519e-02 5.53342552e-05 9.99922183e-01 -1.58189705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.24592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.78, Y:0.66, Z:-1.58 [[ 9.99621386e-01 2.45264082e-02 1.24715382e-02 4.57752094e+01] [-2.45283841e-02 9.99699134e-01 5.48085542e-06 6.56391873e-01] [-1.24676515e-02 -3.11385459e-04 9.99922227e-01 -1.58387394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.27592 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:45.81, Y:0.66, Z:-1.59 [[ 9.99548622e-01 2.73315402e-02 1.24715379e-02 4.58072006e+01] [-2.73336601e-02 9.99626366e-01 -4.76545678e-07 6.56194576e-01] [-1.24668912e-02 -3.40416448e-04 9.99922227e-01 -1.58592648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.30592 meters Centerline goodness : 0.989379 Centerline is valid? [True, True] Translation: X:45.81, Y:0.64, Z:-1.59 [[ 9.99177537e-01 3.85837997e-02 1.24715356e-02 4.58121155e+01] [-3.85867306e-02 9.99255255e-01 -5.62679024e-06 6.41180942e-01] [-1.24624646e-02 -4.75613622e-04 9.99922227e-01 -1.59104478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.335919999999994 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:45.86, Y:0.65, Z:-1.59 [[ 9.99223302e-01 3.73792503e-02 1.24733185e-02 4.58595532e+01] [-3.74012655e-02 9.99299147e-01 1.53632466e-03 6.51242608e-01] [-1.24071498e-02 -2.00164930e-03 9.99921025e-01 -1.58546799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.365919999999996 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:45.90, Y:0.65, Z:-1.57 [[ 9.98789670e-01 4.75802542e-02 1.24625143e-02 4.59015887e+01] [-4.75829129e-02 9.98867288e-01 -8.32623189e-05 6.52423545e-01] [-1.24523595e-02 -5.09841189e-04 9.99922336e-01 -1.56706005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.39592 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:45.93, Y:0.65, Z:-1.57 [[ 9.98760150e-01 4.81969467e-02 1.24585975e-02 4.59333674e+01] [-4.81928180e-02 9.98837851e-01 -6.31570962e-04 6.52505727e-01] [-1.24745585e-02 3.03729883e-05 9.99922189e-01 -1.57032856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.42592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:45.96, Y:0.65, Z:-1.57 [[ 9.98601784e-01 5.13736516e-02 1.24589265e-02 4.59631095e+01] [-5.13703903e-02 9.98679500e-01 -5.81858745e-04 6.52729058e-01] [-1.24723667e-02 -5.89747345e-05 9.99922215e-01 -1.57351503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.45592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.99, Y:0.65, Z:-1.59 [[ 9.98898193e-01 4.52456210e-02 1.24592697e-02 4.59855531e+01] [-4.52425968e-02 9.98975892e-01 -5.24621607e-04 6.50132314e-01] [-1.24702469e-02 -3.96461395e-05 9.99922243e-01 -1.58888930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.48592 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:46.03, Y:0.65, Z:-1.57 [[ 9.98332248e-01 5.63687330e-02 1.24614478e-02 4.60289920e+01] [-5.63723865e-02 9.98409811e-01 -5.81513987e-05 6.51888251e-01] [-1.24449097e-02 -6.44427137e-04 9.99922351e-01 -1.57012314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.515919999999994 meters Centerline goodness : 0.984393 Centerline is valid? [True, True] Translation: X:46.10, Y:0.69, Z:-1.58 [[ 9.92964166e-01 1.17757988e-01 1.24587906e-02 4.60963610e+01] [-1.17759789e-01 9.93041934e-01 -5.91511336e-04 6.89057178e-01] [-1.24417567e-02 -8.79794988e-04 9.99922211e-01 -1.58276255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.545919999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.09, Y:0.65, Z:-1.57 [[ 9.98030168e-01 6.14912498e-02 1.24342431e-02 4.60853577e+01] [-6.14643559e-02 9.98106063e-01 -2.53395848e-03 6.54184768e-01] [-1.25665097e-02 1.76470426e-03 9.99919481e-01 -1.57242329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.575919999999996 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:46.12, Y:0.65, Z:-1.57 [[ 9.98061598e-01 6.09772303e-02 1.24428427e-02 4.61173530e+01] [-6.09749513e-02 9.98139138e-01 -5.62796045e-04 6.52786210e-01] [-1.24540060e-02 -1.96996606e-04 9.99922426e-01 -1.57097248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.60592 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:46.15, Y:0.66, Z:-1.57 [[ 9.98210948e-01 5.84814634e-02 1.24427222e-02 4.61461092e+01] [-5.84785009e-02 9.98288487e-01 -6.02099238e-04 6.55110819e-01] [-1.24566380e-02 -1.26609692e-04 9.99922405e-01 -1.57146028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.63592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:46.18, Y:0.66, Z:-1.57 [[ 9.98161050e-01 5.93269780e-02 1.24429890e-02 4.61795415e+01] [-5.93256948e-02 9.98238568e-01 -4.72534429e-04 6.59727335e-01] [-1.24491056e-02 -2.66523506e-04 9.99922471e-01 -1.57263707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.66592 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:46.19, Y:0.66, Z:-1.59 [[ 9.99069739e-01 4.12895907e-02 1.24429228e-02 4.61882273e+01] [-4.12861001e-02 9.99147221e-01 -5.37377410e-04 6.60656945e-01] [-1.24544999e-02 2.31577513e-05 9.99922439e-01 -1.58828635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.69592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:46.24, Y:0.66, Z:-1.57 [[ 9.98167365e-01 5.92208378e-02 1.24420410e-02 4.62375588e+01] [-5.92316658e-02 9.98244137e-01 5.03262591e-04 6.62768233e-01] [-1.23903909e-02 -1.23930311e-03 9.99922468e-01 -1.57440020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.725919999999995 meters Centerline goodness : 0.999505 Centerline is valid? [True, True] Translation: X:46.27, Y:0.67, Z:-1.57 [[ 9.98081706e-01 6.06479550e-02 1.24391946e-02 4.62672041e+01] [-6.06452435e-02 9.98159206e-01 -5.95418996e-04 6.67157650e-01] [-1.24524076e-02 -1.60101180e-04 9.99922453e-01 -1.57432025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.755919999999996 meters Centerline goodness : 0.998960 Centerline is valid? [True, True] Translation: X:46.26, Y:0.66, Z:-1.59 [[ 9.99340865e-01 3.41042528e-02 1.24392945e-02 4.62585609e+01] [-3.41003481e-02 9.99418276e-01 -5.25925773e-04 6.62544816e-01] [-1.24499946e-02 1.01394844e-04 9.99922491e-01 -1.59235454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.78592 meters Centerline goodness : 0.999406 Centerline is valid? [True, True] Translation: X:46.31, Y:0.67, Z:-1.58 [[ 9.98226187e-01 5.82207023e-02 1.24430106e-02 4.63116110e+01] [-5.82391198e-02 9.98302031e-01 1.12265683e-03 6.72844014e-01] [-1.23565209e-02 -1.84533543e-03 9.99921953e-01 -1.57544288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.81592 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:46.34, Y:0.67, Z:-1.58 [[ 9.98567891e-01 5.20350537e-02 1.24306112e-02 4.63431270e+01] [-5.20330199e-02 9.98645246e-01 -4.87186573e-04 6.74526225e-01] [-1.24391215e-02 -1.60313371e-04 9.99922618e-01 -1.57951176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.84592 meters Centerline goodness : 0.999406 Centerline is valid? [True, True] Translation: X:46.38, Y:0.67, Z:-1.58 [[ 9.98695460e-01 4.95260785e-02 1.24316083e-02 4.63766716e+01] [-4.95256019e-02 9.98772794e-01 -3.46376428e-04 6.74660704e-01] [-1.24335069e-02 -2.69758319e-04 9.99922665e-01 -1.57840845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.87592 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:46.42, Y:0.66, Z:-1.59 [[ 9.99706063e-01 2.08146690e-02 1.24312941e-02 4.64195707e+01] [-2.08113874e-02 9.99783342e-01 -3.93298705e-04 6.64763750e-01] [-1.24367872e-02 1.34470622e-04 9.99922651e-01 -1.58670655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.905919999999995 meters Centerline goodness : 0.997922 Centerline is valid? [True, True] Translation: X:46.45, Y:0.66, Z:-1.59 [[ 9.99906556e-01 5.69787180e-03 1.24263420e-02 4.64517813e+01] [-5.68614188e-03 9.99983354e-01 -9.79082405e-04 6.59569804e-01] [-1.24317138e-02 9.08332972e-04 9.99922311e-01 -1.58776809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.935919999999996 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:46.47, Y:0.67, Z:-1.58 [[ 9.99395642e-01 3.24642908e-02 1.24266229e-02 4.64698298e+01] [-3.24551764e-02 9.99472755e-01 -9.34471480e-04 6.73285174e-01] [-1.24504079e-02 5.30598487e-04 9.99922350e-01 -1.57698893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.96592 meters Centerline goodness : 0.902797 Centerline is valid? [True, False] Translation: X:46.47, Y:0.66, Z:-1.58 [[ 9.99788917e-01 1.78066326e-02 1.02491665e-02 4.64740922e+01] [-1.78586593e-02 9.99827983e-01 5.00724137e-03 6.63729325e-01] [-1.01582414e-02 -5.18922080e-03 9.99934939e-01 -1.57896836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.99592 meters Centerline goodness : 0.999209 Centerline is valid? [False, True] Translation: X:46.50, Y:0.66, Z:-1.58 [[ 9.99929814e-01 9.89180525e-03 6.52070677e-03 4.64990980e+01] [-9.92805153e-03 9.99935314e-01 5.54990798e-03 6.62178021e-01] [-6.46538637e-03 -5.61425636e-03 9.99963339e-01 -1.57924612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.02592 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:46.53, Y:0.67, Z:-1.58 [[ 9.99955422e-01 6.78426109e-03 6.56724009e-03 4.65314776e+01] [-6.78332951e-03 9.99976979e-01 -1.64116373e-04 6.65506028e-01] [-6.56820232e-03 1.19561303e-04 9.99978422e-01 -1.58020678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.05592 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:46.56, Y:0.66, Z:-1.58 [[ 9.99964110e-01 5.35342121e-03 6.56660921e-03 4.65629693e+01] [-5.35298580e-03 9.99985669e-01 -8.38807321e-05 6.62077950e-01] [-6.56696415e-03 4.87267558e-05 9.99978436e-01 -1.57967452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.085919999999994 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:46.59, Y:0.66, Z:-1.59 [[ 9.99978309e-01 5.12390271e-04 6.56654235e-03 4.65900646e+01] [-5.11907843e-04 9.99999866e-01 -7.51480483e-05 6.59467720e-01] [-6.56657998e-03 7.17849537e-05 9.99978437e-01 -1.59373008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.115919999999996 meters Centerline goodness : 0.998960 Centerline is valid? [True, True] Translation: X:46.62, Y:0.66, Z:-1.58 [[ 9.99960474e-01 5.99539566e-03 6.56552613e-03 4.66249541e+01] [-5.99586850e-03 9.99982023e-01 5.23380697e-05 6.58303379e-01] [-6.56509432e-03 -9.17020323e-05 9.99978445e-01 -1.57884926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.14592 meters Centerline goodness : 0.999605 Centerline is valid? [True, True] Translation: X:46.66, Y:0.66, Z:-1.58 [[ 9.99967474e-01 4.68330020e-03 6.56642193e-03 4.66554390e+01] [-4.68298962e-03 9.99989033e-01 -6.26716586e-05 6.55691534e-01] [-6.56664343e-03 3.19191344e-05 9.99978439e-01 -1.57965722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.17592 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:46.69, Y:0.65, Z:-1.59 [[ 9.99973578e-01 3.11951019e-03 6.56596461e-03 4.66851572e+01] [-3.11954487e-03 9.99995134e-01 -4.95949228e-06 6.51275047e-01] [-6.56594813e-03 -1.55234600e-05 9.99978444e-01 -1.59423856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.20592 meters Centerline goodness : 0.999506 Centerline is valid? [True, True] Translation: X:46.72, Y:0.65, Z:-1.60 [[ 9.99968940e-01 4.36047011e-03 6.56547500e-03 4.67162419e+01] [-4.36093141e-03 9.99990490e-01 5.59462040e-05 6.49917859e-01] [-6.56516861e-03 -8.45760524e-05 9.99978445e-01 -1.59656423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.23592 meters Centerline goodness : 0.999605 Centerline is valid? [True, True] Translation: X:46.75, Y:0.65, Z:-1.59 [[ 9.99941565e-01 8.58839469e-03 6.56551574e-03 4.67486718e+01] [-8.58891244e-03 9.99963113e-01 5.06673723e-05 6.50066675e-01] [-6.56483841e-03 -1.07055051e-04 9.99978445e-01 -1.59218895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.265919999999994 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:46.78, Y:0.65, Z:-1.59 [[ 9.99910996e-01 1.16142997e-02 6.56560555e-03 4.67819966e+01] [-1.16148038e-02 9.99932545e-01 3.86492423e-05 6.50129488e-01] [-6.56471378e-03 -1.14904023e-04 9.99978445e-01 -1.58794589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.295919999999995 meters Centerline goodness : 0.999259 Centerline is valid? [True, True] Translation: X:46.81, Y:0.65, Z:-1.59 [[ 9.99852373e-01 1.58783484e-02 6.56584062e-03 4.68108820e+01] [-1.58787316e-02 9.99873925e-01 6.22684639e-06 6.50362318e-01] [-6.56491396e-03 -1.10483148e-04 9.99978445e-01 -1.59404290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.325919999999996 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:46.85, Y:0.65, Z:-1.58 [[ 9.99667288e-01 2.49441307e-02 6.56534090e-03 4.68451852e+01] [-2.49451680e-02 9.99688818e-01 7.61510418e-05 6.51843040e-01] [-6.56139836e-03 -2.39899237e-04 9.99978445e-01 -1.58157041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.35592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.87, Y:0.65, Z:-1.59 [[ 9.99622612e-01 2.66742965e-02 6.56625113e-03 4.68721405e+01] [-2.66745315e-02 9.99644170e-01 -5.18100138e-05 6.54378919e-01] [-6.56529666e-03 -1.23361211e-04 9.99978441e-01 -1.59243444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.38592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.90, Y:0.66, Z:-1.59 [[ 9.99491059e-01 3.12172772e-02 6.56536996e-03 4.69047736e+01] [-3.12183662e-02 9.99512586e-01 6.34274912e-05 6.57723736e-01] [-6.56018987e-03 -2.68355334e-04 9.99978446e-01 -1.59280491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.41592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.94, Y:0.66, Z:-1.59 [[ 9.99484606e-01 3.14231918e-02 6.56547842e-03 4.69382014e+01] [-3.14241884e-02 9.99506137e-01 4.86735023e-05 6.58066875e-01] [-6.56070650e-03 -2.54963247e-04 9.99978446e-01 -1.59302979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.44592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.97, Y:0.66, Z:-1.59 [[ 9.99363795e-01 3.50556721e-02 6.56548805e-03 4.69696337e+01] [-3.50567381e-02 9.99385323e-01 4.73258204e-05 6.64823346e-01] [-6.55979336e-03 -2.77460307e-04 9.99978446e-01 -1.59298750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.475919999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.00, Y:0.67, Z:-1.59 [[ 9.99355681e-01 3.52862426e-02 6.56531307e-03 4.70000975e+01] [-3.52874784e-02 9.99377200e-01 7.24610522e-05 6.68255005e-01] [-6.55866732e-03 -3.04087708e-04 9.99978445e-01 -1.59368183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.505919999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.04, Y:0.67, Z:-1.59 [[ 9.99252929e-01 3.80852287e-02 6.56507029e-03 4.70360924e+01] [-3.80867670e-02 9.99274430e-01 1.09395723e-04 6.72567214e-01] [-6.55614051e-03 -3.59356299e-04 9.99978444e-01 -1.59154167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.53592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.06, Y:0.67, Z:-1.59 [[ 9.99376295e-01 3.46974359e-02 6.56573030e-03 4.70635333e+01] [-3.46981531e-02 9.99397838e-01 -4.67929224e-06 6.74761675e-01] [-6.56193902e-03 -2.23142341e-04 9.99978445e-01 -1.59385354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.56592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.10, Y:0.68, Z:-1.60 [[ 9.99425759e-01 3.32423292e-02 6.56509429e-03 4.70985379e+01] [-3.32437319e-02 9.99447269e-01 1.04619252e-04 6.76299560e-01] [-6.55798778e-03 -3.22807409e-04 9.99978444e-01 -1.59859476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.59592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:47.14, Y:0.68, Z:-1.59 [[ 9.99277922e-01 3.74236473e-02 6.56546244e-03 4.71356850e+01] [-3.74246799e-02 9.99299451e-01 3.44392515e-05 6.80606231e-01] [-6.55957417e-03 -2.80124714e-04 9.99978447e-01 -1.58728106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.62592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.17, Y:0.68, Z:-1.59 [[ 9.99308179e-01 3.66066967e-02 6.56609390e-03 4.71693505e+01] [-3.66068239e-02 9.99329741e-01 -1.00850551e-04 6.84706412e-01] [-6.56538472e-03 -1.39583063e-04 9.99978438e-01 -1.58513368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.655919999999995 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:47.20, Y:0.69, Z:-1.59 [[ 9.99213630e-01 3.91024795e-02 6.56640505e-03 4.72006550e+01] [-3.91022074e-02 9.99235202e-01 -1.69863395e-04 6.87230453e-01] [-6.56802515e-03 -8.70311119e-05 9.99978427e-01 -1.58526684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.685919999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.23, Y:0.69, Z:-1.58 [[ 9.99382416e-01 3.45205575e-02 6.56633325e-03 4.72337427e+01] [-3.45202641e-02 9.99403986e-01 -1.58049105e-04 6.87104299e-01] [-6.56787556e-03 -6.87200617e-05 9.99978429e-01 -1.58314174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.71592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.26, Y:0.69, Z:-1.60 [[ 9.99652797e-01 2.55179360e-02 6.56654497e-03 4.72560181e+01] [-2.55172413e-02 9.99674364e-01 -1.89563262e-04 6.87453444e-01] [-6.56924393e-03 2.19373324e-05 9.99978422e-01 -1.59647775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.74592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.29, Y:0.70, Z:-1.59 [[ 9.99608745e-01 2.71893860e-02 6.56466502e-03 4.72930874e+01] [-2.71903081e-02 9.99630274e-01 5.12527713e-05 6.96529781e-01] [-6.56084436e-03 -2.29727983e-04 9.99978451e-01 -1.58691659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.77592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:47.33, Y:0.70, Z:-1.59 [[ 9.99659882e-01 2.52390784e-02 6.56577538e-03 4.73274516e+01] [-2.52389940e-02 9.99681441e-01 -9.57238071e-05 7.00725455e-01] [-6.56609977e-03 -7.00223159e-05 9.99978440e-01 -1.58590510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.80592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.35, Y:0.70, Z:-1.60 [[ 9.99861918e-01 1.52653527e-02 6.56607206e-03 4.73534667e+01] [-1.52647975e-02 9.99883477e-01 -1.34663979e-04 7.04676812e-01] [-6.56736266e-03 3.44156241e-05 9.99978434e-01 -1.59550373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.835919999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.39, Y:0.71, Z:-1.59 [[ 9.99903969e-01 1.22048342e-02 6.56463321e-03 4.73866790e+01] [-1.22053574e-02 9.99925511e-01 3.96423067e-05 7.05551308e-01] [-6.56366039e-03 -1.19762194e-04 9.99978452e-01 -1.59412267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.865919999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.42, Y:0.71, Z:-1.58 [[ 9.99952717e-01 7.17419836e-03 6.56469290e-03 4.74240826e+01] [-7.17456370e-03 9.99974262e-01 3.21048755e-05 7.05669960e-01] [-6.56429361e-03 -7.92021648e-05 9.99978452e-01 -1.58154542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.89592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.45, Y:0.71, Z:-1.58 [[ 9.99978443e-01 -2.61107998e-05 6.56599810e-03 4.74534737e+01] [ 2.69728649e-05 9.99999991e-01 -1.31203799e-04 7.05973577e-01] [-6.56599461e-03 1.31378075e-04 9.99978435e-01 -1.58360930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.92592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.48, Y:0.71, Z:-1.58 [[ 9.99957538e-01 -6.46650035e-03 6.56559576e-03 4.74848899e+01] [ 6.46719010e-03 9.99979084e-01 -8.38292738e-05 7.06562566e-01] [-6.56491635e-03 1.26286670e-04 9.99978443e-01 -1.58122135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.95592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.52, Y:0.71, Z:-1.58 [[ 9.99932372e-01 -9.59924146e-03 6.56557999e-03 4.75171584e+01] [ 9.59998700e-03 9.99953916e-01 -8.20457422e-05 7.06053647e-01] [-6.56448984e-03 1.45069676e-04 9.99978443e-01 -1.58357069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.98592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.55, Y:0.70, Z:-1.59 [[ 9.99880830e-01 -1.39721206e-02 6.56548219e-03 4.75462599e+01] [ 1.39728866e-02 9.99902372e-01 -7.08146394e-05 7.03883168e-01] [-6.56385178e-03 1.62544938e-04 9.99978444e-01 -1.59483673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.015919999999994 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:47.58, Y:0.70, Z:-1.59 [[ 9.99894537e-01 -1.29544669e-02 6.56487491e-03 4.75790309e+01] [ 1.29547647e-02 9.99916084e-01 -2.83935307e-06 7.03135823e-01] [-6.56428722e-03 8.78854633e-05 9.99978451e-01 -1.58529586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.045919999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.61, Y:0.70, Z:-1.60 [[ 9.99843689e-01 -1.64161800e-02 6.56559782e-03 4.76062795e+01] [ 1.64170174e-02 9.99865229e-01 -7.36624985e-05 6.99878796e-01] [-6.56350371e-03 1.81438518e-04 9.99978444e-01 -1.60076619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.075919999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.64, Y:0.70, Z:-1.59 [[ 9.99904716e-01 -1.21437984e-02 6.56406030e-03 4.76393684e+01] [ 1.21435995e-02 9.99926261e-01 7.01704725e-05 6.99551412e-01] [-6.56442841e-03 9.54753275e-06 9.99978454e-01 -1.58910916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.10592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.67, Y:0.70, Z:-1.60 [[ 9.99895538e-01 -1.28767047e-02 6.56527420e-03 4.76699263e+01] [ 1.28772580e-02 9.99917084e-01 -4.20080654e-05 6.98849937e-01] [-6.56418891e-03 1.26546407e-04 9.99978447e-01 -1.59630539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.13592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.70, Y:0.70, Z:-1.59 [[ 9.99938046e-01 -8.98947791e-03 6.56454199e-03 4.77025533e+01] [ 8.98951986e-03 9.99959593e-01 2.31166723e-05 6.97474261e-01] [-6.56448455e-03 3.58968405e-05 9.99978453e-01 -1.58708744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.16592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.73, Y:0.70, Z:-1.59 [[ 9.99921549e-01 -1.06673013e-02 6.56538357e-03 4.77341020e+01] [ 1.06678672e-02 9.99943095e-01 -5.11724248e-05 6.96623121e-01] [-6.56446409e-03 1.21207050e-04 9.99978446e-01 -1.58757934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.19592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.76, Y:0.69, Z:-1.60 [[ 9.99910292e-01 -1.16748733e-02 6.56551530e-03 4.77636779e+01] [ 1.16755328e-02 9.99931837e-01 -6.21282026e-05 6.94836418e-01] [-6.56434243e-03 1.38778518e-04 9.99978445e-01 -1.59653922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.225919999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.79, Y:0.69, Z:-1.60 [[ 9.99890491e-01 -1.32632161e-02 6.56459388e-03 4.77930092e+01] [ 1.32634237e-02 9.99912037e-01 1.19086137e-05 6.91273710e-01] [-6.56417438e-03 7.51616802e-05 9.99978453e-01 -1.60233252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.255919999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.83, Y:0.69, Z:-1.59 [[ 9.99947585e-01 -7.85779224e-03 6.56371863e-03 4.78273822e+01] [ 7.85742338e-03 9.99969127e-01 8.19833833e-05 6.91117934e-01] [-6.56416019e-03 -3.04051699e-05 9.99978455e-01 -1.59061798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.28592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.85, Y:0.69, Z:-1.60 [[ 9.99927822e-01 -1.00623413e-02 6.56506933e-03 4.78545324e+01] [ 1.00627628e-02 9.99949369e-01 -3.11783355e-05 6.90650944e-01] [-6.56442320e-03 9.72388205e-05 9.99978449e-01 -1.60227390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.31592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.89, Y:0.69, Z:-1.60 [[ 9.99943245e-01 -8.39200861e-03 6.56365315e-03 4.78877297e+01] [ 8.39165065e-03 9.99964786e-01 8.20765823e-05 6.91176000e-01] [-6.56411080e-03 -2.69920398e-05 9.99978456e-01 -1.60095829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.34592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.92, Y:0.69, Z:-1.60 [[ 9.99970643e-01 -3.95359636e-03 6.56369314e-03 4.79213958e+01] [ 3.95316467e-03 9.99992183e-01 7.87426913e-05 6.92191701e-01] [-6.56395315e-03 -5.27930198e-05 9.99978456e-01 -1.59918866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.37592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.95, Y:0.69, Z:-1.60 [[ 9.99978365e-01 4.25433866e-04 6.56414454e-03 4.79549289e+01] [-4.25708140e-04 9.99999909e-01 4.03865136e-05 6.93850371e-01] [-6.56412675e-03 -4.31800496e-05 9.99978455e-01 -1.59880307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.405919999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.99, Y:0.70, Z:-1.60 [[ 9.99974194e-01 2.91880838e-03 6.56450967e-03 4.79875430e+01] [-2.91893037e-03 9.99995740e-01 9.00372947e-06 6.95055422e-01] [-6.56445543e-03 -2.81648438e-05 9.99978453e-01 -1.59978012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.435919999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.02, Y:0.70, Z:-1.59 [[ 9.99939718e-01 8.80164242e-03 6.56442710e-03 4.80223336e+01] [-8.80193730e-03 9.99961262e-01 1.60305965e-05 6.97281477e-01] [-6.56403172e-03 -7.38093059e-05 9.99978454e-01 -1.58917581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.46592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:48.06, Y:0.70, Z:-1.59 [[ 9.99923796e-01 1.04544766e-02 6.56546246e-03 4.80552046e+01] [-1.04542269e-02 9.99945350e-01 -7.23447531e-05 6.98979912e-01] [-6.56585998e-03 3.70240599e-06 9.99978445e-01 -1.58774498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.49592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.08, Y:0.70, Z:-1.60 [[ 9.99938220e-01 8.96949781e-03 6.56533661e-03 4.80830011e+01] [-8.96928220e-03 9.99959773e-01 -6.22834929e-05 7.02257697e-01] [-6.56563116e-03 3.39328828e-06 9.99978446e-01 -1.59926090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.52592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:48.12, Y:0.70, Z:-1.60 [[ 9.99913979e-01 1.13555062e-02 6.56402800e-03 4.81154855e+01] [-1.13560021e-02 9.99935518e-01 3.82851765e-05 7.04305234e-01] [-6.56316999e-03 -1.12822999e-04 9.99978456e-01 -1.59944795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.55592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.15, Y:0.71, Z:-1.59 [[ 9.99864427e-01 1.51010102e-02 6.56412284e-03 4.81509828e+01] [-1.51015384e-02 9.99885965e-01 3.09157276e-05 7.05768477e-01] [-6.56290744e-03 -1.30039889e-04 9.99978455e-01 -1.58673419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.585919999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.18, Y:0.71, Z:-1.59 [[ 9.99871977e-01 1.45918307e-02 6.56567435e-03 4.81811875e+01] [-1.45915789e-02 9.99893534e-01 -8.62536859e-05 7.07494521e-01] [-6.56623392e-03 -9.56091207e-06 9.99978442e-01 -1.58723117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.615919999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.21, Y:0.71, Z:-1.59 [[ 9.99803319e-01 1.87141366e-02 6.56539952e-03 4.82129030e+01] [-1.87141067e-02 9.99824874e-01 -6.59796988e-05 7.11140322e-01] [-6.56548450e-03 -5.68988657e-05 9.99978445e-01 -1.59001053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.64592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:48.24, Y:0.72, Z:-1.59 [[ 9.99779794e-01 1.99312765e-02 6.56562946e-03 4.82437138e+01] [-1.99311670e-02 9.99801351e-01 -8.21128670e-05 7.17208119e-01] [-6.56596182e-03 -4.87658722e-05 9.99978443e-01 -1.58813872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.67592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.27, Y:0.72, Z:-1.60 [[ 9.99814683e-01 1.80968875e-02 6.56528017e-03 4.82686511e+01] [-1.80968890e-02 9.99836236e-01 -5.91915639e-05 7.20085035e-01] [-6.56527620e-03 -5.96305517e-05 9.99978447e-01 -1.60119208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.70592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:48.31, Y:0.73, Z:-1.59 [[ 9.99691934e-01 2.39367808e-02 6.56265144e-03 4.83063812e+01] [-2.39379854e-02 9.99713440e-01 1.05044402e-04 7.27535243e-01] [-6.55825642e-03 -2.62108696e-04 9.99978460e-01 -1.58897926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.73592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.34, Y:0.73, Z:-1.59 [[ 9.99693028e-01 2.38903859e-02 6.56496597e-03 4.83379503e+01] [-2.38906688e-02 9.99714577e-01 -3.53378828e-05 7.28377861e-01] [-6.56393641e-03 -1.21514392e-04 9.99978450e-01 -1.58787759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.765919999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.37, Y:0.73, Z:-1.59 [[ 9.99729527e-01 2.23108360e-02 6.56507785e-03 4.83669980e+01] [-2.23110398e-02 9.99751077e-01 -4.21880212e-05 7.33178978e-01] [-6.56438490e-03 -1.04297103e-04 9.99978449e-01 -1.58915054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.795919999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.40, Y:0.74, Z:-1.59 [[ 9.99747738e-01 2.14794662e-02 6.56445020e-03 4.83998339e+01] [-2.14798926e-02 9.99769280e-01 -5.55411116e-06 7.35874274e-01] [-6.56305496e-03 -1.35450975e-04 9.99978454e-01 -1.58954279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.825919999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.42, Y:0.74, Z:-1.60 [[ 9.99834206e-01 1.69841522e-02 6.56500874e-03 4.84243754e+01] [-1.69842691e-02 9.99855756e-01 -3.79466348e-05 7.39291493e-01] [-6.56470627e-03 -7.35615317e-05 9.99978449e-01 -1.60182319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.85592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.46, Y:0.74, Z:-1.59 [[ 9.99785296e-01 1.96545026e-02 6.56223902e-03 4.84604220e+01] [-1.96556944e-02 9.99806801e-01 1.17173934e-04 7.42464083e-01] [-6.55866821e-03 -2.46134141e-04 9.99978461e-01 -1.59266504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.88592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:48.49, Y:0.75, Z:-1.59 [[ 9.99792864e-01 1.92650752e-02 6.56395888e-03 4.84904381e+01] [-1.92656060e-02 9.99814401e-01 1.76441318e-05 7.45952245e-01] [-6.56240070e-03 -1.44099123e-04 9.99978457e-01 -1.58799436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.91592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.52, Y:0.75, Z:-1.59 [[ 9.99739704e-01 2.18505342e-02 6.56348457e-03 4.85241936e+01] [-2.18512947e-02 9.99761231e-01 4.41658450e-05 7.50591628e-01] [-6.56095237e-03 -1.87574984e-04 9.99978459e-01 -1.58836650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.94592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.55, Y:0.76, Z:-1.60 [[ 9.99751068e-01 2.13238723e-02 6.56469504e-03 4.85518681e+01] [-2.13241766e-02 9.99772614e-01 -2.36426252e-05 7.55211331e-01] [-6.56370647e-03 -1.16349977e-04 9.99978452e-01 -1.59860629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.975919999999995 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:48.59, Y:0.76, Z:-1.59 [[ 9.99700432e-01 2.35791619e-02 6.56276009e-03 4.85875970e+01] [-2.35802154e-02 9.99721945e-01 8.31812029e-05 7.58174221e-01] [-6.55897394e-03 -2.37907581e-04 9.99978461e-01 -1.59120374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.005919999999996 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:48.62, Y:0.76, Z:-1.59 [[ 9.99673406e-01 2.46979411e-02 6.56459344e-03 4.86151307e+01] [-2.46983503e-02 9.99694949e-01 -1.87487276e-05 7.64250868e-01] [-6.56305396e-03 -1.43392024e-04 9.99978453e-01 -1.59146354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.03592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.65, Y:0.77, Z:-1.59 [[ 9.99729752e-01 2.23013920e-02 6.56282441e-03 4.86510111e+01] [-2.23023695e-02 9.99751268e-01 7.57954896e-05 7.65684220e-01] [-6.55950168e-03 -2.22141541e-04 9.99978462e-01 -1.58950925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.06592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.68, Y:0.77, Z:-1.60 [[ 9.99774916e-01 2.01746250e-02 6.56524323e-03 4.86784035e+01] [-2.01746858e-02 9.99796469e-01 -5.69692593e-05 7.73089856e-01] [-6.56505633e-03 -7.54952831e-05 9.99978447e-01 -1.59610220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.09592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.71, Y:0.78, Z:-1.60 [[ 9.99778149e-01 2.00143704e-02 6.56331376e-03 4.87091762e+01] [-2.00151162e-02 9.99799676e-01 4.79657546e-05 7.75453423e-01] [-6.56103897e-03 -1.79320601e-04 9.99978460e-01 -1.59840719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.12592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.74, Y:0.78, Z:-1.60 [[ 9.99807711e-01 1.84789804e-02 6.56260320e-03 4.87422995e+01] [-1.84799396e-02 9.99829228e-01 8.55545054e-05 7.77814363e-01] [-6.55990153e-03 -2.06814565e-04 9.99978462e-01 -1.59834154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.155919999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.77, Y:0.78, Z:-1.60 [[ 9.99827138e-01 1.73960057e-02 6.56299617e-03 4.87736187e+01] [-1.73968048e-02 9.99848662e-01 6.46778284e-05 7.80356530e-01] [-6.56087780e-03 -1.78841811e-04 9.99978461e-01 -1.60110507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.185919999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.81, Y:0.79, Z:-1.60 [[ 9.99860738e-01 1.53440170e-02 6.56238226e-03 4.88051650e+01] [-1.53449865e-02 9.99882254e-01 9.74119068e-05 7.86275765e-01] [-6.56011487e-03 -1.98098008e-04 9.99978463e-01 -1.60135356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.21592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.84, Y:0.79, Z:-1.60 [[ 9.99839631e-01 1.66627856e-02 6.56228778e-03 4.88359251e+01] [-1.66638169e-02 9.99861144e-01 1.02496054e-04 7.88593393e-01] [-6.55966869e-03 -2.11832379e-04 9.99978463e-01 -1.60118460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.24592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.87, Y:0.79, Z:-1.60 [[ 9.99871336e-01 1.46372721e-02 6.56211954e-03 4.88683638e+01] [-1.46383200e-02 9.99892848e-01 1.11687162e-04 7.88067148e-01] [-6.55978160e-03 -2.07731198e-04 9.99978463e-01 -1.60412092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.27592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:48.90, Y:0.79, Z:-1.59 [[ 9.99846101e-01 1.62700804e-02 6.56199557e-03 4.89046626e+01] [-1.62712084e-02 9.99867608e-01 1.18548912e-04 7.90287009e-01] [-6.55919802e-03 -2.25302265e-04 9.99978463e-01 -1.59070333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.30592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.93, Y:0.79, Z:-1.60 [[ 9.99919083e-01 1.08963257e-02 6.56483394e-03 4.89289451e+01] [-1.08962866e-02 9.99940633e-01 -4.17209617e-05 7.93722761e-01] [-6.56489881e-03 -2.98147261e-05 9.99978450e-01 -1.60195679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.335919999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.96, Y:0.79, Z:-1.60 [[ 9.99916127e-01 1.11659933e-02 6.56194849e-03 4.89613820e+01] [-1.11669844e-02 9.99937641e-01 1.14429110e-04 7.94311966e-01] [-6.56026158e-03 -1.87696689e-04 9.99978464e-01 -1.60213026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.365919999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.99, Y:0.79, Z:-1.60 [[ 9.99924638e-01 1.03758709e-02 6.56198395e-03 4.89940443e+01] [-1.03768323e-02 9.99946153e-01 1.12481952e-04 7.94773813e-01] [-6.56046350e-03 -1.80566082e-04 9.99978464e-01 -1.60231613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.39592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:49.03, Y:0.79, Z:-1.59 [[ 9.99914771e-01 1.12866742e-02 6.56220247e-03 4.90286437e+01] [-1.12875753e-02 9.99936288e-01 1.00292532e-04 7.94346019e-01] [-6.56065241e-03 -1.74355339e-04 9.99978463e-01 -1.59370000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.42592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.06, Y:0.80, Z:-1.60 [[ 9.99933837e-01 9.44650675e-03 6.56395177e-03 4.90562077e+01] [-9.44671517e-03 9.99955379e-01 7.48162321e-07 7.95241667e-01] [-6.56365181e-03 -6.27558955e-05 9.99978457e-01 -1.60316579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.45592 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:49.09, Y:0.80, Z:-1.59 [[ 9.99881277e-01 1.39417185e-02 6.56207495e-03 4.90935241e+01] [-1.39427061e-02 9.99902790e-01 1.04773986e-04 7.98458938e-01] [-6.55997633e-03 -1.96254630e-04 9.99978464e-01 -1.59137935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.48592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:49.12, Y:0.80, Z:-1.60 [[ 9.99943500e-01 8.36003870e-03 6.56553801e-03 4.91153441e+01] [-8.35961445e-03 9.99965054e-01 -9.20584111e-05 7.99163443e-01] [-6.56607818e-03 3.71678434e-05 9.99978442e-01 -1.60267222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.515919999999994 meters Centerline goodness : 0.998959 Centerline is valid? [True, True] Translation: X:49.15, Y:0.80, Z:-1.59 [[ 9.99879044e-01 1.41013119e-02 6.56131420e-03 4.91542449e+01] [-1.41024851e-02 9.99900546e-01 1.32574847e-04 7.99206421e-01] [-6.55879217e-03 -2.25089647e-04 9.99978466e-01 -1.59133819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.545919999999995 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:49.19, Y:0.80, Z:-1.59 [[ 9.99905708e-01 1.20614515e-02 6.56479837e-03 4.91863784e+01] [-1.20613715e-02 9.99927258e-01 -5.17735498e-05 7.99322112e-01] [-6.56494529e-03 -2.74118042e-05 9.99978450e-01 -1.59309798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.575919999999996 meters Centerline goodness : 0.998759 Centerline is valid? [True, True] Translation: X:49.22, Y:0.80, Z:-1.59 [[ 9.99908222e-01 1.18515651e-02 6.56420519e-03 4.92199671e+01] [-1.18516811e-02 9.99929766e-01 -2.12296930e-05 8.00424898e-01] [-6.56399576e-03 -5.65691220e-05 9.99978455e-01 -1.59225966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.60592 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:49.25, Y:0.80, Z:-1.59 [[ 9.99922883e-01 1.05419382e-02 6.56470247e-03 4.92519429e+01] [-1.05418600e-02 9.99944432e-01 -4.65077376e-05 8.02185404e-01] [-6.56482797e-03 -2.27000234e-05 9.99978451e-01 -1.59453834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.63592 meters Centerline goodness : 0.998909 Centerline is valid? [True, True] Translation: X:49.28, Y:0.80, Z:-1.59 [[ 9.99931453e-01 9.69526415e-03 6.56440425e-03 4.92838879e+01] [-9.69526688e-03 9.99952999e-01 -3.14068454e-05 8.03155135e-01] [-6.56440022e-03 -3.22389585e-05 9.99978454e-01 -1.59337151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.66592 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:49.32, Y:0.81, Z:-1.59 [[ 9.99933581e-01 9.47342407e-03 6.56415576e-03 4.93169242e+01] [-9.47350102e-03 9.99955125e-01 -1.93704645e-05 8.05825467e-01] [-6.56404470e-03 -4.28163584e-05 9.99978456e-01 -1.59247631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.695919999999994 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:49.35, Y:0.81, Z:-1.60 [[ 9.99924631e-01 1.03752384e-02 6.56412561e-03 4.93467596e+01] [-1.03753443e-02 9.99946175e-01 -1.79337319e-05 8.08999686e-01] [-6.56395836e-03 -5.01726827e-05 9.99978456e-01 -1.59978543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.725919999999995 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:49.38, Y:0.81, Z:-1.60 [[ 9.99921185e-01 1.07030179e-02 6.56271709e-03 4.93792853e+01] [-1.07035667e-02 9.99942714e-01 4.85128472e-05 8.10878407e-01] [-6.56182190e-03 -1.18753504e-04 9.99978464e-01 -1.60260973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.755919999999996 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:49.41, Y:0.81, Z:-1.60 [[ 9.99920794e-01 1.07397099e-02 6.56233646e-03 4.94124809e+01] [-1.07403753e-02 9.99942318e-01 6.61668595e-05 8.13535176e-01] [-6.56124732e-03 -1.36643575e-04 9.99978465e-01 -1.59578351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.78592 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:49.44, Y:0.82, Z:-1.60 [[ 9.99938362e-01 8.95497206e-03 6.56359257e-03 4.94430397e+01] [-8.95522610e-03 9.99959901e-01 9.31649851e-06 8.18678778e-01] [-6.56324595e-03 -6.80943798e-05 9.99978459e-01 -1.59740205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.81592 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:49.47, Y:0.82, Z:-1.60 [[ 9.99954594e-01 6.90880771e-03 6.56337755e-03 4.94749015e+01] [-6.90907928e-03 9.99976132e-01 1.87037346e-05 8.23775146e-01] [-6.56309167e-03 -6.40497812e-05 9.99978461e-01 -1.59815243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.84592 meters Centerline goodness : 0.999004 Centerline is valid? [True, True] Translation: X:49.51, Y:0.83, Z:-1.60 [[ 9.99960461e-01 6.00056128e-03 6.56272588e-03 4.95085272e+01] [-6.00099771e-03 9.99981993e-01 4.68122761e-05 8.27049232e-01] [-6.56232680e-03 -8.61933281e-05 9.99978464e-01 -1.59659385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.87592 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:49.54, Y:0.83, Z:-1.60 [[ 9.99972926e-01 3.32716378e-03 6.56329793e-03 4.95391637e+01] [-3.32738176e-03 9.99994464e-01 2.22920599e-05 8.31315648e-01] [-6.56318742e-03 -4.41300541e-05 9.99978461e-01 -1.60294991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.905919999999995 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:49.57, Y:0.83, Z:-1.60 [[ 9.99978339e-01 5.05110814e-04 6.56251104e-03 4.95706690e+01] [-5.05486111e-04 9.99999871e-01 5.55295126e-05 8.32293386e-01] [-6.56248214e-03 -5.88455680e-05 9.99978465e-01 -1.60443931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.935919999999996 meters Centerline goodness : 0.999405 Centerline is valid? [True, True] Translation: X:49.60, Y:0.83, Z:-1.60 [[ 9.99971696e-01 -3.68080425e-03 6.56185266e-03 4.96026385e+01] [ 3.68033888e-03 9.99993224e-01 8.29938092e-05 8.32823831e-01] [-6.56211368e-03 -5.88416188e-05 9.99978467e-01 -1.60260025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.96592 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:49.64, Y:0.83, Z:-1.60 [[ 9.99965552e-01 -5.08340022e-03 6.56159775e-03 4.96355774e+01] [ 5.08289554e-03 9.99987078e-01 9.35884992e-05 8.34300377e-01] [-6.56198871e-03 -6.02333593e-05 9.99978468e-01 -1.60098587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.99592 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:49.67, Y:0.84, Z:-1.60 [[ 9.99936642e-01 -9.14586921e-03 6.56233230e-03 4.96668195e+01] [ 9.14565210e-03 9.99958176e-01 6.30938317e-05 8.35577274e-01] [-6.56263488e-03 -3.07302614e-06 9.99978466e-01 -1.60170109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.02592 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:49.70, Y:0.84, Z:-1.61 [[ 9.99887310e-01 -1.35022683e-02 6.56172282e-03 4.96981272e+01] [ 1.35019808e-02 9.99908840e-01 8.81070786e-05 8.35776558e-01] [-6.56231430e-03 4.99105931e-07 9.99978468e-01 -1.60508550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.05592 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:49.73, Y:0.84, Z:-1.61 [[ 9.99866792e-01 -1.49448845e-02 6.56119823e-03 4.97310528e+01] [ 1.49444875e-02 9.99888319e-01 1.09533202e-04 8.36447219e-01] [-6.56210243e-03 -1.14648667e-05 9.99978469e-01 -1.60552785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.085919999999994 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:49.76, Y:0.84, Z:-1.61 [[ 9.99841306e-01 -1.65623196e-02 6.56145774e-03 4.97627866e+01] [ 1.65620270e-02 9.99862835e-01 9.89307514e-05 8.36985288e-01] [-6.56219627e-03 9.75598867e-06 9.99978469e-01 -1.60742180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.115919999999996 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:49.80, Y:0.84, Z:-1.61 [[ 9.99805652e-01 -1.85906584e-02 6.56094801e-03 4.97954967e+01] [ 1.85902739e-02 9.99827179e-01 1.19593801e-04 8.35525527e-01] [-6.56203747e-03 2.39926263e-06 9.99978470e-01 -1.60652992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.14592 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:49.83, Y:0.84, Z:-1.60 [[ 9.99793925e-01 -1.92109516e-02 6.56098728e-03 4.98274354e+01] [ 1.92105913e-02 9.99815453e-01 1.17946945e-04 8.35363794e-01] [-6.56204234e-03 8.11780568e-06 9.99978470e-01 -1.60422582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.17592 meters Centerline goodness : 0.923986 Centerline is valid? [True, False] Translation: X:49.83, Y:0.83, Z:-1.60 [[ 9.99953775e-01 -7.64330759e-03 5.83334554e-03 4.98296244e+01] [ 7.55805861e-03 9.99866321e-01 1.44988152e-02 8.25630829e-01] [-5.94338465e-03 -1.44540562e-02 9.99877871e-01 -1.60334235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.20592 meters Centerline goodness : 0.991072 Centerline is valid? [False, True] Translation: X:49.85, Y:0.83, Z:-1.60 [[ 9.99999447e-01 -6.61340190e-04 -8.17606066e-04 4.98536843e+01] [ 6.70890660e-04 9.99930900e-01 1.17364556e-02 8.29417120e-01] [ 8.09787780e-04 -1.17369976e-02 9.99930791e-01 -1.60036818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.23592 meters Centerline goodness : 0.950415 Centerline is valid? [True, True] Translation: X:49.87, Y:0.85, Z:-1.61 [[ 9.99231008e-01 3.92089942e-02 -2.18936458e-04 4.98722626e+01] [-3.92087093e-02 9.99230345e-01 1.18133774e-03 8.48182849e-01] [ 2.65087017e-04 -1.17184509e-03 9.99999278e-01 -1.61117984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.265919999999994 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:49.93, Y:0.82, Z:-1.59 [[ 9.98546244e-01 -5.39015168e-02 -1.60820810e-04 4.99267271e+01] [ 5.39015448e-02 9.98546240e-01 1.75260999e-04 8.24384943e-01] [ 1.51140181e-04 -1.83674702e-04 9.99999972e-01 -1.59302483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.295919999999995 meters Centerline goodness : 0.947620 Centerline is valid? [True, False] Translation: X:49.94, Y:0.82, Z:-1.59 [[ 9.99052846e-01 -4.29895285e-02 6.73132523e-03 4.99388845e+01] [ 4.29729659e-02 9.99072888e-01 2.58618761e-03 8.23853629e-01] [-6.83626352e-03 -2.29447308e-03 9.99974000e-01 -1.59378770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.325919999999996 meters Centerline goodness : 0.836735 Centerline is valid? [False, False] Translation: X:49.93, Y:0.83, Z:-1.59 [[ 9.99415958e-01 -2.88172453e-02 1.83659873e-02 4.99281173e+01] [ 2.87974368e-02 9.99584367e-01 1.34215542e-03 8.25351033e-01] [-1.83970310e-02 -8.12478186e-04 9.99830430e-01 -1.59381960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.35592 meters Centerline goodness : 0.974174 Centerline is valid? [False, True] Translation: X:49.95, Y:0.82, Z:-1.59 [[ 9.99785529e-01 -1.42226089e-02 1.50536896e-02 4.99531516e+01] [ 1.41615874e-02 9.99891097e-01 4.15245966e-03 8.24175081e-01] [-1.51111090e-02 -3.93838494e-03 9.99878064e-01 -1.59014168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.38592 meters Centerline goodness : 0.926245 Centerline is valid? [True, False] Translation: X:49.98, Y:0.82, Z:-1.59 [[ 9.99951863e-01 -2.87236341e-03 9.38196094e-03 4.99757102e+01] [ 2.80894163e-03 9.99973164e-01 6.76616683e-03 8.22669585e-01] [-9.40114406e-03 -6.73948775e-03 9.99933097e-01 -1.58566561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.41592 meters Centerline goodness : 0.999801 Centerline is valid? [False, True] Translation: X:49.98, Y:0.82, Z:-1.59 [[ 9.99961190e-01 1.02004140e-03 8.75093631e-03 4.99774528e+01] [-1.12494953e-03 9.99927464e-01 1.19916827e-02 8.17941457e-01] [-8.73806955e-03 -1.20010616e-02 9.99889804e-01 -1.58609201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.445919999999994 meters Centerline goodness : 0.951753 Centerline is valid? [True, True] Translation: X:49.96, Y:0.83, Z:-1.60 [[ 9.99531519e-01 2.93036478e-02 8.83394716e-03 4.99609496e+01] [-2.93053299e-02 9.99570505e-01 6.09989060e-05 8.30160760e-01] [-8.82836553e-03 -3.19852065e-04 9.99960978e-01 -1.60214006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.475919999999995 meters Centerline goodness : 0.998412 Centerline is valid? [True, True] Translation: X:50.07, Y:0.81, Z:-1.59 [[ 9.99095276e-01 -4.16150173e-02 8.76465827e-03 5.00671965e+01] [ 4.15992929e-02 9.99132435e-01 1.96887705e-03 8.14400810e-01] [-8.83898921e-03 -1.60249218e-03 9.99959651e-01 -1.59118958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.505919999999996 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:50.07, Y:0.80, Z:-1.58 [[ 9.99257983e-01 -3.74782687e-02 8.88049121e-03 5.00717092e+01] [ 3.74903645e-02 9.99296269e-01 -1.19947986e-03 8.01846248e-01] [-8.82928731e-03 1.53152268e-03 9.99959848e-01 -1.58461417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.53592 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:50.10, Y:0.80, Z:-1.58 [[ 9.99303405e-01 -3.62632866e-02 8.81356723e-03 5.01008582e+01] [ 3.62613897e-02 9.99342269e-01 3.74983508e-04 8.00262020e-01] [-8.82136841e-03 -5.51301004e-05 9.99961089e-01 -1.58116190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.56592 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:50.13, Y:0.80, Z:-1.58 [[ 9.99394978e-01 -3.36455749e-02 8.81210529e-03 5.01335337e+01] [ 3.36432728e-02 9.99433821e-01 4.09391752e-04 8.01439980e-01] [-8.82089029e-03 -1.12675999e-04 9.99961089e-01 -1.57589432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.59592 meters Centerline goodness : 0.998561 Centerline is valid? [True, True] Translation: X:50.16, Y:0.80, Z:-1.58 [[ 9.99346408e-01 -3.50572447e-02 8.81738284e-03 5.01606325e+01] [ 3.50560442e-02 9.99385306e-01 2.90720331e-04 8.02063451e-01] [-8.82215470e-03 1.85722441e-05 9.99961084e-01 -1.57760912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.62592 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:50.19, Y:0.80, Z:-1.59 [[ 9.99481662e-01 -3.09642151e-02 8.81051024e-03 5.01917700e+01] [ 3.09615039e-02 9.99520479e-01 4.43979478e-04 8.00376830e-01] [-8.82003289e-03 -1.70962699e-04 9.99961088e-01 -1.58886357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.655919999999995 meters Centerline goodness : 0.996230 Centerline is valid? [True, True] Translation: X:50.20, Y:0.79, Z:-1.59 [[ 9.99542450e-01 -2.89348727e-02 8.81275597e-03 5.01977200e+01] [ 2.89325257e-02 9.99581289e-01 3.93711764e-04 7.88218835e-01] [-8.82045798e-03 -1.38556332e-04 9.99961089e-01 -1.59424303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.685919999999996 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:50.24, Y:0.80, Z:-1.58 [[ 9.99179207e-01 -3.95535936e-02 8.74220778e-03 5.02442607e+01] [ 3.95418092e-02 9.99216766e-01 1.51681377e-03 7.99956869e-01] [-8.79535602e-03 -1.16988607e-03 9.99960636e-01 -1.58193596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.71592 meters Centerline goodness : 0.981600 Centerline is valid? [True, True] Translation: X:50.25, Y:0.79, Z:-1.60 [[ 9.99919467e-01 -9.14686790e-03 8.79742459e-03 5.02485400e+01] [ 9.14222529e-03 9.99958048e-01 5.67795236e-04 7.86337412e-01] [-8.80224907e-03 -4.87321472e-04 9.99961141e-01 -1.59852863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.74592 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:50.30, Y:0.80, Z:-1.59 [[ 9.99941048e-01 6.39528951e-03 8.77504352e-03 5.03014961e+01] [-6.40912371e-03 9.99978261e-01 1.54932474e-03 8.03375840e-01] [-8.76494438e-03 -1.60547374e-03 9.99960298e-01 -1.58881187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.77592 meters Centerline goodness : 0.925518 Centerline is valid? [True, False] Translation: X:50.30, Y:0.80, Z:-1.59 [[ 9.99943100e-01 6.31298708e-03 8.59895427e-03 5.03020513e+01] [-6.32964258e-03 9.99978141e-01 1.91108501e-03 8.01635159e-01] [-8.58670166e-03 -1.96540458e-03 9.99961202e-01 -1.58887874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.80592 meters Centerline goodness : 0.935365 Centerline is valid? [False, False] Translation: X:50.30, Y:0.80, Z:-1.59 [[ 9.99945478e-01 6.32768136e-03 8.30669154e-03 5.03028613e+01] [-6.34154985e-03 9.99978540e-01 1.64427961e-03 8.02877970e-01] [-8.29610880e-03 -1.69686725e-03 9.99964147e-01 -1.59022396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.835919999999994 meters Centerline goodness : 0.998064 Centerline is valid? [False, True] Translation: X:50.32, Y:0.80, Z:-1.59 [[ 9.99995271e-01 1.36178903e-03 2.75728673e-03 5.03234886e+01] [-1.37110744e-03 9.99993346e-01 3.38049505e-03 8.01603070e-01] [-2.75266486e-03 -3.38425960e-03 9.99990485e-01 -1.58707177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.865919999999996 meters Centerline goodness : 0.994083 Centerline is valid? [True, True] Translation: X:50.38, Y:0.85, Z:-1.59 [[ 9.97712027e-01 6.75464929e-02 2.86044392e-03 5.03813528e+01] [-6.75469259e-02 9.97716097e-01 5.49318484e-05 8.45057436e-01] [-2.85020049e-03 -2.48020359e-04 9.99995907e-01 -1.58751272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.89592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:50.38, Y:0.81, Z:-1.60 [[ 9.99959936e-01 8.47843629e-03 2.87104609e-03 5.03762833e+01] [-8.47748936e-03 9.99964007e-01 -3.41831022e-04 8.09105190e-01] [-2.87384094e-03 3.17478064e-04 9.99995820e-01 -1.60028968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.92592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:50.41, Y:0.81, Z:-1.60 [[ 9.99936807e-01 1.08728951e-02 2.85682188e-03 5.04080221e+01] [-1.08732062e-02 9.99940881e-01 9.33739536e-05 8.12168409e-01] [-2.85563774e-03 -1.24430866e-04 9.99995915e-01 -1.59806432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.95592 meters Centerline goodness : 0.999502 Centerline is valid? [True, True] Translation: X:50.44, Y:0.81, Z:-1.60 [[ 9.99924234e-01 1.19735045e-02 2.85683286e-03 5.04397080e+01] [-1.19738191e-02 9.99928307e-01 9.30367652e-05 8.14089985e-01] [-2.85551407e-03 -1.27236916e-04 9.99995915e-01 -1.59853443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.98592 meters Centerline goodness : 0.998659 Centerline is valid? [True, True] Translation: X:50.48, Y:0.82, Z:-1.58 [[ 9.99854318e-01 1.68279622e-02 2.85684376e-03 5.04760465e+01] [-1.68282956e-02 9.99858390e-01 9.27006278e-05 8.16909133e-01] [-2.85487924e-03 -1.40762934e-04 9.99995915e-01 -1.58470845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.015919999999994 meters Centerline goodness : 0.998459 Centerline is valid? [True, True] Translation: X:50.51, Y:0.82, Z:-1.58 [[ 9.99873833e-01 1.56250305e-02 2.85941400e-03 5.05083935e+01] [-1.56251375e-02 9.99877920e-01 1.50819386e-05 8.19623490e-01] [-2.85882926e-03 -5.97587727e-05 9.99995912e-01 -1.58468432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.045919999999995 meters Centerline goodness : 0.998261 Centerline is valid? [True, True] Translation: X:50.54, Y:0.83, Z:-1.59 [[ 9.99870787e-01 1.58187478e-02 2.85949432e-03 5.05380553e+01] [-1.58188487e-02 9.99874874e-01 1.26394114e-05 8.25887971e-01] [-2.85893659e-03 -5.78716861e-05 9.99995912e-01 -1.58520706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.075919999999996 meters Centerline goodness : 0.920685 Centerline is valid? [True, False] Translation: X:50.54, Y:0.82, Z:-1.58 [[ 9.99990652e-01 3.61606234e-03 2.37082986e-03 5.05374582e+01] [-3.63241726e-03 9.99969385e-01 6.93076732e-03 8.24399224e-01] [-2.34569519e-03 -6.93931437e-03 9.99973171e-01 -1.58443588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.10592 meters Centerline goodness : 0.998161 Centerline is valid? [False, True] Translation: X:50.54, Y:0.82, Z:-1.58 [[ 9.99990910e-01 3.57056287e-03 2.33043715e-03 5.05376998e+01] [-3.58644604e-03 9.99970125e-01 6.84731380e-03 8.24715307e-01] [-2.30591877e-03 -6.85560955e-03 9.99973841e-01 -1.58438064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.13592 meters Centerline goodness : 0.951974 Centerline is valid? [True, True] Translation: X:50.59, Y:0.79, Z:-1.60 [[ 9.97446038e-01 -7.13744799e-02 2.66190504e-03 5.05919900e+01] [ 7.13747628e-02 9.97449569e-01 -1.13102196e-05 7.94964470e-01] [-2.65430877e-03 2.01274174e-04 9.99996457e-01 -1.60189222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.16592 meters Centerline goodness : 0.968469 Centerline is valid? [True, True] Translation: X:50.62, Y:0.81, Z:-1.60 [[ 9.97883591e-01 -6.49708692e-02 2.66912918e-03 5.06218160e+01] [ 6.49715554e-02 9.97887102e-01 -1.71073632e-04 8.05743326e-01] [-2.65237478e-03 3.44129045e-04 9.99996423e-01 -1.60087535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.195919999999994 meters Centerline goodness : 0.998309 Centerline is valid? [True, True] Translation: X:50.62, Y:0.84, Z:-1.59 [[ 9.99984710e-01 -4.84352593e-03 2.66830248e-03 5.06237836e+01] [ 4.84395485e-03 9.99988256e-01 -1.54307274e-04 8.40363225e-01] [-2.66752375e-03 1.67230051e-04 9.99996428e-01 -1.58599102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.225919999999995 meters Centerline goodness : 0.998309 Centerline is valid? [True, True] Translation: X:50.66, Y:0.84, Z:-1.59 [[ 9.99984460e-01 -4.90263221e-03 2.65415328e-03 5.06564396e+01] [ 4.90236540e-03 9.99987978e-01 1.07021278e-04 8.41959941e-01] [-2.65464606e-03 -9.40079859e-05 9.99996472e-01 -1.58602059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.255919999999996 meters Centerline goodness : 0.997964 Centerline is valid? [True, True] Translation: X:50.69, Y:0.84, Z:-1.59 [[ 9.99967841e-01 -7.56778103e-03 2.65438353e-03 5.06871356e+01] [ 7.56753486e-03 9.99971361e-01 1.02770112e-04 8.44328929e-01] [-2.65508525e-03 -8.26796666e-05 9.99996472e-01 -1.58663517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.28592 meters Centerline goodness : 0.998409 Centerline is valid? [True, True] Translation: X:50.72, Y:0.84, Z:-1.59 [[ 9.99915463e-01 -1.27288384e-02 2.65406623e-03 5.07184792e+01] [ 1.27285950e-02 9.99918982e-01 1.08598105e-04 8.44647141e-01] [-2.65523353e-03 -7.48063898e-05 9.99996472e-01 -1.59122255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.31592 meters Centerline goodness : 0.932843 Centerline is valid? [True, False] Translation: X:50.74, Y:0.85, Z:-1.59 [[ 9.99992205e-01 -1.71423745e-03 -3.55686264e-03 5.07410145e+01] [ 1.72130113e-03 9.99996551e-01 1.98382052e-03 8.46509447e-01] [ 3.55344963e-03 -1.98992749e-03 9.99991707e-01 -1.58647093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.34592 meters Centerline goodness : 0.998162 Centerline is valid? [False, True] Translation: X:50.76, Y:0.84, Z:-1.58 [[ 9.99955965e-01 -3.64139042e-03 -8.64915663e-03 5.07632241e+01] [ 3.71652180e-03 9.99955366e-01 8.68642490e-03 8.41756454e-01] [ 8.61713991e-03 -8.71818718e-03 9.99924866e-01 -1.58222215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.37592 meters Centerline goodness : 0.997464 Centerline is valid? [True, True] Translation: X:50.77, Y:0.85, Z:-1.60 [[ 9.99964097e-01 -1.98022388e-03 -8.23912127e-03 5.07667966e+01] [ 1.97684983e-03 9.99997959e-01 -4.17638824e-04 8.49680860e-01] [ 8.23993147e-03 4.01336324e-04 9.99965971e-01 -1.59554677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.405919999999995 meters Centerline goodness : 0.971758 Centerline is valid? [True, True] Translation: X:50.79, Y:0.87, Z:-1.61 [[ 9.98697874e-01 5.03561938e-02 -8.17371165e-03 5.07884606e+01] [-5.03693117e-02 9.98729670e-01 -1.40691667e-03 8.66852993e-01] [ 8.09248136e-03 1.81678892e-03 9.99965605e-01 -1.61333087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.435919999999996 meters Centerline goodness : 0.998859 Centerline is valid? [True, True] Translation: X:50.84, Y:0.86, Z:-1.59 [[ 9.99939399e-01 7.37487682e-03 -8.17376938e-03 5.08405146e+01] [-7.38660320e-03 9.99971731e-01 -1.40537619e-03 8.63259180e-01] [ 8.16317384e-03 1.46566741e-03 9.99965607e-01 -1.58860008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.46592 meters Centerline goodness : 0.998955 Centerline is valid? [True, True] Translation: X:50.87, Y:0.86, Z:-1.59 [[ 9.99942020e-01 6.96738291e-03 -8.21044346e-03 5.08698252e+01] [-6.96993249e-03 9.99975670e-01 -2.81955950e-04 8.64171904e-01] [ 8.20827921e-03 3.39165839e-04 9.99966254e-01 -1.58659589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.49592 meters Centerline goodness : 0.935689 Centerline is valid? [True, False] Translation: X:50.89, Y:0.86, Z:-1.58 [[ 9.99938688e-01 3.36586416e-03 -1.05494377e-02 5.08912964e+01] [-3.30515122e-03 9.99977907e-01 5.76724772e-03 8.59870638e-01] [ 1.05686164e-02 -5.73202663e-03 9.99927721e-01 -1.58346745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.52592 meters Centerline goodness : 0.891100 Centerline is valid? [False, False] Translation: X:50.91, Y:0.86, Z:-1.58 [[ 9.99931385e-01 -1.26025224e-03 -1.16463087e-02 5.09137002e+01] [ 1.38877515e-03 9.99938159e-01 1.10340155e-02 8.55930853e-01] [ 1.16316828e-02 -1.10494325e-02 9.99871299e-01 -1.58198154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.55592 meters Centerline goodness : 0.999405 Centerline is valid? [False, True] Translation: X:50.94, Y:0.86, Z:-1.58 [[ 9.99911699e-01 5.02915968e-03 -1.23004529e-02 5.09354928e+01] [-4.96631379e-03 9.99974486e-01 5.13445343e-03 8.63096529e-01] [ 1.23259611e-02 -5.07291214e-03 9.99911164e-01 -1.58155187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.585919999999994 meters Centerline goodness : 0.965994 Centerline is valid? [True, True] Translation: X:50.93, Y:0.85, Z:-1.60 [[ 9.99918548e-01 -3.85558151e-03 -1.21668546e-02 5.09295837e+01] [ 3.85202692e-03 9.99992531e-01 -3.15574402e-04 8.48204808e-01] [ 1.21679805e-02 2.68681646e-04 9.99925931e-01 -1.60241511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.615919999999996 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:50.98, Y:0.87, Z:-1.59 [[ 9.99875304e-01 1.01212076e-02 -1.21218075e-02 5.09848516e+01] [-1.01483507e-02 9.99946128e-01 -2.17977904e-03 8.73394477e-01] [ 1.20990925e-02 2.30252358e-03 9.99924152e-01 -1.58642716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.64592 meters Centerline goodness : 0.999005 Centerline is valid? [True, True] Translation: X:51.01, Y:0.87, Z:-1.59 [[ 9.99878955e-01 9.71267904e-03 -1.21548396e-02 5.10140652e+01] [-9.71586338e-03 9.99952779e-01 -2.02958092e-04 8.72119077e-01] [ 1.21522944e-02 3.21028287e-04 9.99926107e-01 -1.58521110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.67592 meters Centerline goodness : 0.856155 Centerline is valid? [True, False] Translation: X:51.04, Y:0.87, Z:-1.58 [[ 9.99879421e-01 5.82731721e-03 -1.43939358e-02 5.10363669e+01] [-5.74688004e-03 9.99967675e-01 5.62332366e-03 8.68095584e-01] [ 1.44262394e-02 -5.53992538e-03 9.99880589e-01 -1.58285208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.70592 meters Centerline goodness : 0.998262 Centerline is valid? [False, True] Translation: X:51.03, Y:0.87, Z:-1.58 [[ 9.99995396e-01 3.03452894e-03 7.08941115e-06 5.10302139e+01] [-3.03453092e-03 9.99985831e-01 4.37376933e-03 8.73048827e-01] [ 6.18301894e-06 -4.37377071e-03 9.99990435e-01 -1.58345882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.73592 meters Centerline goodness : 0.998509 Centerline is valid? [True, True] Translation: X:51.06, Y:0.88, Z:-1.59 [[ 9.99995704e-01 2.92895059e-03 1.12775553e-04 5.10613301e+01] [-2.92894821e-03 9.99995710e-01 -2.12609554e-05 8.78449731e-01] [-1.12837342e-04 2.09305503e-05 9.99999993e-01 -1.58581626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.765919999999994 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:51.09, Y:0.88, Z:-1.60 [[ 9.99997975e-01 2.00940766e-03 1.12214070e-04 5.10907342e+01] [-2.00940792e-03 9.99997981e-01 2.21294364e-06 8.78493789e-01] [-1.12209397e-04 -2.43842300e-06 9.99999994e-01 -1.59879639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.795919999999995 meters Centerline goodness : 0.996771 Centerline is valid? [True, True] Translation: X:51.09, Y:0.87, Z:-1.60 [[ 9.99999982e-01 -1.54519098e-04 1.12202307e-04 5.10932112e+01] [ 1.54518796e-04 9.99999988e-01 2.70149203e-06 8.71549993e-01] [-1.12202723e-04 -2.68415462e-06 9.99999994e-01 -1.60351831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.825919999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.14, Y:0.88, Z:-1.60 [[ 9.99999406e-01 1.08430245e-03 1.11880462e-04 5.11436548e+01] [-1.08430422e-03 9.99999412e-01 1.57558212e-05 8.82801643e-01] [-1.11863312e-04 -1.58771243e-05 9.99999994e-01 -1.59855830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.85592 meters Centerline goodness : 0.999550 Centerline is valid? [True, True] Translation: X:51.17, Y:0.88, Z:-1.59 [[ 9.99994937e-01 -3.18000988e-03 1.12145925e-04 5.11739221e+01] [ 3.18000965e-03 9.99994944e-01 2.19540118e-06 8.82885320e-01] [-1.12152339e-04 -1.83876494e-06 9.99999994e-01 -1.58889022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.88592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:51.20, Y:0.88, Z:-1.60 [[ 9.99996375e-01 -2.69021958e-03 1.12146670e-04 5.12042308e+01] [ 2.69021935e-03 9.99996381e-01 2.15743206e-06 8.82478779e-01] [-1.12152068e-04 -1.85572510e-06 9.99999994e-01 -1.59841328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.91592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.23, Y:0.88, Z:-1.60 [[ 9.99997198e-01 -2.36475277e-03 1.12145872e-04 5.12348768e+01] [ 2.36475254e-03 9.99997204e-01 2.19816715e-06 8.81368806e-01] [-1.12150756e-04 -1.93296375e-06 9.99999994e-01 -1.59757922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.945919999999994 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:51.27, Y:0.88, Z:-1.59 [[ 9.99998813e-01 -1.53697228e-03 1.12145872e-04 5.12654162e+01] [ 1.53697204e-03 9.99998819e-01 2.19816715e-06 8.81637056e-01] [-1.12149118e-04 -2.02579947e-06 9.99999994e-01 -1.58587923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.975919999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.30, Y:0.88, Z:-1.60 [[ 9.99997261e-01 2.33773800e-03 1.12147229e-04 5.12959905e+01] [-2.33773825e-03 9.99997267e-01 2.12938784e-06 8.81559241e-01] [-1.12141945e-04 -2.39155288e-06 9.99999994e-01 -1.59840621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.005919999999996 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:51.33, Y:0.88, Z:-1.58 [[ 9.99983681e-01 5.71183804e-03 1.12145046e-04 5.13305840e+01] [-5.71183832e-03 9.99983687e-01 2.23874281e-06 8.82040932e-01] [-1.12130430e-04 -2.87926065e-06 9.99999994e-01 -1.58333492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.03592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.36, Y:0.88, Z:-1.60 [[ 9.99995754e-01 2.91192701e-03 1.12188585e-04 5.13572866e+01] [-2.91192704e-03 9.99995760e-01 1.04012054e-07 8.80424764e-01] [-1.12187806e-04 -4.30696585e-07 9.99999994e-01 -1.59880511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.06592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.39, Y:0.88, Z:-1.58 [[ 9.99985913e-01 5.30665520e-03 1.12141278e-04 5.13905139e+01] [-5.30665549e-03 9.99985920e-01 2.35587097e-06 8.80002417e-01] [-1.12127197e-04 -2.95093291e-06 9.99999994e-01 -1.58467529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.09592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.42, Y:0.88, Z:-1.58 [[ 9.99993080e-01 3.71860312e-03 1.12182441e-04 5.14220627e+01] [-3.71860319e-03 9.99993086e-01 3.92301940e-07 8.79673008e-01] [-1.12180207e-04 -8.09461209e-07 9.99999994e-01 -1.58475300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.12592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.45, Y:0.88, Z:-1.59 [[ 9.99999985e-01 -1.35526018e-04 1.12188922e-04 5.14529052e+01] [ 1.35526008e-04 9.99999991e-01 9.42955964e-08 8.79394033e-01] [-1.12188933e-04 -7.90910776e-08 9.99999994e-01 -1.58515874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.155919999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.48, Y:0.88, Z:-1.59 [[ 9.99998922e-01 -1.46429029e-03 1.12175777e-04 5.14833517e+01] [ 1.46429022e-03 9.99998928e-01 6.90155768e-07 8.78291132e-01] [-1.12176668e-04 -5.25897129e-07 9.99999994e-01 -1.58533661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.185919999999996 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:51.51, Y:0.88, Z:-1.59 [[ 9.99991226e-01 -4.18759476e-03 1.12172316e-04 5.15141491e+01] [ 4.18759469e-03 9.99991232e-01 8.43931792e-07 8.76696464e-01] [-1.12174866e-04 -3.74192191e-07 9.99999994e-01 -1.58599821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.21592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.54, Y:0.88, Z:-1.60 [[ 9.99973105e-01 -7.33332313e-03 1.12176802e-04 5.15425063e+01] [ 7.33332310e-03 9.99973111e-01 6.47404944e-07 8.76085456e-01] [-1.12178534e-04 1.75241204e-07 9.99999994e-01 -1.59912331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.24592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.58, Y:0.88, Z:-1.59 [[ 9.99992400e-01 -3.89707571e-03 1.12131087e-04 5.15753404e+01] [ 3.89707544e-03 9.99992406e-01 2.61081284e-06 8.75536565e-01] [-1.12140410e-04 -2.17380969e-06 9.99999994e-01 -1.58617247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.27592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:51.61, Y:0.88, Z:-1.58 [[ 9.99991195e-01 -4.19500659e-03 1.12182724e-04 5.16068919e+01] [ 4.19500658e-03 9.99991201e-01 3.93880030e-07 8.75092995e-01] [-1.12183389e-04 7.67307036e-08 9.99999994e-01 -1.58011314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.30592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.63, Y:0.87, Z:-1.60 [[ 9.99964044e-01 -8.47930221e-03 1.12197820e-04 5.16319147e+01] [ 8.47930229e-03 9.99964050e-01 -2.29540388e-07 8.74538076e-01] [-1.12191840e-04 1.18089137e-06 9.99999994e-01 -1.59811371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.335919999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.66, Y:0.88, Z:-1.60 [[ 9.99964265e-01 -8.45317368e-03 1.12122016e-04 5.16603494e+01] [ 8.45317342e-03 9.99964271e-01 2.80285462e-06 8.75530166e-01] [-1.12141703e-04 -1.85496761e-06 9.99999994e-01 -1.59843603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.365919999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.69, Y:0.88, Z:-1.59 [[ 9.99977256e-01 -6.74346370e-03 1.12121666e-04 5.16938275e+01] [ 6.74346343e-03 9.99977263e-01 2.81678377e-06 8.75900153e-01] [-1.12138111e-04 -2.06063135e-06 9.99999994e-01 -1.58554416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.39592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.72, Y:0.87, Z:-1.60 [[ 9.99944642e-01 -1.05214658e-02 1.12184197e-04 5.17212233e+01] [ 1.05214659e-02 9.99944648e-01 3.80503862e-07 8.74842232e-01] [-1.12181991e-04 7.99859402e-07 9.99999994e-01 -1.59943169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.42592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.75, Y:0.88, Z:-1.59 [[ 9.99963285e-01 -8.56827524e-03 1.12118219e-04 5.17546425e+01] [ 8.56827497e-03 9.99963292e-01 2.91669259e-06 8.76608661e-01] [-1.12139095e-04 -1.95592577e-06 9.99999994e-01 -1.58533338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.45592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.78, Y:0.88, Z:-1.60 [[ 9.99912392e-01 -1.32361577e-02 1.12182388e-04 5.17819924e+01] [ 1.32361578e-02 9.99912398e-01 4.84185502e-07 8.75979220e-01] [-1.12178969e-04 1.00072071e-06 9.99999994e-01 -1.59953973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.48592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.81, Y:0.87, Z:-1.60 [[ 9.99895891e-01 -1.44289288e-02 1.12114896e-04 5.18105927e+01] [ 1.44289286e-02 9.99895898e-01 3.00352698e-06 8.74018847e-01] [-1.12146562e-04 -1.38551647e-06 9.99999994e-01 -1.59958299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.515919999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.84, Y:0.87, Z:-1.60 [[ 9.99871541e-01 -1.60277494e-02 1.12114612e-04 5.18396717e+01] [ 1.60277492e-02 9.99871547e-01 3.01408054e-06 8.73550069e-01] [-1.12148519e-04 -1.21674847e-06 9.99999994e-01 -1.59912979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.545919999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.87, Y:0.88, Z:-1.59 [[ 9.99902245e-01 -1.39817231e-02 1.12114225e-04 5.18712435e+01] [ 1.39817228e-02 9.99902251e-01 3.02838465e-06 8.75137810e-01] [-1.12145608e-04 -1.46053858e-06 9.99999994e-01 -1.59344428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.575919999999996 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:51.90, Y:0.88, Z:-1.59 [[ 9.99913140e-01 -1.31794949e-02 1.12151191e-04 5.19024516e+01] [ 1.31794948e-02 9.99913147e-01 1.65949027e-06 8.77789381e-01] [-1.12163322e-04 -1.81250090e-07 9.99999994e-01 -1.58808630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.60592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.93, Y:0.88, Z:-1.60 [[ 9.99899724e-01 -1.41608690e-02 1.12180630e-04 5.19292801e+01] [ 1.41608690e-02 9.99899730e-01 6.05481341e-07 8.76552736e-01] [-1.12177956e-04 9.83154583e-07 9.99999994e-01 -1.59999799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.63592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.96, Y:0.88, Z:-1.60 [[ 9.99945555e-01 -1.04342698e-02 1.12108113e-04 5.19608625e+01] [ 1.04342695e-02 9.99945562e-01 3.17003156e-06 8.77769180e-01] [-1.12135087e-04 -2.00009270e-06 9.99999994e-01 -1.59535163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.66592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.99, Y:0.88, Z:-1.59 [[ 9.99972597e-01 -7.40215141e-03 1.12140350e-04 5.19937337e+01] [ 7.40215123e-03 9.99972604e-01 2.03577521e-06 8.81284058e-01] [-1.12152347e-04 -1.20563959e-06 9.99999994e-01 -1.58927660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.695919999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.02, Y:0.88, Z:-1.60 [[ 9.99952090e-01 -9.78803259e-03 1.12198273e-04 5.20184401e+01] [ 9.78803265e-03 9.99952096e-01 2.25214580e-08 8.81620004e-01] [-1.12193119e-04 1.07567998e-06 9.99999994e-01 -1.60107734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.725919999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.05, Y:0.88, Z:-1.59 [[ 9.99991166e-01 -4.20185964e-03 1.12099958e-04 5.20532800e+01] [ 4.20185929e-03 9.99991172e-01 3.33108678e-06 8.83240836e-01] [-1.12112965e-04 -2.86002910e-06 9.99999994e-01 -1.58910330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.755919999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.09, Y:0.88, Z:-1.59 [[ 9.99700689e-01 -2.44646636e-02 1.12182958e-04 5.20871085e+01] [ 2.44646637e-02 9.99700695e-01 5.47889459e-07 8.75004890e-01] [-1.12162785e-04 2.19679288e-06 9.99999994e-01 -1.59383875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.78592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.11, Y:0.89, Z:-1.60 [[ 9.99957277e-01 -9.24290786e-03 1.12256414e-04 5.21067475e+01] [ 9.24290813e-03 9.99957283e-01 -1.92108322e-06 8.87553409e-01] [-1.12233862e-04 2.95857686e-06 9.99999994e-01 -1.59891328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.81592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.14, Y:0.89, Z:-1.59 [[ 9.99985694e-01 -5.34788433e-03 1.12085407e-04 5.21418647e+01] [ 5.34788397e-03 9.99985700e-01 3.52165066e-06 8.90656195e-01] [-1.12102637e-04 -2.92218052e-06 9.99999994e-01 -1.58525494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.84592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.17, Y:0.89, Z:-1.59 [[ 9.99986725e-01 -5.15149321e-03 1.12170666e-04 5.21719568e+01] [ 5.15149315e-03 9.99986731e-01 7.98332569e-07 8.92557793e-01] [-1.12173291e-04 -2.20475551e-07 9.99999994e-01 -1.58704133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.87592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.20, Y:0.90, Z:-1.59 [[ 9.99975659e-01 -6.97628673e-03 1.12173771e-04 5.22020934e+01] [ 6.97628670e-03 9.99975665e-01 7.01645021e-07 8.95547776e-01] [-1.12175936e-04 8.09284442e-08 9.99999994e-01 -1.58527004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.905919999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.23, Y:0.90, Z:-1.59 [[ 9.99969767e-01 -7.77514711e-03 1.12166408e-04 5.22298750e+01] [ 7.77514706e-03 9.99969773e-01 9.28787132e-07 9.01630729e-01] [-1.12170239e-04 -5.66487301e-08 9.99999994e-01 -1.58747612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.935919999999996 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:52.28, Y:0.92, Z:-1.59 [[ 9.99573461e-01 2.92041620e-02 1.12132930e-04 5.22790851e+01] [-2.92041624e-02 9.99573467e-01 1.94581213e-06 9.24014905e-01] [-1.12028276e-04 -5.21973047e-06 9.99999994e-01 -1.58684572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.96592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:52.29, Y:0.90, Z:-1.59 [[ 9.99927934e-01 -1.20047181e-02 1.12472341e-04 5.22907744e+01] [ 1.20047191e-02 9.99927941e-01 -7.89044854e-06 9.03774424e-01] [-1.12369514e-04 9.24007877e-06 9.99999994e-01 -1.58518871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.99592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:52.32, Y:0.91, Z:-1.59 [[ 9.99897755e-01 -1.42991779e-02 1.12082952e-04 5.23208645e+01] [ 1.42991777e-02 9.99897762e-01 2.18048132e-06 9.05626247e-01] [-1.12102672e-04 -5.77564336e-07 9.99999994e-01 -1.58714972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.02592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.35, Y:0.91, Z:-1.59 [[ 9.99888961e-01 -1.49014586e-02 1.12092662e-04 5.23494503e+01] [ 1.49014584e-02 9.99888967e-01 1.93444981e-06 9.07131841e-01] [-1.12109042e-04 -2.63890872e-07 9.99999994e-01 -1.59422615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.05592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.38, Y:0.91, Z:-1.60 [[ 9.99792778e-01 -2.03565183e-02 1.12057841e-04 5.23766696e+01] [ 2.03565181e-02 9.99792785e-01 2.80325643e-06 9.06547906e-01] [-1.12091686e-04 -5.21568058e-07 9.99999994e-01 -1.59726640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.085919999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.41, Y:0.91, Z:-1.60 [[ 9.99792063e-01 -2.03916120e-02 1.11987310e-04 5.24056522e+01] [ 2.03916117e-02 9.99792069e-01 4.54220005e-06 9.08661227e-01] [-1.12056647e-04 -2.25765382e-06 9.99999994e-01 -1.59827731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.115919999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.43, Y:0.91, Z:-1.60 [[ 9.99773772e-01 -2.12695222e-02 1.11986740e-04 5.24347562e+01] [ 2.12695218e-02 9.99773778e-01 4.55620186e-06 9.10268799e-01] [-1.12058315e-04 -2.17326671e-06 9.99999994e-01 -1.59890320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.14592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.46, Y:0.91, Z:-1.60 [[ 9.99771132e-01 -2.13932517e-02 1.11986175e-04 5.24640844e+01] [ 2.13932513e-02 9.99771138e-01 4.57004847e-06 9.11430079e-01] [-1.12058314e-04 -2.17325415e-06 9.99999994e-01 -1.59890648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.17592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.50, Y:0.91, Z:-1.59 [[ 9.99841740e-01 -1.77899464e-02 1.11985608e-04 5.24983224e+01] [ 1.77899460e-02 9.99841746e-01 4.58390755e-06 9.13561991e-01] [-1.12049433e-04 -2.59096418e-06 9.99999994e-01 -1.58549208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.20592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.53, Y:0.91, Z:-1.59 [[ 9.99807121e-01 -1.96394504e-02 1.12076105e-04 5.25260751e+01] [ 1.96394503e-02 9.99807127e-01 2.36014194e-06 9.14298527e-01] [-1.12100841e-04 -1.58573626e-07 9.99999994e-01 -1.59411953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.23592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.56, Y:0.92, Z:-1.59 [[ 9.99813099e-01 -1.93327444e-02 1.12026393e-04 5.25569136e+01] [ 1.93327441e-02 9.99813105e-01 3.56591913e-06 9.15859365e-01] [-1.12074395e-04 -1.39947505e-06 9.99999994e-01 -1.58742449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.265919999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.59, Y:0.92, Z:-1.58 [[ 9.99804353e-01 -1.97798532e-02 1.12060452e-04 5.25880380e+01] [ 1.97798530e-02 9.99804360e-01 2.74050371e-06 9.16360147e-01] [-1.12092735e-04 -5.23428264e-07 9.99999994e-01 -1.58401148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.295919999999995 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:52.62, Y:0.92, Z:-1.58 [[ 9.99799874e-01 -2.00049916e-02 1.12081069e-04 5.26169713e+01] [ 2.00049914e-02 9.99799880e-01 2.24818233e-06 9.18307126e-01] [-1.12103614e-04 -5.55158925e-09 9.99999994e-01 -1.58469441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.325919999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.65, Y:0.92, Z:-1.59 [[ 9.99791939e-01 -2.03976936e-02 1.12063236e-04 5.26482113e+01] [ 2.03976935e-02 9.99791945e-01 2.66703539e-06 9.20936953e-01] [-1.12094322e-04 -3.80648953e-07 9.99999994e-01 -1.58544391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.35592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:52.68, Y:0.92, Z:-1.59 [[ 9.99780633e-01 -2.09445057e-02 1.12084717e-04 5.26764775e+01] [ 2.09445056e-02 9.99780640e-01 2.17009231e-06 9.24258835e-01] [-1.12105581e-04 1.77942712e-07 9.99999994e-01 -1.58513946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.38592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.70, Y:0.93, Z:-1.59 [[ 9.99814962e-01 -1.92361628e-02 1.12063451e-04 5.27047215e+01] [ 1.92361626e-02 9.99814968e-01 2.65705208e-06 9.29870775e-01] [-1.12093827e-04 -5.00889657e-07 9.99999994e-01 -1.58610960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.41592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:52.73, Y:0.94, Z:-1.59 [[ 9.99832045e-01 -1.83267138e-02 1.12053269e-04 5.27335193e+01] [ 1.83267136e-02 9.99832052e-01 2.88791158e-06 9.36182456e-01] [-1.12087376e-04 -8.33858372e-07 9.99999994e-01 -1.58558681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.445919999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.76, Y:0.94, Z:-1.59 [[ 9.99804547e-01 -1.97700719e-02 1.12063134e-04 5.27623601e+01] [ 1.97700717e-02 9.99804553e-01 2.66840791e-06 9.40672516e-01] [-1.12093986e-04 -4.52390161e-07 9.99999994e-01 -1.58523732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.475919999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.79, Y:0.95, Z:-1.60 [[ 9.99677096e-01 -2.54104673e-02 1.12051238e-04 5.27896761e+01] [ 2.54104671e-02 9.99677102e-01 2.93020056e-06 9.46570529e-01] [-1.12089515e-04 -8.19800810e-08 9.99999994e-01 -1.59512617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.505919999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.82, Y:0.95, Z:-1.60 [[ 9.99586806e-01 -2.87437837e-02 1.11986146e-04 5.28185695e+01] [ 2.87437834e-02 9.99586812e-01 4.34623885e-06 9.48808382e-01] [-1.12064802e-04 -1.12553748e-06 9.99999994e-01 -1.59521866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.53592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.85, Y:0.95, Z:-1.58 [[ 9.99271788e-01 -3.81560179e-02 1.11983732e-04 5.28467015e+01] [ 3.81560176e-02 9.99271794e-01 4.39832529e-06 9.50312406e-01] [-1.12070008e-04 -1.22269118e-07 9.99999994e-01 -1.58476273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.56592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.88, Y:0.95, Z:-1.60 [[ 9.99157640e-01 -4.10365372e-02 1.11947535e-04 5.28767091e+01] [ 4.10365369e-02 9.99157647e-01 5.17616955e-06 9.51277472e-01] [-1.12065647e-04 -5.77870221e-07 9.99999994e-01 -1.59835687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.59592 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:52.91, Y:0.95, Z:-1.58 [[ 9.98999996e-01 -4.47101347e-02 1.11945907e-04 5.29073709e+01] [ 4.47101344e-02 9.99000002e-01 5.21112963e-06 9.52120725e-01] [-1.12066952e-04 -2.00801919e-07 9.99999994e-01 -1.58361799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.62592 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:52.94, Y:0.95, Z:-1.58 [[ 9.98951857e-01 -4.57730857e-02 1.11975440e-04 5.29369235e+01] [ 4.57730854e-02 9.98951863e-01 4.57622687e-06 9.52363364e-01] [-1.12067543e-04 5.54031076e-07 9.99999994e-01 -1.58175169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.655919999999995 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:52.97, Y:0.95, Z:-1.58 [[ 9.98837275e-01 -4.82087708e-02 1.11990683e-04 5.29653432e+01] [ 4.82087706e-02 9.98837281e-01 4.25114073e-06 9.53755934e-01] [-1.12065411e-04 1.15273531e-06 9.99999994e-01 -1.58486268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.685919999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.00, Y:0.95, Z:-1.58 [[ 9.98899764e-01 -4.68961538e-02 1.11953927e-04 5.29963807e+01] [ 4.68961535e-02 9.98899770e-01 5.03093715e-06 9.54220955e-01] [-1.12066684e-04 2.24806626e-07 9.99999994e-01 -1.58292029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.71592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.03, Y:0.95, Z:-1.58 [[ 9.98921571e-01 -4.64293180e-02 1.11967509e-04 5.30267578e+01] [ 4.64293178e-02 9.98921578e-01 4.74334926e-06 9.53322432e-01] [-1.12066991e-04 4.60341143e-07 9.99999994e-01 -1.58155963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.74592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:53.06, Y:0.95, Z:-1.58 [[ 9.98782971e-01 -4.93210352e-02 1.11972927e-04 5.30567601e+01] [ 4.93210350e-02 9.98782977e-01 4.62958183e-06 9.49937677e-01] [-1.12064989e-04 8.98673164e-07 9.99999994e-01 -1.57979244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.77592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:53.08, Y:0.95, Z:-1.60 [[ 9.98675712e-01 -5.14471623e-02 1.11972266e-04 5.30846192e+01] [ 5.14471621e-02 9.98675718e-01 4.64339067e-06 9.49100763e-01] [-1.12062872e-04 1.12341384e-06 9.99999994e-01 -1.59648080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.80592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.11, Y:0.95, Z:-1.58 [[ 9.98392640e-01 -5.66755948e-02 1.11936426e-04 5.31131893e+01] [ 5.66755946e-02 9.98392647e-01 5.38796459e-06 9.49053556e-01] [-1.12061871e-04 9.64759326e-07 9.99999994e-01 -1.58260235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.835919999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.14, Y:0.95, Z:-1.58 [[ 9.98342798e-01 -5.75468974e-02 1.11923463e-04 5.31435353e+01] [ 5.75468972e-02 9.98342804e-01 5.65617296e-06 9.50191288e-01] [-1.12063479e-04 7.94048487e-07 9.99999994e-01 -1.58233635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.865919999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.17, Y:0.95, Z:-1.60 [[ 9.98362072e-01 -5.72115412e-02 1.11931282e-04 5.31745387e+01] [ 5.72115409e-02 9.98362078e-01 5.49485555e-06 9.50687441e-01] [-1.12062317e-04 9.17905774e-07 9.99999994e-01 -1.59565398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.89592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.20, Y:0.95, Z:-1.60 [[ 9.98373177e-01 -5.70174231e-02 1.11934476e-04 5.32033985e+01] [ 5.70174229e-02 9.98373183e-01 5.42900589e-06 9.50948819e-01] [-1.12061927e-04 9.62041514e-07 9.99999994e-01 -1.59566464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.92592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:53.23, Y:0.95, Z:-1.58 [[ 9.98313624e-01 -5.80508036e-02 1.11933764e-04 5.32334090e+01] [ 5.80508034e-02 9.98313630e-01 5.44364368e-06 9.50441348e-01] [-1.12061011e-04 1.06338130e-06 9.99999994e-01 -1.57878069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.95592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:53.26, Y:0.95, Z:-1.59 [[ 9.98129143e-01 -6.11408335e-02 1.11933416e-04 5.32625983e+01] [ 6.11408332e-02 9.98129149e-01 5.45081086e-06 9.47677060e-01] [-1.12057272e-04 1.40308912e-06 9.99999994e-01 -1.58954980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.98592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.29, Y:0.95, Z:-1.59 [[ 9.98138391e-01 -6.09896748e-02 1.11918528e-04 5.32919011e+01] [ 6.09896746e-02 9.98138397e-01 5.75518014e-06 9.47502671e-01] [-1.12061187e-04 1.08140836e-06 9.99999994e-01 -1.58514718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.015919999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.32, Y:0.95, Z:-1.58 [[ 9.98045669e-01 -6.24886468e-02 1.11930871e-04 5.33221533e+01] [ 6.24886466e-02 9.98045675e-01 5.50312012e-06 9.46917444e-01] [-1.12056004e-04 1.50204344e-06 9.99999994e-01 -1.58262918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.045919999999995 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:53.35, Y:0.95, Z:-1.60 [[ 9.97968118e-01 -6.37151638e-02 1.11947468e-04 5.33511613e+01] [ 6.37151636e-02 9.97968125e-01 5.16446269e-06 9.47297051e-01] [-1.12049059e-04 1.97878212e-06 9.99999994e-01 -1.59693859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.075919999999996 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:53.38, Y:0.95, Z:-1.58 [[ 9.97978624e-01 -6.35503983e-02 1.11930638e-04 5.33822938e+01] [ 6.35503981e-02 9.97978630e-01 5.50655647e-06 9.45319788e-01] [-1.12054329e-04 1.61781097e-06 9.99999994e-01 -1.57737459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.10592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.41, Y:0.94, Z:-1.60 [[ 9.97893074e-01 -6.48798899e-02 1.11968223e-04 5.34104881e+01] [ 6.48798898e-02 9.97893080e-01 4.74483228e-06 9.43325502e-01] [-1.12040159e-04 2.52965072e-06 9.99999994e-01 -1.59553119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.13592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:53.44, Y:0.94, Z:-1.60 [[ 9.97879161e-01 -6.50935358e-02 1.11928738e-04 5.34392152e+01] [ 6.50935355e-02 9.97879167e-01 5.54226298e-06 9.42779987e-01] [-1.12052121e-04 1.75532853e-06 9.99999994e-01 -1.59528746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.16592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.47, Y:0.94, Z:-1.58 [[ 9.97926262e-01 -6.43674135e-02 1.11928016e-04 5.34699930e+01] [ 6.43674133e-02 9.97926268e-01 5.55679959e-06 9.42251091e-01] [-1.12053584e-04 1.65924062e-06 9.99999994e-01 -1.58101390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.195919999999994 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:53.50, Y:0.94, Z:-1.58 [[ 9.97891362e-01 -6.49062157e-02 1.11961399e-04 5.34985556e+01] [ 6.49062156e-02 9.97891368e-01 4.88334947e-06 9.39462949e-01] [-1.12042273e-04 2.39393845e-06 9.99999994e-01 -1.58263027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.225919999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.53, Y:0.94, Z:-1.60 [[ 9.97920190e-01 -6.44614686e-02 1.11950215e-04 5.35273109e+01] [ 6.44614684e-02 9.97920197e-01 5.10575755e-06 9.38880828e-01] [-1.12046505e-04 2.12133668e-06 9.99999994e-01 -1.59696149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.255919999999996 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:53.56, Y:0.94, Z:-1.59 [[ 9.97966933e-01 -6.37337274e-02 1.11937259e-04 5.35564836e+01] [ 6.37337272e-02 9.97966939e-01 5.36168676e-06 9.36177969e-01] [-1.12051405e-04 1.78339266e-06 9.99999994e-01 -1.59376575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.28592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:53.59, Y:0.93, Z:-1.59 [[ 9.98117958e-01 -6.13231607e-02 1.11956665e-04 5.35855225e+01] [ 6.13231605e-02 9.98117964e-01 4.98059405e-06 9.34761198e-01] [-1.12051384e-04 1.89431616e-06 9.99999994e-01 -1.59414681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.31592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.61, Y:0.93, Z:-1.59 [[ 9.98085799e-01 -6.18443640e-02 1.11971845e-04 5.36149452e+01] [ 6.18443639e-02 9.98085805e-01 4.68594334e-06 9.34011074e-01] [-1.12047309e-04 2.24785404e-06 9.99999994e-01 -1.59418552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.34592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:53.64, Y:0.93, Z:-1.59 [[ 9.98141883e-01 -6.09324959e-02 1.11962965e-04 5.36446484e+01] [ 6.09324957e-02 9.98141889e-01 4.85669082e-06 9.30200211e-01] [-1.12050856e-04 1.97451637e-06 9.99999994e-01 -1.59496808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.37592 meters Centerline goodness : 0.914204 Centerline is valid? [True, False] Translation: X:53.63, Y:0.93, Z:-1.60 [[ 9.98642918e-01 -4.96534606e-02 1.57116825e-02 5.36283131e+01] [ 4.96329914e-02 9.98766093e-01 1.69030339e-03 9.27510371e-01] [-1.57762251e-02 -9.08191710e-04 9.99875135e-01 -1.59653454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.405919999999995 meters Centerline goodness : 0.999901 Centerline is valid? [False, True] Translation: X:53.62, Y:0.93, Z:-1.60 [[ 9.98890137e-01 -3.72400152e-02 2.88388012e-02 5.36159247e+01] [ 3.72356639e-02 9.99306275e-01 6.88083042e-04 9.27074302e-01] [-2.88444192e-02 3.86512543e-04 9.99583838e-01 -1.59771071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.435919999999996 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:53.65, Y:0.93, Z:-1.60 [[ 9.98915941e-01 -3.65411533e-02 2.88389683e-02 5.36482065e+01] [ 3.65366622e-02 9.99332080e-01 6.82839286e-04 9.26451752e-01] [-2.88446579e-02 3.71580597e-04 9.99583837e-01 -1.59984400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.46592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:53.68, Y:0.92, Z:-1.60 [[ 9.98962510e-01 -3.52452602e-02 2.88387804e-02 5.36795328e+01] [ 3.52400591e-02 9.99378639e-01 6.88737311e-04 9.23361375e-01] [-2.88451358e-02 3.28257571e-04 9.99583839e-01 -1.60003432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.49592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:53.71, Y:0.92, Z:-1.60 [[ 9.99031711e-01 -3.32269757e-02 2.88376223e-02 5.37129259e+01] [ 3.32198778e-02 9.99447804e-01 7.25319648e-04 9.23100358e-01] [-2.88457985e-02 2.33364960e-04 9.99583846e-01 -1.60078102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.52592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:53.74, Y:0.92, Z:-1.60 [[ 9.99156107e-01 -2.92468853e-02 2.88391042e-02 5.37449776e+01] [ 2.92394842e-02 9.99572205e-01 6.78400628e-04 9.22908489e-01] [-2.88466081e-02 1.65412400e-04 9.99583836e-01 -1.60044523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.55592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:53.78, Y:0.92, Z:-1.60 [[ 9.99202652e-01 -2.76115204e-02 2.88385868e-02 5.37775264e+01] [ 2.76029680e-02 9.99618724e-01 6.94695162e-04 9.24167795e-01] [-2.88467729e-02 1.01889339e-04 9.99583840e-01 -1.60073682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.585919999999994 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:53.81, Y:0.93, Z:-1.60 [[ 9.99359043e-01 -2.12092535e-02 2.88387171e-02 5.38100073e+01] [ 2.11981548e-02 9.99775055e-01 6.90561155e-04 9.25502551e-01] [-2.88468763e-02 -7.87909460e-05 9.99583839e-01 -1.60289276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.615919999999996 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:53.84, Y:0.93, Z:-1.61 [[ 9.99382255e-01 -2.00836940e-02 2.88401370e-02 5.38414601e+01] [ 2.00734244e-02 9.99798300e-01 6.45593617e-04 9.27146188e-01] [-2.88472859e-02 -6.62744955e-05 9.99583828e-01 -1.60593274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.64592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.87, Y:0.93, Z:-1.61 [[ 9.99496767e-01 -1.32121699e-02 2.88383564e-02 5.38723558e+01] [ 1.31974104e-02 9.99912664e-01 7.02083681e-04 9.30213469e-01] [-2.88451139e-02 -3.21138745e-04 9.99583842e-01 -1.60660973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.67592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:53.90, Y:0.93, Z:-1.61 [[ 9.99531128e-01 -1.02913751e-02 2.88376880e-02 5.39049337e+01] [ 1.02747894e-02 9.99946951e-01 7.23266556e-04 9.32647790e-01] [-2.88436016e-02 -4.26626267e-04 9.99583846e-01 -1.60664144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.70592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:53.94, Y:0.94, Z:-1.59 [[ 9.99573310e-01 -4.64775638e-03 2.88373988e-02 5.39386637e+01] [ 4.62855885e-03 9.99989020e-01 7.32432858e-04 9.38845090e-01] [-2.88404863e-02 -5.98644739e-04 9.99583847e-01 -1.58956554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.73592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:53.97, Y:0.94, Z:-1.60 [[ 9.99581930e-01 -1.99226852e-03 2.88443507e-02 5.39686750e+01] [ 1.97829326e-03 9.99997912e-01 5.13034898e-04 9.43069958e-01] [-2.88453126e-02 -4.55757829e-04 9.99583783e-01 -1.60433729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.765919999999994 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:54.00, Y:0.95, Z:-1.60 [[ 9.99583852e-01 -6.12221848e-04 2.88400476e-02 5.40020567e+01] [ 5.93790157e-04 9.99999614e-01 6.47660501e-04 9.48827160e-01] [-2.88404329e-02 -6.30266041e-04 9.99583829e-01 -1.60321629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.795919999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.03, Y:0.95, Z:-1.61 [[ 9.99580927e-01 -2.43100599e-03 2.88454463e-02 5.40328623e+01] [ 2.41823671e-03 9.99996962e-01 4.77556061e-04 9.51709435e-01] [-2.88465196e-02 -4.07600813e-04 9.99583769e-01 -1.60611692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.825919999999996 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:54.07, Y:0.95, Z:-1.61 [[ 9.99574678e-01 -4.30809667e-03 2.88427252e-02 5.40656954e+01] [ 4.29363937e-03 9.99990624e-01 5.63160435e-04 9.54218341e-01] [-2.88448809e-02 -4.39080650e-04 9.99583803e-01 -1.60603400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.85592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.10, Y:0.96, Z:-1.61 [[ 9.99499012e-01 -1.30286390e-02 2.88440731e-02 5.40963554e+01] [ 1.30190286e-02 9.99915113e-01 5.20967863e-04 9.57871140e-01] [-2.88484121e-02 -1.45185053e-04 9.99583787e-01 -1.60885018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.88592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.13, Y:0.96, Z:-1.61 [[ 9.99442483e-01 -1.68233482e-02 2.88391734e-02 5.41279819e+01] [ 1.68108851e-02 9.99858460e-01 6.74575476e-04 9.60753923e-01] [-2.88464401e-02 -1.89387357e-04 9.99583837e-01 -1.60808267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.91592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.16, Y:0.96, Z:-1.61 [[ 9.99247483e-01 -2.59374416e-02 2.88394880e-02 5.41574452e+01] [ 2.59290586e-02 9.99663564e-01 6.64671718e-04 9.63526325e-01] [-2.88470253e-02 8.36092313e-05 9.99583834e-01 -1.61326668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.945919999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.19, Y:0.97, Z:-1.61 [[ 9.99231269e-01 -2.65636245e-02 2.88313185e-02 5.41902648e+01] [ 2.65481178e-02 9.99647113e-01 9.20562769e-04 9.65269255e-01] [-2.88455978e-02 -1.54437862e-04 9.99583867e-01 -1.60858413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.975919999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.22, Y:0.97, Z:-1.61 [[ 9.99154781e-01 -2.92926662e-02 2.88385646e-02 5.42232081e+01] [ 2.92849094e-02 9.99570866e-01 6.91381653e-04 9.66711846e-01] [-2.88464414e-02 1.53737467e-04 9.99583843e-01 -1.60793663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.005919999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.25, Y:0.97, Z:-1.62 [[ 9.99057808e-01 -3.24314175e-02 2.88392057e-02 5.42526401e+01] [ 3.24255587e-02 9.99473928e-01 6.70912652e-04 9.66899168e-01] [-2.88457929e-02 2.64846835e-04 9.99583838e-01 -1.61521490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.03592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.29, Y:0.97, Z:-1.62 [[ 9.99074890e-01 -3.19075410e-02 2.88318041e-02 5.42859981e+01] [ 3.18946679e-02 9.99490825e-01 9.06383483e-04 9.68024053e-01] [-2.88460441e-02 1.40358368e-05 9.99583866e-01 -1.61612443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.06592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.32, Y:0.97, Z:-1.61 [[ 9.99023233e-01 -3.34855048e-02 2.88322776e-02 5.43192201e+01] [ 3.34737308e-02 9.99439200e-01 8.91062391e-04 9.67670406e-01] [-2.88459461e-02 7.49318668e-05 9.99583866e-01 -1.61403361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.09592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.35, Y:0.97, Z:-1.62 [[ 9.99004074e-01 -3.40482244e-02 2.88371014e-02 5.43508147e+01] [ 3.40412173e-02 9.99420160e-01 7.34024000e-04 9.69150122e-01] [-2.88453727e-02 2.48357069e-04 9.99583855e-01 -1.61771647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.12592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.38, Y:0.97, Z:-1.60 [[ 9.98930725e-01 -3.61397469e-02 2.88326961e-02 5.43842491e+01] [ 3.61294378e-02 9.99346733e-01 8.78601577e-04 9.72508128e-01] [-2.88456131e-02 1.64046990e-04 9.99583865e-01 -1.60262513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.155919999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.42, Y:0.97, Z:-1.60 [[ 9.98927564e-01 -3.62198986e-02 2.88416494e-02 5.44172306e+01] [ 3.62182092e-02 9.99343736e-01 5.81149587e-04 9.74587132e-01] [-2.88437708e-02 4.64066550e-04 9.99583824e-01 -1.60451489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.185919999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.45, Y:0.97, Z:-1.62 [[ 9.98722307e-01 -4.14940614e-02 2.88443349e-02 5.44466673e+01] [ 4.14971490e-02 9.99138501e-01 4.91809835e-04 9.73050700e-01] [-2.88398927e-02 7.05776210e-04 9.99583795e-01 -1.61890996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.21592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.48, Y:0.97, Z:-1.62 [[ 9.98690666e-01 -4.22546865e-02 2.88356716e-02 5.44794714e+01] [ 4.22498322e-02 9.99106774e-01 7.77875840e-04 9.73031908e-01] [-2.88427837e-02 4.41444942e-04 9.99583863e-01 -1.61839399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.24592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.51, Y:0.97, Z:-1.62 [[ 9.98556797e-01 -4.53069412e-02 2.88375590e-02 5.45102966e+01] [ 4.53051769e-02 9.98972938e-01 7.14895146e-04 9.71641080e-01] [-2.88403307e-02 5.92627303e-04 9.99583855e-01 -1.62085405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.27592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.54, Y:0.97, Z:-1.62 [[ 9.98445170e-01 -4.77033092e-02 2.88381210e-02 5.45423939e+01] [ 4.77030897e-02 9.98861317e-01 6.95982480e-04 9.68525238e-01] [-2.88384842e-02 6.80767126e-04 9.99583853e-01 -1.62219539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.30592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:54.58, Y:0.97, Z:-1.62 [[ 9.98416814e-01 -4.82935552e-02 2.88374337e-02 5.45750303e+01] [ 4.82929127e-02 9.98832958e-01 7.19153305e-04 9.67080377e-01] [-2.88385097e-02 6.74628919e-04 9.99583856e-01 -1.62332740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.335919999999994 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:54.61, Y:0.97, Z:-1.62 [[ 9.98325997e-01 -5.01346662e-02 2.88395274e-02 5.46058023e+01] [ 5.01368315e-02 9.98742148e-01 6.48479849e-04 9.66723318e-01] [-2.88357628e-02 7.98528235e-04 9.99583844e-01 -1.62455265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.365919999999996 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:54.64, Y:0.96, Z:-1.63 [[ 9.98388434e-01 -4.88778001e-02 2.88356645e-02 5.46384426e+01] [ 4.88756693e-02 9.98804566e-01 7.79140355e-04 9.63754571e-01] [-2.88392760e-02 6.31477680e-04 9.99583862e-01 -1.62537665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.39592 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:54.67, Y:0.96, Z:-1.63 [[ 9.98447442e-01 -4.76556383e-02 2.88382662e-02 5.46703448e+01] [ 4.76555792e-02 9.98863589e-01 6.89737050e-04 9.58383098e-01] [-2.88383640e-02 6.85638086e-04 9.99583853e-01 -1.62633364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.42592 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:54.70, Y:0.96, Z:-1.62 [[ 9.98497901e-01 -4.65878567e-02 2.88359684e-02 5.47029308e+01] [ 4.65850452e-02 9.98914031e-01 7.69659318e-04 9.55809603e-01] [-2.88405102e-02 5.74821677e-04 9.99583861e-01 -1.61731337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.45592 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:54.73, Y:0.95, Z:-1.63 [[ 9.98504015e-01 -4.64547333e-02 2.88390414e-02 5.47332194e+01] [ 4.64549786e-02 9.98920165e-01 6.61851328e-04 9.54193685e-01] [-2.88386461e-02 6.78855843e-04 9.99583849e-01 -1.63053492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.48592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.77, Y:0.95, Z:-1.63 [[ 9.98487563e-01 -4.68086628e-02 2.88363422e-02 5.47653391e+01] [ 4.68063344e-02 9.98903697e-01 7.56114230e-04 9.50114455e-01] [-2.88401216e-02 5.94752822e-04 9.99583860e-01 -1.63309544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.515919999999994 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:54.80, Y:0.95, Z:-1.62 [[ 9.98534805e-01 -4.57912833e-02 2.88340465e-02 5.47960048e+01] [ 4.57861789e-02 9.98950912e-01 8.37585107e-04 9.48095639e-01] [-2.88421511e-02 4.83842931e-04 9.99583862e-01 -1.62412502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.545919999999995 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:54.83, Y:0.94, Z:-1.62 [[ 9.98708787e-01 -4.18247686e-02 2.88348366e-02 5.48274683e+01] [ 4.18188288e-02 9.99124882e-01 8.09272703e-04 9.44458673e-01] [-2.88434504e-02 3.97611337e-04 9.99583862e-01 -1.62005777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.575919999999996 meters Centerline goodness : 0.996135 Centerline is valid? [True, True] Translation: X:54.86, Y:0.92, Z:-1.64 [[ 9.94487538e-01 -1.00811588e-01 2.88368039e-02 5.48576045e+01] [ 1.00832304e-01 9.94903162e-01 7.38551726e-04 9.15784185e-01] [-2.87642819e-02 2.17320089e-03 9.99583860e-01 -1.63691065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.60592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:54.89, Y:0.93, Z:-1.63 [[ 9.98234621e-01 -5.19267659e-02 2.88314560e-02 5.48883995e+01] [ 5.19215041e-02 9.98650734e-01 9.31617438e-04 9.33295849e-01] [-2.88409306e-02 5.66999781e-04 9.99583853e-01 -1.62869203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.63592 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:54.92, Y:0.94, Z:-1.62 [[ 9.99007602e-01 -3.39429648e-02 2.88389789e-02 5.49195136e+01] [ 3.39380110e-02 9.99423721e-01 6.61369120e-04 9.40767075e-01] [-2.88448085e-02 3.18024807e-04 9.99583851e-01 -1.61963016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.66592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.95, Y:0.94, Z:-1.64 [[ 9.99064121e-01 -3.22374451e-02 2.88379965e-02 5.49498693e+01] [ 3.22307564e-02 9.99480211e-01 6.96864187e-04 9.36840625e-01] [-2.88454719e-02 2.33258432e-04 9.99583856e-01 -1.63987269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.695919999999994 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:54.98, Y:0.94, Z:-1.63 [[ 9.99111366e-01 -3.07409157e-02 2.88352840e-02 5.49827068e+01] [ 3.07307648e-02 9.99527382e-01 7.95225925e-04 9.37158754e-01] [-2.88461019e-02 9.16110686e-05 9.99583860e-01 -1.62646935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.725919999999995 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:55.01, Y:0.94, Z:-1.62 [[ 9.99100600e-01 -3.10818850e-02 2.88428112e-02 5.50121767e+01] [ 3.10798363e-02 9.99516770e-01 5.19444547e-04 9.37181882e-01] [-2.88450188e-02 3.77452491e-04 9.99583825e-01 -1.62450100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.755919999999996 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:55.04, Y:0.94, Z:-1.62 [[ 9.99174205e-01 -2.86242786e-02 2.88367616e-02 5.50446755e+01] [ 2.86148236e-02 9.99590238e-01 7.40575703e-04 9.36664080e-01] [-2.88461438e-02 8.51947083e-05 9.99583860e-01 -1.62349282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.78592 meters Centerline goodness : 0.998910 Centerline is valid? [True, True] Translation: X:55.08, Y:0.93, Z:-1.62 [[ 9.99238516e-01 -2.62789869e-02 2.88409936e-02 5.50778120e+01] [ 2.62730350e-02 9.99654633e-01 5.85364097e-04 9.34373235e-01] [-2.88464156e-02 1.72822082e-04 9.99583841e-01 -1.62360822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.81592 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:55.11, Y:0.93, Z:-1.64 [[ 9.99222877e-01 -2.68637015e-02 2.88441408e-02 5.51068652e+01] [ 2.68613224e-02 9.99639059e-01 4.70025535e-04 9.33589625e-01] [-2.88463564e-02 3.05131498e-04 9.99583811e-01 -1.64404951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.84592 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:55.14, Y:0.93, Z:-1.63 [[ 9.99334141e-01 -2.23559266e-02 2.88355093e-02 5.51427842e+01] [ 2.23425361e-02 9.99750065e-01 7.86526547e-04 9.32494624e-01] [-2.88458858e-02 -1.41744424e-04 9.99583861e-01 -1.62746181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.87592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.17, Y:0.93, Z:-1.65 [[ 9.99281951e-01 -2.45660374e-02 2.88460221e-02 5.51712202e+01] [ 2.45648710e-02 9.99698160e-01 3.94860183e-04 9.30568773e-01] [-2.88470154e-02 3.14022158e-04 9.99583789e-01 -1.64597036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.905919999999995 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:55.21, Y:0.92, Z:-1.63 [[ 9.98867035e-01 -3.78569766e-02 2.88356594e-02 5.52053763e+01] [ 3.78502668e-02 9.99283119e-01 7.78683736e-04 9.23398100e-01] [-2.88444662e-02 3.13635886e-04 9.99583863e-01 -1.63301901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.935919999999996 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:55.24, Y:0.93, Z:-1.63 [[ 9.99382118e-01 -2.00834215e-02 2.88450885e-02 5.52363362e+01] [ 2.00793922e-02 9.99798296e-01 4.29366851e-04 9.31312837e-01] [-2.88478935e-02 1.50090293e-04 9.99583802e-01 -1.63212296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.96592 meters Centerline goodness : 0.999109 Centerline is valid? [True, True] Translation: X:55.27, Y:0.93, Z:-1.64 [[ 9.99355983e-01 -2.13436068e-02 2.88456324e-02 5.52669179e+01] [ 2.13406800e-02 9.99772178e-01 4.09352663e-04 9.32273287e-01] [-2.88477978e-02 2.06496378e-04 9.99583794e-01 -1.63769546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.99592 meters Centerline goodness : 0.915183 Centerline is valid? [True, False] Translation: X:55.27, Y:0.93, Z:-1.64 [[ 9.99438727e-01 -1.74596037e-02 2.85900873e-02 5.52675557e+01] [ 1.73145332e-02 9.99835971e-01 5.31389543e-03 9.29122595e-01] [-2.86781762e-02 -4.81588886e-03 9.99577095e-01 -1.63681785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.02592 meters Centerline goodness : 0.999455 Centerline is valid? [False, True] Translation: X:55.29, Y:0.93, Z:-1.64 [[ 9.99893612e-01 -1.14545241e-02 9.03094640e-03 5.52926635e+01] [ 1.14132081e-02 9.99924225e-01 4.61327897e-03 9.31544116e-01] [-9.08310500e-03 -4.50971610e-03 9.99948579e-01 -1.63609676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.05592 meters Centerline goodness : 0.842994 Centerline is valid? [True, False] Translation: X:55.32, Y:0.93, Z:-1.63 [[ 9.99998345e-01 -9.46560144e-04 1.55359824e-03 5.53167512e+01] [ 9.36713785e-04 9.99979550e-01 6.32631461e-03 9.34267209e-01] [-1.55955471e-03 -6.32484887e-03 9.99978782e-01 -1.63218326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.085919999999994 meters Centerline goodness : 0.999703 Centerline is valid? [False, True] Translation: X:55.32, Y:0.93, Z:-1.63 [[ 9.99998562e-01 -1.01149204e-03 1.36153131e-03 5.53172875e+01] [ 1.00293419e-03 9.99979831e-01 6.27153686e-03 9.34418819e-01] [-1.36784746e-03 -6.27016231e-03 9.99979407e-01 -1.63226555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.115919999999996 meters Centerline goodness : 0.998415 Centerline is valid? [True, True] Translation: X:55.32, Y:0.92, Z:-1.67 [[ 9.97781366e-01 -6.65613166e-02 1.39173162e-03 5.53206647e+01] [ 6.65616039e-02 9.97782304e-01 -1.61079154e-04 9.18253432e-01] [-1.37792354e-03 2.53357668e-04 9.99999019e-01 -1.66507230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.14592 meters Centerline goodness : 0.924869 Centerline is valid? [True, False] Translation: X:55.35, Y:0.92, Z:-1.66 [[ 9.98558580e-01 -5.36647403e-02 -9.26709925e-04 5.53484375e+01] [ 5.36631622e-02 9.98557729e-01 -1.65126995e-03 9.23397623e-01] [ 1.01398833e-03 1.59915959e-03 9.99998207e-01 -1.66412487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.17592 meters Centerline goodness : 0.906663 Centerline is valid? [False, False] Translation: X:55.38, Y:0.93, Z:-1.66 [[ 9.99139260e-01 -4.13329906e-02 -3.51036861e-03 5.53755329e+01] [ 4.13204511e-02 9.99139558e-01 -3.57257382e-03 9.28272136e-01] [ 3.65501330e-03 3.42444875e-03 9.99987457e-01 -1.66182330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.20592 meters Centerline goodness : 0.999901 Centerline is valid? [False, True] Translation: X:55.40, Y:0.93, Z:-1.66 [[ 9.99564282e-01 -2.88402919e-02 -6.28357584e-03 5.54030911e+01] [ 2.88077738e-02 9.99571415e-01 -5.20557798e-03 9.31817282e-01] [ 6.43101318e-03 5.02229398e-03 9.99966709e-01 -1.65958814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.23592 meters Centerline goodness : 0.907735 Centerline is valid? [True, False] Translation: X:55.43, Y:0.93, Z:-1.66 [[ 9.99822839e-01 -1.64793639e-02 -9.09517007e-03 5.54305666e+01] [ 1.64178273e-02 9.99842098e-01 -6.79954643e-03 9.34851554e-01] [ 9.20578613e-03 6.64901888e-03 9.99935520e-01 -1.65734797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.265919999999994 meters Centerline goodness : 0.999604 Centerline is valid? [False, True] Translation: X:55.45, Y:0.93, Z:-1.65 [[ 9.99915594e-01 -1.54539757e-04 -1.29915365e-02 5.54513086e+01] [ 1.48083647e-04 9.99999865e-01 -4.97907848e-04 9.33992863e-01] [ 1.29916117e-02 4.95941988e-04 9.99915482e-01 -1.65145747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.295919999999995 meters Centerline goodness : 0.897673 Centerline is valid? [True, False] Translation: X:55.44, Y:0.93, Z:-1.65 [[ 9.99999232e-01 1.06459132e-03 -6.34658044e-04 5.54444512e+01] [-1.06335864e-03 9.99997554e-01 1.93945515e-03 9.34609900e-01] [ 6.36721219e-04 -1.93877879e-03 9.99997918e-01 -1.65329138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.325919999999996 meters Centerline goodness : 0.889925 Centerline is valid? [False, False] Translation: X:55.47, Y:0.93, Z:-1.65 [[ 9.99987252e-01 -9.68315489e-04 -4.95553333e-03 5.54656847e+01] [ 1.01342975e-03 9.99957995e-01 9.10941639e-03 9.28049687e-01] [ 4.94650438e-03 -9.11432235e-03 9.99946229e-01 -1.64804886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.35592 meters Centerline goodness : 0.859944 Centerline is valid? [False, False] Translation: X:55.47, Y:0.93, Z:-1.65 [[ 9.99986303e-01 -1.00123684e-03 -5.13732732e-03 5.54661447e+01] [ 1.04875231e-03 9.99956624e-01 9.25472199e-03 9.27592093e-01] [ 5.12783832e-03 -9.25998301e-03 9.99943977e-01 -1.64818313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.38592 meters Centerline goodness : 0.923085 Centerline is valid? [False, False] Translation: X:55.49, Y:0.92, Z:-1.65 [[ 9.99954553e-01 -4.09522537e-03 -8.60933556e-03 5.54886855e+01] [ 4.22871427e-03 9.99870234e-01 1.55445364e-02 9.22593255e-01] [ 8.54455998e-03 -1.55802364e-02 9.99842111e-01 -1.64507407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.41592 meters Centerline goodness : 0.997966 Centerline is valid? [False, True] Translation: X:55.51, Y:0.93, Z:-1.64 [[ 9.99930851e-01 7.57755850e-04 -1.17354048e-02 5.55101231e+01] [-6.67868468e-04 9.99970427e-01 7.66153000e-03 9.32124999e-01] [ 1.17408633e-02 -7.65316250e-03 9.99901786e-01 -1.64295576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.445919999999994 meters Centerline goodness : 0.998217 Centerline is valid? [True, True] Translation: X:55.54, Y:0.94, Z:-1.65 [[ 9.99930294e-01 1.31569868e-03 -1.17335399e-02 5.55409657e+01] [-1.31509528e-03 9.99999134e-01 5.91407675e-05 9.43810768e-01] [ 1.17336075e-02 -4.37059221e-05 9.99931158e-01 -1.64720899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.475919999999995 meters Centerline goodness : 0.998315 Centerline is valid? [True, True] Translation: X:55.57, Y:0.94, Z:-1.65 [[ 9.99930953e-01 6.37843434e-04 -1.17338031e-02 5.55692492e+01] [-6.34772851e-04 9.99999763e-01 2.65409389e-04 9.44320250e-01] [ 1.17339696e-02 -2.57942764e-04 9.99931121e-01 -1.64680821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.505919999999996 meters Centerline goodness : 0.840406 Centerline is valid? [True, False] Translation: X:55.59, Y:0.94, Z:-1.64 [[ 9.99909220e-01 9.94596948e-04 -1.34373209e-02 5.55910469e+01] [-8.44403977e-04 9.99937164e-01 1.11783539e-02 9.36105213e-01] [ 1.34475945e-02 -1.11659926e-02 9.99847230e-01 -1.64317879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.53592 meters Centerline goodness : 0.998069 Centerline is valid? [False, True] Translation: X:55.58, Y:0.94, Z:-1.65 [[ 9.99999718e-01 -7.09414486e-04 -2.47659089e-04 5.55845301e+01] [ 7.11932644e-04 9.99946491e-01 1.03203043e-02 9.39560966e-01] [ 2.40324464e-04 -1.03204777e-02 9.99946714e-01 -1.64552426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.56592 meters Centerline goodness : 0.997673 Centerline is valid? [True, True] Translation: X:55.61, Y:0.95, Z:-1.64 [[ 9.99999662e-01 -7.93018111e-04 -2.15084089e-04 5.56149368e+01] [ 7.92981709e-04 9.99999671e-01 -1.69274068e-04 9.51690661e-01] [ 2.15218256e-04 1.69103453e-04 9.99999963e-01 -1.64326544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.59592 meters Centerline goodness : 0.997277 Centerline is valid? [True, True] Translation: X:55.65, Y:0.95, Z:-1.64 [[ 9.99999921e-01 -3.34364089e-04 -2.15798292e-04 5.56452228e+01] [ 3.34365235e-04 9.99999944e-01 5.27523218e-06 9.53150048e-01] [ 2.15796516e-04 -5.34738721e-06 9.99999977e-01 -1.64201635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.625919999999994 meters Centerline goodness : 0.997724 Centerline is valid? [True, True] Translation: X:55.68, Y:0.96, Z:-1.64 [[ 9.99996273e-01 -2.72182242e-03 -2.15786910e-04 5.56760781e+01] [ 2.72182310e-03 9.99996296e-01 2.85892232e-06 9.57356248e-01] [ 2.15778329e-04 -3.44624546e-06 9.99999977e-01 -1.64475275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.655919999999995 meters Centerline goodness : 0.997129 Centerline is valid? [True, True] Translation: X:55.71, Y:0.96, Z:-1.64 [[ 9.99994170e-01 -3.40798952e-03 -2.15785419e-04 5.57059489e+01] [ 3.40799015e-03 9.99994193e-01 2.57842105e-06 9.59685181e-01] [ 2.15775379e-04 -3.31380060e-06 9.99999977e-01 -1.64427807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.685919999999996 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:55.74, Y:0.96, Z:-1.66 [[ 9.99975268e-01 -7.02976422e-03 -2.15781167e-04 5.57353813e+01] [ 7.02976478e-03 9.99975291e-01 1.82521983e-06 9.61070999e-01] [ 2.15763004e-04 -3.34206553e-06 9.99999977e-01 -1.66137107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.71592 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:55.76, Y:0.96, Z:-1.66 [[ 9.99970684e-01 -7.65405370e-03 -2.15763751e-04 5.57647125e+01] [ 7.65405361e-03 9.99970707e-01 -1.22994386e-06 9.61380437e-01] [ 2.15766845e-04 -4.21559516e-07 9.99999977e-01 -1.66232893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.74592 meters Centerline goodness : 0.997672 Centerline is valid? [True, True] Translation: X:55.80, Y:0.96, Z:-1.65 [[ 9.99948575e-01 -1.01390348e-02 -2.15763632e-04 5.57980469e+01] [ 1.01390348e-02 9.99948599e-01 -1.25048140e-06 9.62852593e-01] [ 2.15765220e-04 -9.37217874e-07 9.99999977e-01 -1.64753524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.77592 meters Centerline goodness : 0.998514 Centerline is valid? [True, True] Translation: X:55.83, Y:0.96, Z:-1.66 [[ 9.99937089e-01 -1.12148276e-02 -2.15780420e-04 5.58259502e+01] [ 1.12148283e-02 9.99937112e-01 1.61657808e-06 9.64128761e-01] [ 2.15748720e-04 -4.03641672e-06 9.99999977e-01 -1.65666918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.80592 meters Centerline goodness : 0.997720 Centerline is valid? [True, True] Translation: X:55.86, Y:0.96, Z:-1.65 [[ 9.99889935e-01 -1.48348106e-02 -2.15768031e-04 5.58570443e+01] [ 1.48348108e-02 9.99889958e-01 -3.71791066e-07 9.62694677e-01] [ 2.15749803e-04 -2.82912777e-06 9.99999977e-01 -1.65052982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.835919999999994 meters Centerline goodness : 0.997424 Centerline is valid? [True, True] Translation: X:55.89, Y:0.96, Z:-1.65 [[ 9.99894484e-01 -1.45249868e-02 -2.15772142e-04 5.58885747e+01] [ 1.45249871e-02 9.99894507e-01 2.49560020e-07 9.62808959e-01] [ 2.15745755e-04 -3.38362128e-06 9.99999977e-01 -1.64826744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.865919999999996 meters Centerline goodness : 0.998761 Centerline is valid? [True, True] Translation: X:55.92, Y:0.96, Z:-1.65 [[ 9.99871979e-01 -1.59993704e-02 -2.15779018e-04 5.59169040e+01] [ 1.59993711e-02 9.99872002e-01 1.32939082e-06 9.62895952e-01] [ 2.15730129e-04 -4.78154921e-06 9.99999977e-01 -1.65452629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.89592 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:55.95, Y:0.96, Z:-1.66 [[ 9.99829852e-01 -1.84450556e-02 -2.15768748e-04 5.59459908e+01] [ 1.84450560e-02 9.99829875e-01 -2.05310373e-07 9.60167593e-01] [ 2.15735827e-04 -3.77459119e-06 9.99999977e-01 -1.65714668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.92592 meters Centerline goodness : 0.974500 Centerline is valid? [True, True] Translation: X:56.00, Y:0.98, Z:-1.67 [[ 9.99872485e-01 -1.59677192e-02 -2.15769213e-04 5.60025808e+01] [ 1.59677195e-02 9.99872508e-01 -1.36078620e-07 9.75000848e-01] [ 2.15743877e-04 -3.30928099e-06 9.99999977e-01 -1.67040770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.95592 meters Centerline goodness : 0.974500 Centerline is valid? [True, True] Translation: X:56.03, Y:0.97, Z:-1.67 [[ 9.99762718e-01 -2.17821776e-02 -2.11567720e-04 5.60342773e+01] [ 2.17821902e-02 9.99762738e-01 5.75685374e-05 9.72882300e-01] [ 2.10263555e-04 -6.21632857e-05 9.99999976e-01 -1.67038292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.98592 meters Centerline goodness : 0.969284 Centerline is valid? [True, True] Translation: X:56.07, Y:0.97, Z:-1.67 [[ 9.99608077e-01 -2.79937076e-02 -2.11344472e-04 5.60671820e+01] [ 2.79937211e-02 9.99608097e-01 6.08190191e-05 9.69200602e-01] [ 2.09559095e-04 -6.67115009e-05 9.99999976e-01 -1.67203510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.015919999999994 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:56.07, Y:0.94, Z:-1.66 [[ 9.99344652e-01 -3.61969847e-02 -2.10774652e-04 5.60653960e+01] [ 3.61969918e-02 9.99344674e-01 2.99753536e-05 9.39031354e-01] [ 2.09551508e-04 -3.75851177e-05 9.99999977e-01 -1.66150709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.045919999999995 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:56.09, Y:0.94, Z:-1.66 [[ 9.99380409e-01 -3.51959487e-02 -2.09812107e-04 5.60941883e+01] [ 3.51959485e-02 9.99380431e-01 -4.90626695e-06 9.37976753e-01] [ 2.09854795e-04 -2.48130904e-06 9.99999978e-01 -1.65999429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.075919999999996 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:56.12, Y:0.94, Z:-1.66 [[ 9.99398312e-01 -3.46838532e-02 -2.09824221e-04 5.61225941e+01] [ 3.46838531e-02 9.99398334e-01 -4.47500039e-06 9.37353385e-01] [ 2.09853188e-04 -2.80520463e-06 9.99999978e-01 -1.65989762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.10592 meters Centerline goodness : 0.999406 Centerline is valid? [True, True] Translation: X:56.15, Y:0.94, Z:-1.66 [[ 9.99391774e-01 -3.48717373e-02 -2.09812025e-04 5.61510025e+01] [ 3.48717370e-02 9.99391796e-01 -4.90129486e-06 9.37788473e-01] [ 2.09855334e-04 -2.41819601e-06 9.99999978e-01 -1.66227229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.13592 meters Centerline goodness : 0.998017 Centerline is valid? [True, True] Translation: X:56.18, Y:0.94, Z:-1.65 [[ 9.99526168e-01 -3.07797746e-02 -2.09778139e-04 5.61845396e+01] [ 3.07797740e-02 9.99526190e-01 -6.07201508e-06 9.35725591e-01] [ 2.09865639e-04 -3.87785734e-07 9.99999978e-01 -1.64765722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.16592 meters Centerline goodness : 0.825701 Centerline is valid? [True, False] Translation: X:56.17, Y:0.93, Z:-1.65 [[ 9.99751616e-01 -1.79679249e-02 1.31856204e-02 5.61710253e+01] [ 1.79698867e-02 9.99838528e-01 -3.03072686e-05 9.34251764e-01] [-1.31829467e-02 2.67243845e-04 9.99913065e-01 -1.64869881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.195919999999994 meters Centerline goodness : 0.986080 Centerline is valid? [False, True] Translation: X:56.17, Y:0.93, Z:-1.65 [[ 9.99865952e-01 -1.00327322e-02 1.29391529e-02 5.61716162e+01] [ 9.90163822e-03 9.99899400e-01 1.01561496e-02 9.25994876e-01] [-1.30397451e-02 -1.00266694e-02 9.99864706e-01 -1.64752763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.225919999999995 meters Centerline goodness : 0.998465 Centerline is valid? [True, True] Translation: X:56.16, Y:0.96, Z:-1.63 [[ 9.99327340e-01 3.45609817e-02 1.22640182e-02 5.61589173e+01] [-3.45047747e-02 9.99393171e-01 -4.76551546e-03 9.58449220e-01] [-1.24212769e-02 4.33914270e-03 9.99913438e-01 -1.63113222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.255919999999996 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:56.19, Y:0.95, Z:-1.64 [[ 9.99338481e-01 3.41817117e-02 1.24182012e-02 5.61893358e+01] [-3.41769920e-02 9.99415621e-01 -5.92141961e-04 9.51455989e-01] [-1.24311847e-02 1.67333484e-04 9.99922716e-01 -1.63743930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.28592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:56.22, Y:0.95, Z:-1.65 [[ 9.99381970e-01 3.28862642e-02 1.24165844e-02 5.62185259e+01] [-3.28809021e-02 9.99459075e-01 -6.35794849e-04 9.49305043e-01] [-1.24307768e-02 2.27133413e-04 9.99922709e-01 -1.64674528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.31592 meters Centerline goodness : 0.912817 Centerline is valid? [True, False] Translation: X:56.22, Y:0.94, Z:-1.65 [[ 9.99731709e-01 2.12354095e-02 9.25028397e-03 5.62195255e+01] [-2.13120337e-02 9.99738708e-01 8.26515364e-03 9.39444664e-01] [-9.07235302e-03 -8.46007854e-03 9.99923057e-01 -1.64504896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.34592 meters Centerline goodness : 0.999603 Centerline is valid? [False, True] Translation: X:56.24, Y:0.94, Z:-1.64 [[ 9.99881158e-01 1.45722590e-02 5.03178861e-03 5.62418438e+01] [-1.46225268e-02 9.99842052e-01 1.01021185e-02 9.36318684e-01] [-4.88378317e-03 -1.01744954e-02 9.99936312e-01 -1.64213021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.375919999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.27, Y:0.94, Z:-1.65 [[ 9.99852159e-01 1.64852365e-02 4.88845343e-03 5.62735603e+01] [-1.64841770e-02 9.99864094e-01 -2.56961937e-04 9.43775907e-01] [-4.89202514e-03 1.76341816e-04 9.99988018e-01 -1.65094719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.405919999999995 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:56.30, Y:0.94, Z:-1.66 [[ 9.99865576e-01 1.56497844e-02 4.89026433e-03 5.63042178e+01] [-1.56493734e-02 9.99877534e-01 -1.22300175e-04 9.42874007e-01] [-4.89157941e-03 4.57541623e-05 9.99988035e-01 -1.66041858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.435919999999996 meters Centerline goodness : 0.987918 Centerline is valid? [True, True] Translation: X:56.31, Y:0.92, Z:-1.67 [[ 9.99899382e-01 1.33156021e-02 4.89080049e-03 5.63064480e+01] [-1.33153631e-02 9.99911343e-01 -8.14262512e-05 9.24527443e-01] [-4.89145112e-03 1.62952742e-05 9.99988037e-01 -1.66551687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.46592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.36, Y:0.94, Z:-1.66 [[ 9.99672255e-01 2.51270523e-02 4.90030132e-03 5.63564450e+01] [-2.51302711e-02 9.99684007e-01 5.96383015e-04 9.43261447e-01] [-4.88376751e-03 -7.19333455e-04 9.99987816e-01 -1.65728388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.49592 meters Centerline goodness : 0.996231 Centerline is valid? [True, True] Translation: X:56.42, Y:0.96, Z:-1.66 [[ 9.98171162e-01 6.02533973e-02 4.88459019e-03 5.64218285e+01] [-6.02534038e-02 9.98183102e-01 -1.45965061e-04 9.60678052e-01] [-4.88451028e-03 -1.48615071e-04 9.99988060e-01 -1.65793800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.52592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.41, Y:0.94, Z:-1.66 [[ 9.99840387e-01 1.71936678e-02 4.85567023e-03 5.64086650e+01] [-1.71875273e-02 9.99851434e-01 -1.30350945e-03 9.36368007e-01] [-4.87736095e-03 1.21984443e-03 9.99987362e-01 -1.66051320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.55592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:56.44, Y:0.93, Z:-1.65 [[ 9.99864875e-01 1.56996361e-02 4.87367770e-03 5.64394910e+01] [-1.56993357e-02 9.99876753e-01 -9.98776618e-05 9.34933647e-01] [-4.87464508e-03 2.33506633e-05 9.99988119e-01 -1.65088033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.585919999999994 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:56.47, Y:0.93, Z:-1.65 [[ 9.99851928e-01 1.65036430e-02 4.87367561e-03 5.64719948e+01] [-1.65033515e-02 9.99863805e-01 -1.00019015e-04 9.32904798e-01] [-4.87466252e-03 1.95722233e-05 9.99988119e-01 -1.65057560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.615919999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.50, Y:0.93, Z:-1.66 [[ 9.99850632e-01 1.65820259e-02 4.87344351e-03 5.65022705e+01] [-1.65816583e-02 9.99862508e-01 -1.15814099e-04 9.32606531e-01] [-4.87469389e-03 3.49870246e-05 9.99988118e-01 -1.66099157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.64592 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:56.53, Y:0.93, Z:-1.65 [[ 9.99839623e-01 1.72329325e-02 4.87373914e-03 5.65349490e+01] [-1.72326719e-02 9.99851502e-01 -9.54779056e-05 9.32606275e-01] [-4.87466077e-03 1.14750458e-05 9.99988119e-01 -1.65059471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.67592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:56.57, Y:0.93, Z:-1.65 [[ 9.99864321e-01 1.57349826e-02 4.87329768e-03 5.65665411e+01] [-1.57345535e-02 9.99876196e-01 -1.26377664e-04 9.31819680e-01] [-4.87468289e-03 4.96813545e-05 9.99988117e-01 -1.65059456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.70592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.60, Y:0.93, Z:-1.65 [[ 9.99880875e-01 1.46453160e-02 4.87335433e-03 5.65986020e+01] [-1.46448936e-02 9.99892750e-01 -1.22337010e-04 9.29142103e-01] [-4.87462333e-03 5.09526810e-05 9.99988118e-01 -1.65017551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.73592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:56.63, Y:0.93, Z:-1.64 [[ 9.99930564e-01 1.07292089e-02 4.87346571e-03 5.66261840e+01] [-1.07287789e-02 9.99942438e-01 -1.14358423e-04 9.28305175e-01] [-4.87441216e-03 6.20641464e-05 9.99988118e-01 -1.64199414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.765919999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.66, Y:0.93, Z:-1.66 [[ 9.99888955e-01 1.40825407e-02 4.87446453e-03 5.66583465e+01] [-1.40825065e-02 9.99900836e-01 -4.13496537e-05 9.29419157e-01] [-4.87456346e-03 -2.72996162e-05 9.99988119e-01 -1.66419340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.795919999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.69, Y:0.93, Z:-1.66 [[ 9.99829159e-01 1.78296289e-02 4.87422477e-03 5.66931496e+01] [-1.78295548e-02 9.99841039e-01 -5.86682354e-05 9.29815114e-01] [-4.87449599e-03 -2.82470451e-05 9.99988119e-01 -1.65705833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.825919999999996 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:56.73, Y:0.93, Z:-1.65 [[ 9.99792548e-01 1.97765140e-02 4.87338800e-03 5.67260073e+01] [-1.97761728e-02 9.99804425e-01 -1.18198712e-04 9.29506076e-01] [-4.87477245e-03 2.17972283e-05 9.99988118e-01 -1.65334778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.85592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.75, Y:0.93, Z:-1.67 [[ 9.99798573e-01 1.94695977e-02 4.87316756e-03 5.67548337e+01] [-1.94691751e-02 9.99810449e-01 -1.34143062e-04 9.30873733e-01] [-4.87485556e-03 3.92394898e-05 9.99988117e-01 -1.66625359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.88592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.79, Y:0.93, Z:-1.65 [[ 9.99714138e-01 2.34069638e-02 4.87409053e-03 5.67903670e+01] [-2.34069155e-02 9.99726018e-01 -6.69719549e-05 9.33253637e-01] [-4.87432273e-03 -4.71346149e-05 9.99988119e-01 -1.65230933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.91592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.82, Y:0.93, Z:-1.66 [[ 9.99767062e-01 2.10255825e-02 4.87307343e-03 5.68196325e+01] [-2.10251537e-02 9.99778937e-01 -1.39226650e-04 9.34154469e-01] [-4.87492349e-03 3.67371014e-05 9.99988117e-01 -1.66299811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.945919999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.85, Y:0.93, Z:-1.66 [[ 9.99784341e-01 2.01870350e-02 4.87401751e-03 5.68515609e+01] [-2.01869259e-02 9.99796221e-01 -7.15916038e-05 9.33921114e-01] [-4.87446951e-03 -2.68152660e-05 9.99988119e-01 -1.66397014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.975919999999995 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:56.88, Y:0.93, Z:-1.66 [[ 9.99781058e-01 2.03489256e-02 4.87412184e-03 5.68847604e+01] [-2.03488539e-02 9.99792939e-01 -6.42991297e-05 9.34401910e-01] [-4.87442102e-03 -3.48977414e-05 9.99988119e-01 -1.66468641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.005919999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.92, Y:0.94, Z:-1.66 [[ 9.99815840e-01 1.85615418e-02 4.87395432e-03 5.69164233e+01] [-1.85613930e-02 9.99827720e-01 -7.57645142e-05 9.36093266e-01] [-4.87452094e-03 -1.47168204e-05 9.99988119e-01 -1.66370582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.03592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:56.95, Y:0.94, Z:-1.65 [[ 9.99768259e-01 2.09683736e-02 4.87400641e-03 5.69519831e+01] [-2.09682705e-02 9.99780139e-01 -7.22500769e-05 9.37035986e-01] [-4.87444978e-03 -2.99661513e-05 9.99988119e-01 -1.65143818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.06592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:56.98, Y:0.94, Z:-1.65 [[ 9.99829995e-01 1.77830598e-02 4.87285854e-03 5.69835228e+01] [-1.77825334e-02 9.99841867e-01 -1.51336050e-04 9.39168228e-01] [-4.87477919e-03 6.46585523e-05 9.99988116e-01 -1.65044237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.09592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:57.02, Y:0.94, Z:-1.65 [[ 9.99853440e-01 1.64118499e-02 4.87328057e-03 5.70156943e+01] [-1.64114501e-02 9.99865316e-01 -1.22014409e-04 9.37946526e-01] [-4.87462670e-03 4.20189259e-05 9.99988118e-01 -1.64911646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.125919999999994 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:57.05, Y:0.94, Z:-1.65 [[ 9.99863314e-01 1.57988093e-02 4.87342166e-03 5.70485350e+01] [-1.57984499e-02 9.99875190e-01 -1.12243470e-04 9.36787042e-01] [-4.87458672e-03 3.52356201e-05 9.99988119e-01 -1.64726634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.155919999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.08, Y:0.94, Z:-1.65 [[ 9.99868780e-01 1.54490983e-02 4.87326545e-03 5.70801800e+01] [-1.54486820e-02 9.99880654e-01 -1.23058656e-04 9.37709803e-01] [-4.87458500e-03 4.77569799e-05 9.99988118e-01 -1.64696012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.185919999999996 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:57.11, Y:0.94, Z:-1.65 [[ 9.99891119e-01 1.39283445e-02 4.87350779e-03 5.71125062e+01] [-1.39279932e-02 9.99902995e-01 -1.06013716e-04 9.38670501e-01] [-4.87451163e-03 3.81239900e-05 9.99988119e-01 -1.64739200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.21592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.14, Y:0.94, Z:-1.67 [[ 9.99936455e-01 1.01653773e-02 4.87348195e-03 5.71434257e+01] [-1.01649724e-02 9.99948330e-01 -1.07837932e-04 9.38305697e-01] [-4.87432635e-03 5.82922696e-05 9.99988119e-01 -1.66834485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.24592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:57.18, Y:0.94, Z:-1.65 [[ 9.99944048e-01 9.38853062e-03 4.87402677e-03 5.71762901e+01] [-9.38830197e-03 9.99955926e-01 -6.97884051e-05 9.37334564e-01] [-4.87446716e-03 2.40256652e-05 9.99988119e-01 -1.64740616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.27592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:57.21, Y:0.94, Z:-1.65 [[ 9.99951248e-01 8.58777528e-03 4.87366226e-03 5.72085105e+01] [-8.58741538e-03 9.99963123e-01 -9.47695828e-05 9.37125509e-01] [-4.87429640e-03 5.29128003e-05 9.99988119e-01 -1.64816175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.30592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.24, Y:0.94, Z:-1.67 [[ 9.99965269e-01 6.76083259e-03 4.87369118e-03 5.72396605e+01] [-6.76046062e-03 9.99977144e-01 -9.27921890e-05 9.35013718e-01] [-4.87420713e-03 5.98405689e-05 9.99988119e-01 -1.66538781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.335919999999994 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:57.27, Y:0.93, Z:-1.65 [[ 9.99950113e-01 8.71867423e-03 4.87399845e-03 5.72737570e+01] [-8.71842690e-03 9.99961991e-01 -7.19883336e-05 9.34441839e-01] [-4.87444084e-03 2.94911431e-05 9.99988119e-01 -1.64878565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.365919999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.31, Y:0.93, Z:-1.65 [[ 9.99946803e-01 9.09084283e-03 4.87321622e-03 5.73054132e+01] [-9.09034413e-03 9.99958674e-01 -1.24475697e-04 9.33876211e-01] [-4.87414642e-03 8.01698632e-05 9.99988118e-01 -1.65192351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.39592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:57.34, Y:0.93, Z:-1.65 [[ 9.99922993e-01 1.14130545e-02 4.87342931e-03 5.73374780e+01] [-1.14126540e-02 9.99934867e-01 -1.09979417e-04 9.32839693e-01] [-4.87436710e-03 5.43521856e-05 9.99988119e-01 -1.65009640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.42592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.37, Y:0.93, Z:-1.65 [[ 9.99863138e-01 1.58099987e-02 4.87332034e-03 5.73700333e+01] [-1.58096141e-02 9.99875013e-01 -1.17424803e-04 9.31895788e-01] [-4.87456773e-03 4.03634184e-05 9.99988118e-01 -1.65165427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.45592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:57.40, Y:0.94, Z:-1.65 [[ 9.99779638e-01 2.04187361e-02 4.87339329e-03 5.74033538e+01] [-2.04184307e-02 9.99791516e-01 -1.12416213e-04 9.35727492e-01] [-4.87467266e-03 1.28843977e-05 9.99988119e-01 -1.65015095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.48592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:57.43, Y:0.94, Z:-1.65 [[ 9.99770582e-01 2.08575367e-02 4.87294853e-03 5.74341884e+01] [-2.08570854e-02 9.99782457e-01 -1.43401020e-04 9.37048127e-01] [-4.87487945e-03 4.17326175e-05 9.99988117e-01 -1.65497227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.515919999999994 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:57.47, Y:0.94, Z:-1.65 [[ 9.99704324e-01 2.38225395e-02 4.87343301e-03 5.74669406e+01] [-2.38222902e-02 9.99716203e-01 -1.09203160e-04 9.37541237e-01] [-4.87465144e-03 -6.92546376e-06 9.99988119e-01 -1.65464205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.545919999999995 meters Centerline goodness : 0.999405 Centerline is valid? [True, True] Translation: X:57.50, Y:0.94, Z:-1.65 [[ 9.99690591e-01 2.43921185e-02 4.87314568e-03 5.74997791e+01] [-2.43917774e-02 9.99702468e-01 -1.29434537e-04 9.38471577e-01] [-4.87485295e-03 1.05298045e-05 9.99988118e-01 -1.65470091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.575919999999996 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:57.53, Y:0.94, Z:-1.65 [[ 9.99693103e-01 2.42889401e-02 4.87314483e-03 5.75333282e+01] [-2.42885974e-02 9.99704980e-01 -1.29495229e-04 9.40461095e-01] [-4.87485246e-03 1.10936346e-05 9.99988118e-01 -1.65334241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.60592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:57.56, Y:0.94, Z:-1.66 [[ 9.99732464e-01 2.26109131e-02 4.87311431e-03 5.75646478e+01] [-2.26105397e-02 9.99744340e-01 -1.31705318e-04 9.44561001e-01] [-4.87484642e-03 2.14863379e-05 9.99988118e-01 -1.65743260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.63592 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:57.60, Y:0.95, Z:-1.66 [[ 9.99683779e-01 2.46696540e-02 4.87347120e-03 5.75983851e+01] [-2.46694308e-02 9.99695658e-01 -1.05927989e-04 9.45642215e-01] [-4.87460121e-03 -1.43312688e-05 9.99988119e-01 -1.65527296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.66592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:57.63, Y:0.95, Z:-1.66 [[ 9.99771808e-01 2.07988024e-02 4.87263665e-03 5.76254115e+01] [-2.07982370e-02 9.99783679e-01 -1.66677827e-04 9.49718083e-01] [-4.87504930e-03 6.52975402e-05 9.99988115e-01 -1.66291398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.695919999999994 meters Centerline goodness : 0.999405 Centerline is valid? [True, True] Translation: X:57.66, Y:0.95, Z:-1.66 [[ 9.99748450e-01 2.18925064e-02 4.87384592e-03 5.76600564e+01] [-2.18923996e-02 9.99760330e-01 -7.52505706e-05 9.51862931e-01] [-4.87432523e-03 -3.14685414e-05 9.99988120e-01 -1.65926372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.725919999999995 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:57.69, Y:0.95, Z:-1.66 [[ 9.99761609e-01 2.12832459e-02 4.87328787e-03 5.76907505e+01] [-2.12829291e-02 9.99773486e-01 -1.16875885e-04 9.53546169e-01] [-4.87467150e-03 1.31301827e-05 9.99988119e-01 -1.66408347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.755919999999996 meters Centerline goodness : 0.999302 Centerline is valid? [True, True] Translation: X:57.72, Y:0.95, Z:-1.66 [[ 9.99773181e-01 2.07324234e-02 4.87370193e-03 5.77233434e+01] [-2.07322521e-02 9.99785060e-01 -8.56787860e-05 9.53180186e-01] [-4.87443070e-03 -1.53834644e-05 9.99988120e-01 -1.66423191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.78592 meters Centerline goodness : 0.998759 Centerline is valid? [True, True] Translation: X:57.76, Y:0.95, Z:-1.67 [[ 9.99779186e-01 2.04407982e-02 4.87368302e-03 5.77558330e+01] [-2.04406165e-02 9.99791065e-01 -8.70903152e-05 9.54768931e-01] [-4.87444493e-03 -1.25500012e-05 9.99988120e-01 -1.66570686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.81592 meters Centerline goodness : 0.998360 Centerline is valid? [True, True] Translation: X:57.79, Y:0.96, Z:-1.67 [[ 9.99790604e-01 1.98744946e-02 4.87373816e-03 5.77893212e+01] [-1.98743263e-02 9.99802483e-01 -8.29562947e-05 9.55511980e-01] [-4.87442423e-03 -1.39233386e-05 9.99988120e-01 -1.66538576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.84592 meters Centerline goodness : 0.998360 Centerline is valid? [True, True] Translation: X:57.82, Y:0.96, Z:-1.67 [[ 9.99787575e-01 2.00263022e-02 4.87362442e-03 5.78217930e+01] [-2.00260949e-02 9.99799453e-01 -9.13411899e-05 9.55170351e-01] [-4.87447626e-03 -6.27787839e-06 9.99988120e-01 -1.66554619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.875919999999994 meters Centerline goodness : 0.998164 Centerline is valid? [True, True] Translation: X:57.85, Y:0.96, Z:-1.67 [[ 9.99799689e-01 1.94121102e-02 4.87361486e-03 5.78534924e+01] [-1.94118922e-02 9.99811567e-01 -9.20383667e-05 9.55124570e-01] [-4.87448317e-03 -2.58615585e-06 9.99988120e-01 -1.66580480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.905919999999995 meters Centerline goodness : 0.756277 Centerline is valid? [True, False] Translation: X:57.86, Y:0.94, Z:-1.66 [[ 9.99941606e-01 1.08035237e-02 -2.63387669e-04 5.78586506e+01] [-1.07993232e-02 9.99861515e-01 1.26619327e-02 9.41903614e-01] [ 4.00144684e-04 -1.26583489e-02 9.99919800e-01 -1.66490432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.935919999999996 meters Centerline goodness : 0.974513 Centerline is valid? [False, True] Translation: X:57.88, Y:0.93, Z:-1.66 [[ 9.99944336e-01 9.29302902e-03 -4.99639730e-03 5.78790528e+01] [-9.19173039e-03 9.99759149e-01 1.99287679e-02 9.34654186e-01] [ 5.18039253e-03 -1.98817330e-02 9.99788918e-01 -1.66046229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.96592 meters Centerline goodness : 0.836280 Centerline is valid? [True, False] Translation: X:57.88, Y:0.94, Z:-1.66 [[ 9.99986212e-01 9.47095246e-04 -5.16523856e-03 5.78793174e+01] [-8.95060015e-04 9.99948924e-01 1.00671437e-02 9.41134056e-01] [ 5.17450928e-03 -1.00623817e-02 9.99935984e-01 -1.66165322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.99592 meters Centerline goodness : 0.845704 Centerline is valid? [False, False] Translation: X:57.88, Y:0.94, Z:-1.66 [[ 9.99974327e-01 4.89383154e-03 -5.23409316e-03 5.78797560e+01] [-4.81322287e-03 9.99871302e-01 1.53039719e-02 9.36533551e-01] [ 5.30831461e-03 -1.52783861e-02 9.99869188e-01 -1.66075613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.02592 meters Centerline goodness : 0.822487 Centerline is valid? [False, False] Translation: X:57.88, Y:0.94, Z:-1.66 [[ 9.99974818e-01 4.72969244e-03 -5.29092001e-03 5.78800951e+01] [-4.64774506e-03 9.99870690e-01 1.53948337e-02 9.36310632e-01] [ 5.36304867e-03 -1.53698552e-02 9.99867494e-01 -1.66040689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.05592 meters Centerline goodness : 0.811443 Centerline is valid? [False, False] Translation: X:57.90, Y:0.93, Z:-1.65 [[ 9.99962404e-01 -1.52640040e-03 -8.53580276e-03 5.78993832e+01] [ 1.67897978e-03 9.99838431e-01 1.78967205e-02 9.32586069e-01] [ 8.50710608e-03 -1.79103791e-02 9.99803404e-01 -1.65493307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.085919999999994 meters Centerline goodness : 0.909758 Centerline is valid? [False, False] Translation: X:57.92, Y:0.94, Z:-1.65 [[ 9.99919137e-01 2.80671821e-03 -1.24033295e-02 5.79209519e+01] [-2.68099584e-03 9.99944983e-01 1.01412083e-02 9.40296378e-01] [ 1.24311106e-02 -1.01071350e-02 9.99871648e-01 -1.65198780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.115919999999996 meters Centerline goodness : 0.742405 Centerline is valid? [False, False] Translation: X:57.92, Y:0.94, Z:-1.65 [[ 9.99917997e-01 2.79748918e-03 -1.24969079e-02 5.79211914e+01] [-2.67020574e-03 9.99944512e-01 1.01902949e-02 9.40248969e-01] [ 1.25247218e-02 -1.01560900e-02 9.99869984e-01 -1.65231151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.14592 meters Centerline goodness : 0.996525 Centerline is valid? [False, True] Translation: X:57.92, Y:0.94, Z:-1.65 [[ 9.99916988e-01 2.85973022e-03 -1.25634167e-02 5.79213969e+01] [-2.73788984e-03 9.99949162e-01 9.70454722e-03 9.42717242e-01] [ 1.25905304e-02 -9.66934437e-03 9.99873983e-01 -1.65318809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.17592 meters Centerline goodness : 0.940073 Centerline is valid? [True, False] Translation: X:57.92, Y:0.94, Z:-1.65 [[ 9.99916437e-01 2.88045400e-03 -1.26024469e-02 5.79214978e+01] [-2.76417875e-03 9.99953544e-01 9.23411353e-03 9.44987571e-01] [ 1.26284599e-02 -9.19850648e-03 9.99877947e-01 -1.65334239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.20592 meters Centerline goodness : 0.995881 Centerline is valid? [False, True] Translation: X:57.92, Y:0.95, Z:-1.65 [[ 9.99915794e-01 2.92467482e-03 -1.26431973e-02 5.79216632e+01] [-2.81714981e-03 9.99959787e-01 8.51403514e-03 9.48252083e-01] [ 1.26675897e-02 -8.47770043e-03 9.99883824e-01 -1.65380002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.23592 meters Centerline goodness : 0.963153 Centerline is valid? [True, True] Translation: X:57.91, Y:1.00, Z:-1.67 [[ 9.97172065e-01 7.40382782e-02 -1.28920815e-02 5.79050437e+01] [-7.40383999e-02 9.97255281e-01 4.68487789e-04 9.99072883e-01] [ 1.28913823e-02 4.87346147e-04 9.99916784e-01 -1.67016972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.265919999999994 meters Centerline goodness : 0.915996 Centerline is valid? [True, False] Translation: X:57.91, Y:1.00, Z:-1.67 [[ 9.98221138e-01 5.86351961e-02 -1.07922635e-02 5.79052964e+01] [-5.85947027e-02 9.98273716e-01 4.03105798e-03 9.96870255e-01] [ 1.10099948e-02 -3.39151781e-03 9.99933637e-01 -1.67234401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.295919999999995 meters Centerline goodness : 0.946294 Centerline is valid? [False, False] Translation: X:57.90, Y:0.99, Z:-1.67 [[ 9.99018061e-01 4.34701556e-02 -8.55913204e-03 5.79048084e+01] [-4.34000632e-02 9.99024027e-01 8.21144474e-03 9.92111152e-01] [ 8.90773134e-03 -7.83191473e-03 9.99929654e-01 -1.67363385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.325919999999996 meters Centerline goodness : 0.856546 Centerline is valid? [False, False] Translation: X:57.90, Y:0.99, Z:-1.67 [[ 9.99589966e-01 2.79827935e-02 -6.07152848e-03 5.79040987e+01] [-2.79091221e-02 9.99539664e-01 1.18971065e-02 9.89185740e-01] [ 6.40164781e-03 -1.17227772e-02 9.99910794e-01 -1.67493532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.35592 meters Centerline goodness : 0.994876 Centerline is valid? [False, True] Translation: X:57.91, Y:0.98, Z:-1.67 [[ 9.99806399e-01 1.63171047e-02 -1.09961874e-02 5.79061621e+01] [-1.61026015e-02 9.99683650e-01 1.93211326e-02 9.82904842e-01] [ 1.13079737e-02 -1.91403248e-02 9.99752858e-01 -1.67405071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.38592 meters Centerline goodness : 0.997857 Centerline is valid? [True, True] Translation: X:57.93, Y:1.00, Z:-1.70 [[ 9.99875018e-01 1.11257639e-02 -1.12323435e-02 5.79335095e+01] [-1.11264832e-02 9.99938099e-01 -1.54614878e-06 1.00240622e+00] [ 1.12316310e-02 1.26522437e-04 9.99936915e-01 -1.69527243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.41592 meters Centerline goodness : 0.878970 Centerline is valid? [True, False] Translation: X:57.93, Y:0.99, Z:-1.69 [[ 9.99921063e-01 5.12730769e-03 -1.14707500e-02 5.79318028e+01] [-4.95570804e-03 9.99876133e-01 1.49384947e-02 9.90803050e-01] [ 1.15459234e-02 -1.48804698e-02 9.99822616e-01 -1.69218000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.445919999999994 meters Centerline goodness : 0.952924 Centerline is valid? [False, True] Translation: X:57.93, Y:1.00, Z:-1.69 [[ 9.99933484e-01 8.79946264e-04 -1.15001698e-02 5.79318514e+01] [-7.68889342e-04 9.99953066e-01 9.65783717e-03 9.95451818e-01] [ 1.15081284e-02 -9.64835241e-03 9.99887230e-01 -1.69269007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.475919999999995 meters Centerline goodness : 0.958327 Centerline is valid? [True, True] Translation: X:57.90, Y:1.04, Z:-1.69 [[ 9.85035004e-01 1.71925896e-01 -1.21460522e-02 5.78970123e+01] [-1.71917956e-01 9.85109800e-01 1.70262055e-03 1.04174574e+00] [ 1.22579197e-02 4.10983634e-04 9.99924784e-01 -1.68834549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.505919999999996 meters Centerline goodness : 0.993340 Centerline is valid? [True, True] Translation: X:57.96, Y:1.02, Z:-1.67 [[ 9.92346716e-01 1.22865037e-01 -1.23360309e-02 5.79563370e+01] [-1.22875540e-01 9.92422084e-01 -9.42409588e-05 1.02247565e+00] [ 1.22309706e-02 1.60931616e-03 9.99923904e-01 -1.67069194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.53592 meters Centerline goodness : 0.940963 Centerline is valid? [True, False] Translation: X:57.95, Y:1.02, Z:-1.67 [[ 9.94191738e-01 1.07277448e-01 -8.62195623e-03 5.79525753e+01] [-1.07251780e-01 9.94226121e-01 3.38762248e-03 1.01810825e+00] [ 8.93558959e-03 -2.44322613e-03 9.99957092e-01 -1.67037055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.56592 meters Centerline goodness : 0.992738 Centerline is valid? [False, True] Translation: X:57.95, Y:1.01, Z:-1.67 [[ 9.95683004e-01 9.26905858e-02 -4.87961839e-03 5.79489621e+01] [-9.26510275e-02 9.95668169e-01 7.79003472e-03 1.01404327e+00] [ 5.58054359e-03 -7.30430351e-03 9.99957751e-01 -1.66999478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.59592 meters Centerline goodness : 0.997172 Centerline is valid? [True, True] Translation: X:57.98, Y:1.02, Z:-1.69 [[ 9.95949515e-01 8.97478781e-02 -5.46647979e-03 5.79777284e+01] [-8.97470725e-02 9.95964512e-01 3.92993965e-04 1.02354790e+00] [ 5.47969025e-03 9.91984092e-05 9.99984981e-01 -1.68778988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.625919999999994 meters Centerline goodness : 0.992891 Centerline is valid? [True, True] Translation: X:58.01, Y:1.02, Z:-1.67 [[ 9.95945733e-01 8.97900225e-02 -5.46336942e-03 5.80116365e+01] [-8.97890019e-02 9.95960716e-01 4.32302411e-04 1.02487334e+00] [ 5.48011776e-03 6.00007459e-05 9.99984982e-01 -1.67272169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.655919999999995 meters Centerline goodness : 0.996520 Centerline is valid? [True, True] Translation: X:58.04, Y:1.02, Z:-1.69 [[ 9.96206436e-01 8.68501284e-02 -5.45815520e-03 5.80409708e+01] [-8.68487030e-02 9.96221388e-01 4.98060108e-04 1.02364886e+00] [ 5.48078753e-03 -2.21369852e-05 9.99984980e-01 -1.68851866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.685919999999996 meters Centerline goodness : 0.998059 Centerline is valid? [True, True] Translation: X:58.06, Y:1.03, Z:-1.67 [[ 9.96490622e-01 8.35259907e-02 -5.46338987e-03 5.80550803e+01] [-8.35248784e-02 9.96505599e-01 4.31833165e-04 1.02531693e+00] [ 5.48036789e-03 2.60112751e-05 9.99984982e-01 -1.67387581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.71592 meters Centerline goodness : 0.991764 Centerline is valid? [True, True] Translation: X:58.10, Y:1.03, Z:-1.67 [[ 9.96566488e-01 8.26138130e-02 -5.49481361e-03 5.81000600e+01] [-8.26148957e-02 9.96581546e-01 3.00340625e-05 1.02824705e+00] [ 5.47851107e-03 4.24022513e-04 9.99984903e-01 -1.67050529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.74592 meters Centerline goodness : 0.996278 Centerline is valid? [True, True] Translation: X:58.13, Y:1.03, Z:-1.69 [[ 9.97029942e-01 7.68212428e-02 -5.45822868e-03 5.81300754e+01] [-7.68197640e-02 9.97044880e-01 4.80361860e-04 1.02539341e+00] [ 5.47900095e-03 -5.96353181e-05 9.99984988e-01 -1.68668341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.77592 meters Centerline goodness : 0.819067 Centerline is valid? [True, False] Translation: X:58.13, Y:1.02, Z:-1.69 [[ 9.98141055e-01 6.08843905e-02 -2.74309536e-03 5.81290378e+01] [-6.08731282e-02 9.98137426e-01 4.01749911e-03 1.02052549e+00] [ 2.98258913e-03 -3.84305001e-03 9.99988167e-01 -1.68790852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.80592 meters Centerline goodness : 0.990960 Centerline is valid? [False, True] Translation: X:58.13, Y:1.02, Z:-1.69 [[ 9.99102211e-01 4.23456256e-02 1.27287619e-03 5.81272318e+01] [-4.23503495e-02 9.99095025e-01 3.94692186e-03 1.02077151e+00] [-1.10458940e-03 -3.99728510e-03 9.99991401e-01 -1.68978300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.835919999999994 meters Centerline goodness : 0.990151 Centerline is valid? [True, True] Translation: X:58.16, Y:1.02, Z:-1.69 [[ 9.99304382e-01 3.72794448e-02 9.97513730e-04 5.81623189e+01] [-3.72791751e-02 9.99304849e-01 -2.87610888e-04 1.02227908e+00] [-1.00754228e-03 2.50224331e-04 9.99999461e-01 -1.69174616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.865919999999996 meters Centerline goodness : 0.988915 Centerline is valid? [True, True] Translation: X:58.21, Y:1.01, Z:-1.70 [[ 9.99825246e-01 1.86671292e-02 1.00823629e-03 5.82110824e+01] [-1.86670071e-02 9.99825748e-01 -1.30394050e-04 1.01433771e+00] [-1.01049468e-03 1.11550509e-04 9.99999483e-01 -1.69760076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.89592 meters Centerline goodness : 0.987423 Centerline is valid? [True, True] Translation: X:58.25, Y:1.01, Z:-1.70 [[ 9.99951603e-01 9.78731804e-03 9.99536025e-04 5.82496151e+01] [-9.78708817e-03 9.99952078e-01 -2.34606078e-04 1.01387804e+00] [-1.00178429e-03 2.24812176e-04 9.99999473e-01 -1.70386716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.92592 meters Centerline goodness : 0.991012 Centerline is valid? [True, True] Translation: X:58.25, Y:1.00, Z:-1.69 [[ 9.99993860e-01 3.35813832e-03 1.00145205e-03 5.82501095e+01] [-3.35796021e-03 9.99994346e-01 -1.79476809e-04 9.95714254e-01] [-1.00204909e-03 1.76112871e-04 9.99999482e-01 -1.68824144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.95592 meters Centerline goodness : 0.979170 Centerline is valid? [True, True] Translation: X:58.31, Y:1.01, Z:-1.70 [[ 9.99985180e-01 5.35060286e-03 1.00557809e-03 5.83091372e+01] [-5.35057554e-03 9.99985685e-01 -2.98531295e-05 1.01142253e+00] [-1.00572343e-03 2.44722656e-05 9.99999494e-01 -1.70476395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.98592 meters Centerline goodness : 0.966864 Centerline is valid? [True, True] Translation: X:58.35, Y:1.01, Z:-1.71 [[ 9.99998775e-01 -1.22089621e-03 9.79730238e-04 5.83475500e+01] [ 1.22116988e-03 9.99999216e-01 -2.78784133e-04 1.00664220e+00] [-9.79389103e-04 2.79980209e-04 9.99999481e-01 -1.71017854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.015919999999994 meters Centerline goodness : 0.916534 Centerline is valid? [True, False] Translation: X:58.35, Y:1.00, Z:-1.71 [[ 9.99995345e-01 2.87220987e-03 1.02986541e-03 5.83474200e+01] [-2.87741302e-03 9.99982922e-01 5.08688813e-03 1.00190065e+00] [-1.01523721e-03 -5.08982780e-03 9.99986531e-01 -1.70900691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.045919999999995 meters Centerline goodness : 0.991948 Centerline is valid? [False, True] Translation: X:58.35, Y:0.98, Z:-1.71 [[ 9.99980589e-01 1.15923930e-03 -6.12192603e-03 5.83493798e+01] [-1.00977415e-03 9.99702701e-01 2.43616326e-02 9.84139335e-01] [ 6.14834695e-03 -2.43549780e-02 9.99684467e-01 -1.70524741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.075919999999996 meters Centerline goodness : 0.991561 Centerline is valid? [True, True] Translation: X:58.38, Y:1.01, Z:-1.71 [[ 9.99977185e-01 7.56926378e-04 -6.71237800e-03 5.83780468e+01] [-7.56430434e-04 9.99999711e-01 7.64233400e-05 1.00716412e+00] [ 6.71243391e-03 -7.13441494e-05 9.99977469e-01 -1.70695530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.10592 meters Centerline goodness : 0.995182 Centerline is valid? [True, True] Translation: X:58.41, Y:1.01, Z:-1.72 [[ 9.99975405e-01 2.04042472e-03 -6.71018086e-03 5.84061279e+01] [-2.03934488e-03 9.99997906e-01 1.67764372e-04 1.00785890e+00] [ 6.71050912e-03 -1.54075873e-04 9.99977472e-01 -1.72035482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.13592 meters Centerline goodness : 0.993587 Centerline is valid? [True, True] Translation: X:58.44, Y:1.01, Z:-1.71 [[ 9.99969188e-01 4.07349773e-03 -6.71039597e-03 5.84359264e+01] [-4.07252467e-03 9.99991695e-01 1.58667033e-04 1.00734607e+00] [ 6.71098657e-03 -1.31333891e-04 9.99977472e-01 -1.70907871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.16592 meters Centerline goodness : 0.994296 Centerline is valid? [True, True] Translation: X:58.47, Y:1.00, Z:-1.71 [[ 9.99959258e-01 6.03851391e-03 -6.70954845e-03 5.84652940e+01] [-6.03733723e-03 9.99981756e-01 1.95615053e-04 1.00461304e+00] [ 6.71060727e-03 -1.55099277e-04 9.99977472e-01 -1.70660435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.195919999999994 meters Centerline goodness : 0.994585 Centerline is valid? [True, True] Translation: X:58.49, Y:1.00, Z:-1.70 [[ 9.99956200e-01 6.52555998e-03 -6.70932691e-03 5.84926705e+01] [-6.52432777e-03 9.99978695e-01 2.05526511e-04 1.00281675e+00] [ 6.71052515e-03 -1.61743661e-04 9.99977471e-01 -1.70490149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.225919999999995 meters Centerline goodness : 0.994878 Centerline is valid? [True, True] Translation: X:58.52, Y:1.00, Z:-1.71 [[ 9.99946593e-01 7.86049951e-03 -6.70998185e-03 5.85219037e+01] [-7.85949995e-03 9.99969098e-01 1.75322625e-04 1.00305946e+00] [ 6.71115263e-03 -1.22576160e-04 9.99977472e-01 -1.70626230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.255919999999996 meters Centerline goodness : 0.996521 Centerline is valid? [True, True] Translation: X:58.55, Y:1.00, Z:-1.71 [[ 9.99932212e-01 9.51550106e-03 -6.71013049e-03 5.85513358e+01] [-9.51458594e-03 9.99954721e-01 1.68289005e-04 1.00310779e+00] [ 6.71142802e-03 -1.04433484e-04 9.99977473e-01 -1.70542365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.28592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:58.58, Y:1.00, Z:-1.73 [[ 9.99945106e-01 -8.04745887e-03 -6.70989033e-03 5.85790680e+01] [ 8.04884708e-03 9.99967591e-01 1.79911158e-04 1.00113774e+00] [ 6.70822504e-03 -2.33908163e-04 9.99977472e-01 -1.73169958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.31592 meters Centerline goodness : 0.997765 Centerline is valid? [True, True] Translation: X:58.61, Y:1.00, Z:-1.70 [[ 9.99924291e-01 1.03139674e-02 -6.71076818e-03 5.86105247e+01] [-1.03132810e-02 9.99946807e-01 1.36870447e-04 1.00168561e+00] [ 6.71182289e-03 -6.76500465e-05 9.99977473e-01 -1.70372971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.34592 meters Centerline goodness : 0.998856 Centerline is valid? [True, True] Translation: X:58.64, Y:1.00, Z:-1.71 [[ 9.99920373e-01 1.06877212e-02 -6.70966470e-03 5.86393775e+01] [-1.06866764e-02 9.99942877e-01 1.91547375e-04 1.00345708e+00] [ 6.71132863e-03 -1.19828108e-04 9.99977472e-01 -1.70562896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.375919999999994 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:58.67, Y:1.00, Z:-1.70 [[ 9.99929753e-01 9.77067702e-03 -6.70986982e-03 5.86680184e+01] [-9.76968229e-03 9.99952259e-01 1.81010025e-04 1.00272352e+00] [ 6.71131807e-03 -1.15444013e-04 9.99977472e-01 -1.70450373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.405919999999995 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:58.70, Y:1.00, Z:-1.70 [[ 9.99953282e-01 6.95778158e-03 -6.70985373e-03 5.86962716e+01] [-6.95671791e-03 9.99975785e-01 1.81851098e-04 1.00171857e+00] [ 6.71095654e-03 -1.35164043e-04 9.99977472e-01 -1.70462452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.435919999999996 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:58.73, Y:1.00, Z:-1.71 [[ 9.99956123e-01 6.53619585e-03 -6.71041278e-03 5.87268902e+01] [-6.53532541e-03 9.99978633e-01 1.51635096e-04 1.00150393e+00] [ 6.71126051e-03 -1.07773712e-04 9.99977473e-01 -1.70724998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.46592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:58.76, Y:1.00, Z:-1.71 [[ 9.99955766e-01 6.59077165e-03 -6.71024425e-03 5.87569862e+01] [-6.58984011e-03 9.99978274e-01 1.60924959e-04 1.00331873e+00] [ 6.71115909e-03 -1.16698404e-04 9.99977473e-01 -1.70503183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.49592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.79, Y:1.00, Z:-1.70 [[ 9.99958579e-01 6.14917737e-03 -6.71024767e-03 5.87858008e+01] [-6.14823717e-03 9.99981086e-01 1.60734374e-04 1.00267486e+00] [ 6.71110914e-03 -1.19471522e-04 9.99977473e-01 -1.70415550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.52592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:58.81, Y:1.00, Z:-1.70 [[ 9.99968462e-01 4.24816703e-03 -6.71027479e-03 5.88138075e+01] [-4.24719445e-03 9.99990968e-01 1.59182552e-04 1.00231436e+00] [ 6.71089042e-03 -1.30677690e-04 9.99977473e-01 -1.70364444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.55592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.84, Y:1.00, Z:-1.70 [[ 9.99971642e-01 3.41720763e-03 -6.71102906e-03 5.88424014e+01] [-3.41651792e-03 9.99994157e-01 1.14233899e-04 1.00220541e+00] [ 6.71138020e-03 -9.13023090e-05 9.99977474e-01 -1.70422883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.585919999999994 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:58.87, Y:1.00, Z:-1.70 [[ 9.99977311e-01 5.86221779e-04 -6.71078165e-03 5.88705455e+01] [-5.85366350e-04 9.99999820e-01 1.29434312e-04 1.00060348e+00] [ 6.71085632e-03 -1.25503109e-04 9.99977474e-01 -1.70411122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.615919999999996 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:58.90, Y:1.00, Z:-1.70 [[ 9.99977277e-01 -6.37376685e-04 -6.71105755e-03 5.88997100e+01] [ 6.38143186e-04 9.99999790e-01 1.12074005e-04 9.98332642e-01] [ 6.71098470e-03 -1.16354074e-04 9.99977474e-01 -1.70181029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.64592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.93, Y:0.99, Z:-1.70 [[ 9.99970980e-01 -3.60578988e-03 -6.71104661e-03 5.89282814e+01] [ 3.60662786e-03 9.99993490e-01 1.12767747e-04 9.94563943e-01] [ 6.71059630e-03 -1.36968722e-04 9.99977474e-01 -1.70362663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.67592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.96, Y:0.99, Z:-1.72 [[ 9.99964727e-01 -5.05087500e-03 -6.71071504e-03 5.89569220e+01] [ 5.05188712e-03 9.99987230e-01 1.33878017e-04 9.91567097e-01] [ 6.70995314e-03 -1.67775070e-04 9.99977474e-01 -1.71642129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.70592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.99, Y:0.99, Z:-1.72 [[ 9.99967681e-01 -4.42677412e-03 -6.71116601e-03 5.89850456e+01] [ 4.42757897e-03 9.99990193e-01 1.05074504e-04 9.89337724e-01] [ 6.71063505e-03 -1.34785326e-04 9.99977474e-01 -1.71676431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.73592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.01, Y:0.99, Z:-1.72 [[ 9.99969506e-01 -3.99328193e-03 -6.71118626e-03 5.90136054e+01] [ 3.99406824e-03 9.99992018e-01 1.03764463e-04 9.86795962e-01] [ 6.71071833e-03 -1.30566235e-04 9.99977474e-01 -1.71667473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.765919999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.04, Y:0.99, Z:-1.72 [[ 9.99968698e-01 -4.19089929e-03 -6.71119968e-03 5.90421296e+01] [ 4.19168417e-03 9.99991210e-01 1.02888994e-04 9.86315401e-01] [ 6.71070949e-03 -1.31017003e-04 9.99977474e-01 -1.71648344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.795919999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.07, Y:0.99, Z:-1.71 [[ 9.99962092e-01 -5.54744770e-03 -6.71121975e-03 5.90694368e+01] [ 5.54825422e-03 9.99984603e-01 1.01562709e-04 9.85431310e-01] [ 6.71055301e-03 -1.38794412e-04 9.99977474e-01 -1.71453459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.825919999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.10, Y:0.98, Z:-1.72 [[ 9.99959573e-01 -5.98377749e-03 -6.71173660e-03 5.90975501e+01] [ 5.98435947e-03 9.99982091e-01 6.66305484e-05 9.83883520e-01] [ 6.71121770e-03 -1.06793299e-04 9.99977474e-01 -1.71579788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.85592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:59.13, Y:0.98, Z:-1.71 [[ 9.99961825e-01 -5.59445051e-03 -6.71195270e-03 5.91281182e+01] [ 5.59492543e-03 9.99984347e-01 5.19832905e-05 9.78870434e-01] [ 6.71155682e-03 -8.95341809e-05 9.99977473e-01 -1.70675532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.88592 meters Centerline goodness : 0.842199 Centerline is valid? [True, False] Translation: X:59.12, Y:0.96, Z:-1.71 [[ 9.99968574e-01 -7.82748042e-03 1.25752411e-03 5.91234004e+01] [ 7.80208316e-03 9.99787712e-01 1.90698255e-02 9.60397370e-01] [-1.40652584e-03 -1.90594149e-02 9.99817364e-01 -1.70634428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.91592 meters Centerline goodness : 1.000000 Centerline is valid? [False, True] Translation: X:59.13, Y:0.97, Z:-1.71 [[ 9.99985311e-01 2.96191001e-03 -4.53916084e-03 5.91287248e+01] [-2.91883971e-03 9.99950936e-01 9.46603464e-03 9.70322999e-01] [ 4.56697568e-03 -9.45264652e-03 9.99944894e-01 -1.70835751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.945919999999994 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:59.16, Y:0.98, Z:-1.71 [[ 9.99981537e-01 3.77491614e-03 -4.76186872e-03 5.91585867e+01] [-3.77429204e-03 9.99992868e-01 1.40042302e-04 9.77298293e-01] [ 4.76236340e-03 -1.22067033e-04 9.99988652e-01 -1.70993148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.975919999999995 meters Centerline goodness : 0.808839 Centerline is valid? [True, False] Translation: X:59.16, Y:0.96, Z:-1.70 [[ 9.99940034e-01 1.39873833e-03 -1.08615076e-02 5.91595664e+01] [-1.18417475e-03 9.99804528e-01 1.97358586e-02 9.56734961e-01] [ 1.08869897e-02 -1.97218132e-02 9.99746230e-01 -1.70472448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.005919999999996 meters Centerline goodness : 1.000000 Centerline is valid? [False, True] Translation: X:59.16, Y:0.96, Z:-1.71 [[ 9.99914646e-01 -6.90435766e-03 -1.10919536e-02 5.91601074e+01] [ 7.01091318e-03 9.99929374e-01 9.59657303e-03 9.64979837e-01] [ 1.10249120e-02 -9.67351865e-03 9.99892431e-01 -1.70585200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.03592 meters Centerline goodness : 0.820720 Centerline is valid? [True, False] Translation: X:59.16, Y:0.97, Z:-1.71 [[ 9.99985689e-01 2.75750295e-03 -4.58449129e-03 5.91586677e+01] [-2.75652341e-03 9.99996177e-01 2.19967948e-04 9.74978453e-01] [ 4.58508033e-03 -2.07327543e-04 9.99989467e-01 -1.70828506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.06592 meters Centerline goodness : 1.000000 Centerline is valid? [False, True] Translation: X:59.15, Y:0.96, Z:-1.70 [[ 9.99994453e-01 7.50033100e-04 3.24519583e-03 5.91518262e+01] [-8.15041011e-04 9.99798098e-01 2.00773161e-02 9.55195833e-01] [-3.22948197e-03 -2.00798497e-02 9.99793164e-01 -1.70492685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.09592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:59.18, Y:0.97, Z:-1.71 [[ 9.99993897e-01 1.92676010e-03 2.91438768e-03 5.91832603e+01] [-1.92671634e-03 9.99998144e-01 -1.78250273e-05 9.71895126e-01] [-2.91441661e-03 1.22097202e-05 9.99995753e-01 -1.70958260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.125919999999994 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:59.21, Y:0.97, Z:-1.72 [[ 9.99992868e-01 2.40255541e-03 2.91401407e-03 5.92136703e+01] [-2.40244866e-03 9.99997113e-01 -4.01329247e-05 9.70457774e-01] [-2.91410208e-03 3.31318692e-05 9.99995753e-01 -1.72267741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.155919999999995 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:59.24, Y:0.97, Z:-1.71 [[ 9.99995029e-01 1.20464461e-03 2.91385604e-03 5.92432668e+01] [-1.20450565e-03 9.99999273e-01 -4.94456889e-05 9.68959487e-01] [-2.91391349e-03 4.59356870e-05 9.99995753e-01 -1.70855673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.185919999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.27, Y:0.97, Z:-1.71 [[ 9.99995705e-01 3.12830462e-04 2.91410413e-03 5.92726069e+01] [-3.12729284e-04 9.99999950e-01 -3.51756629e-05 9.65979161e-01] [-2.91411499e-03 3.42641861e-05 9.99995753e-01 -1.70848578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.21592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.30, Y:0.96, Z:-1.71 [[ 9.99995736e-01 -1.86060226e-04 2.91439326e-03 5.93049982e+01] [ 1.86116716e-04 9.99999982e-01 -1.91119842e-05 9.61461866e-01] [-2.91438965e-03 1.96543200e-05 9.99995753e-01 -1.71214585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.24592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:59.34, Y:0.96, Z:-1.71 [[ 9.99994301e-01 1.70497188e-03 2.91396814e-03 5.93360580e+01] [-1.70485627e-03 9.99998546e-01 -4.21553025e-05 9.59886262e-01] [-2.91403578e-03 3.71871654e-05 9.99995753e-01 -1.70730282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.27592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:59.37, Y:0.96, Z:-1.71 [[ 9.99995009e-01 1.22152650e-03 2.91364079e-03 5.93675344e+01] [-1.22135772e-03 9.99999252e-01 -5.97032617e-05 9.59540540e-01] [-2.91371154e-03 5.61443660e-05 9.99995754e-01 -1.70886712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.30592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:59.40, Y:0.96, Z:-1.71 [[ 9.99994778e-01 1.39755783e-03 2.91390880e-03 5.93993498e+01] [-1.39743177e-03 9.99999023e-01 -4.52999159e-05 9.59372857e-01] [-2.91396926e-03 4.12276907e-05 9.99995754e-01 -1.70868140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.335919999999994 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:59.43, Y:0.96, Z:-1.71 [[ 9.99987655e-01 4.02465886e-03 2.91401936e-03 5.94322318e+01] [-4.02456116e-03 9.99991901e-01 -3.93932440e-05 9.57501746e-01] [-2.91415431e-03 2.76651085e-05 9.99995753e-01 -1.71108888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.365919999999996 meters Centerline goodness : 0.967483 Centerline is valid? [True, True] Translation: X:59.43, Y:0.93, Z:-1.73 [[ 9.99995345e-01 9.05810778e-04 2.91380812e-03 5.94296143e+01] [-9.05667512e-04 9.99999589e-01 -5.04870024e-05 9.33304471e-01] [-2.91385265e-03 4.78478260e-05 9.99995754e-01 -1.72685608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.39592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.49, Y:0.95, Z:-1.71 [[ 9.99995327e-01 9.12019890e-04 2.91792644e-03 5.94942892e+01] [-9.13300621e-04 9.99999487e-01 4.37616022e-04 9.46717566e-01] [-2.91752583e-03 -4.40278921e-04 9.99995647e-01 -1.71197318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.42592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.52, Y:0.95, Z:-1.72 [[ 9.99995711e-01 -3.39131984e-04 2.90919018e-03 5.95230141e+01] [ 3.39427958e-04 9.99999937e-01 -1.01244731e-04 9.48438880e-01] [-2.90915566e-03 1.02231757e-04 9.99995763e-01 -1.72447329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.45592 meters Centerline goodness : 0.990400 Centerline is valid? [True, True] Translation: X:59.58, Y:0.96, Z:-1.73 [[ 9.99994004e-01 -1.87725530e-03 2.91006399e-03 5.95815982e+01] [ 1.87739762e-03 9.99998237e-01 -4.61734655e-05 9.59386375e-01] [-2.90997218e-03 5.16365359e-05 9.99995765e-01 -1.73127520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.48592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.58, Y:0.94, Z:-1.72 [[ 9.99908513e-01 -1.32113369e-02 2.90271807e-03 5.95828751e+01] [ 1.32131156e-02 9.99912526e-01 -5.94452638e-04 9.35442813e-01] [-2.89461065e-03 6.32752203e-04 9.99995610e-01 -1.71959285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.515919999999994 meters Centerline goodness : 0.953933 Centerline is valid? [True, True] Translation: X:59.64, Y:0.96, Z:-1.74 [[ 9.99976200e-01 -6.25733928e-03 2.90599856e-03 5.96402579e+01] [ 6.25740336e-03 9.99980422e-01 -1.29614970e-05 9.60609502e-01] [-2.90586056e-03 3.11451937e-05 9.99995777e-01 -1.73952455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.545919999999995 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:59.64, Y:0.93, Z:-1.71 [[ 9.99817434e-01 -1.88862598e-02 2.89952717e-03 5.96364792e+01] [ 1.88883636e-02 9.99821354e-01 -6.99926382e-04 9.29669352e-01] [-2.88579019e-03 7.54565923e-04 9.99995551e-01 -1.70874685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.575919999999996 meters Centerline goodness : 0.935071 Centerline is valid? [True, False] Translation: X:59.66, Y:0.93, Z:-1.71 [[ 9.99995327e-01 -3.05633877e-03 -7.03042058e-05 5.96634861e+01] [ 3.05648164e-03 9.99993059e-01 2.13076012e-03 9.30962519e-01] [ 6.37913931e-05 -2.13096505e-03 9.99997727e-01 -1.70632082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.60592 meters Centerline goodness : 0.923990 Centerline is valid? [False, False] Translation: X:59.67, Y:0.93, Z:-1.71 [[ 9.99994027e-01 3.31348313e-03 -9.83439101e-04 5.96686050e+01] [-3.30406889e-03 9.99950127e-01 9.42480358e-03 9.26487772e-01] [ 1.01461898e-03 -9.42149793e-03 9.99955102e-01 -1.71011422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.63592 meters Centerline goodness : 0.999900 Centerline is valid? [False, True] Translation: X:59.67, Y:0.92, Z:-1.71 [[ 9.99972423e-01 7.35291612e-03 -1.04337353e-03 5.96689445e+01] [-7.33737272e-03 9.99872370e-01 1.41917514e-02 9.24019494e-01] [ 1.14759112e-03 -1.41837044e-02 9.99898748e-01 -1.70970982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.66592 meters Centerline goodness : 0.928866 Centerline is valid? [True, False] Translation: X:59.69, Y:0.92, Z:-1.71 [[ 9.99963494e-01 5.98127291e-03 -6.10203756e-03 5.96893014e+01] [-5.85192952e-03 9.99762374e-01 2.09988406e-02 9.18251646e-01] [ 6.22618735e-03 -2.09623653e-02 9.99760878e-01 -1.70534782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.695919999999994 meters Centerline goodness : 0.999603 Centerline is valid? [False, True] Translation: X:59.69, Y:0.93, Z:-1.71 [[ 9.99977409e-01 -2.40577186e-03 -6.27648884e-03 5.96897186e+01] [ 2.47056923e-03 9.99943524e-01 1.03365788e-02 9.28388192e-01] [ 6.25126692e-03 -1.03518518e-02 9.99926878e-01 -1.70652616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.725919999999995 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:59.72, Y:0.94, Z:-1.71 [[ 9.99971843e-01 -3.90038888e-03 -6.41089218e-03 5.97180702e+01] [ 3.90088802e-03 9.99992389e-01 6.53563556e-05 9.39609411e-01] [ 6.41058848e-03 -9.03626879e-05 9.99979448e-01 -1.71181590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.755919999999996 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:59.75, Y:0.94, Z:-1.71 [[ 9.99955572e-01 -6.91098172e-03 -6.41037052e-03 5.97458932e+01] [ 6.91180028e-03 9.99976108e-01 1.05548460e-04 9.42169075e-01] [ 6.40948791e-03 -1.49850971e-04 9.99979448e-01 -1.71185260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.78592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.78, Y:0.94, Z:-1.71 [[ 9.99937169e-01 -9.19587186e-03 -6.41040609e-03 5.97750938e+01] [ 9.19671932e-03 9.99957704e-01 1.02734956e-04 9.41565832e-01] [ 6.40919021e-03 -1.61683207e-04 9.99979448e-01 -1.70986109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.81592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:59.80, Y:0.94, Z:-1.71 [[ 9.99909572e-01 -1.18217707e-02 -6.41043704e-03 5.98038000e+01] [ 1.18226560e-02 9.99930105e-01 1.00228270e-04 9.40619825e-01] [ 6.40880410e-03 -1.76007598e-04 9.99979448e-01 -1.71061939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.84592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.83, Y:0.94, Z:-1.72 [[ 9.99877808e-01 -1.42572927e-02 -6.41077086e-03 5.98323878e+01] [ 1.42580487e-02 9.99898346e-01 7.22332374e-05 9.40389718e-01] [ 6.40908933e-03 -1.63629494e-04 9.99979448e-01 -1.72084789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.875919999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.86, Y:0.94, Z:-1.72 [[ 9.99830002e-01 -1.72878191e-02 -6.41084991e-03 5.98605204e+01] [ 1.72885949e-02 9.99850539e-01 6.56096081e-05 9.40156367e-01] [ 6.40875749e-03 -1.76433041e-04 9.99979448e-01 -1.72171214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.905919999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.89, Y:0.94, Z:-1.71 [[ 9.99827279e-01 -1.74445890e-02 -6.41087399e-03 5.98903077e+01] [ 1.74453551e-02 9.99847816e-01 6.35924317e-05 9.39051709e-01] [ 6.40878902e-03 -1.75421421e-04 9.99979448e-01 -1.71088966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.935919999999996 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:59.92, Y:0.94, Z:-1.71 [[ 9.99800603e-01 -1.89117862e-02 -6.41077234e-03 5.99208653e+01] [ 1.89126379e-02 9.99821137e-01 7.22532946e-05 9.36623909e-01] [ 6.40825926e-03 -1.93483503e-04 9.99979448e-01 -1.70833523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.96592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:59.95, Y:0.93, Z:-1.71 [[ 9.99765263e-01 -2.06960356e-02 -6.41044168e-03 5.99487629e+01] [ 2.06971071e-02 9.99785787e-01 1.00839222e-04 9.33735182e-01] [ 6.40698151e-03 -2.33493149e-04 9.99979448e-01 -1.71001400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.99592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:59.98, Y:0.93, Z:-1.72 [[ 9.99641618e-01 -2.59910853e-02 -6.41080848e-03 5.99774406e+01] [ 2.59920583e-02 9.99662147e-01 6.84859551e-05 9.28637430e-01] [ 6.40686254e-03 -2.35091519e-04 9.99979448e-01 -1.72246544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.02592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:60.01, Y:0.93, Z:-1.71 [[ 9.99629761e-01 -2.64431284e-02 -6.41102129e-03 6.00057252e+01] [ 2.64439884e-02 9.99650295e-01 4.94037205e-05 9.25714584e-01] [ 6.40747294e-03 -2.18918402e-04 9.99979448e-01 -1.70801867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.05592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:60.04, Y:0.92, Z:-1.71 [[ 9.99612428e-01 -2.70905382e-02 -6.41061098e-03 6.00362946e+01] [ 2.70916479e-02 9.99632950e-01 8.63104953e-05 9.22182878e-01] [ 6.40591977e-03 -2.59951059e-04 9.99979448e-01 -1.70976325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.085919999999994 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:60.07, Y:0.92, Z:-1.71 [[ 9.99576018e-01 -2.84022843e-02 -6.41047735e-03 6.00654291e+01] [ 2.84034995e-02 9.99596534e-01 9.85852601e-05 9.20672025e-01] [ 6.40509089e-03 -2.80623452e-04 9.99979448e-01 -1.70951645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.115919999999996 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:60.09, Y:0.92, Z:-1.71 [[ 9.99614058e-01 -2.70303304e-02 -6.41067752e-03 6.00929758e+01] [ 2.70313970e-02 9.99634582e-01 7.97888772e-05 9.18651348e-01] [ 6.40617823e-03 -2.53047653e-04 9.99979448e-01 -1.70980307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.14592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.12, Y:0.92, Z:-1.71 [[ 9.99672632e-01 -2.47695313e-02 -6.41078541e-03 6.01245744e+01] [ 2.47704840e-02 9.99693162e-01 6.92409626e-05 9.16750460e-01] [ 6.40710327e-03 -2.28016552e-04 9.99979448e-01 -1.71463999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.17592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.15, Y:0.91, Z:-1.71 [[ 9.99708175e-01 -2.32910123e-02 -6.41037649e-03 6.01540395e+01] [ 2.32921912e-02 9.99728694e-01 1.09301374e-04 9.12396837e-01] [ 6.40609158e-03 -2.58581192e-04 9.99979447e-01 -1.70771285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.20592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.18, Y:0.91, Z:-1.72 [[ 9.99742563e-01 -2.17649232e-02 -6.41056629e-03 6.01845519e+01] [ 2.17659469e-02 9.99763090e-01 8.99557253e-05 9.11417105e-01] [ 6.40708969e-03 -2.29464613e-04 9.99979448e-01 -1.72062998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.23592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.21, Y:0.91, Z:-1.71 [[ 9.99752514e-01 -2.13029503e-02 -6.41047561e-03 6.02136847e+01] [ 2.13040261e-02 9.99773039e-01 9.95673357e-05 9.11159534e-01] [ 6.40689960e-03 -2.36111634e-04 9.99979448e-01 -1.70917084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.265919999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.24, Y:0.91, Z:-1.71 [[ 9.99754353e-01 -2.12164583e-02 -6.41060130e-03 6.02431866e+01] [ 2.12174433e-02 9.99774881e-01 8.56707115e-05 9.09841206e-01] [ 6.40734052e-03 -2.21666236e-04 9.99979448e-01 -1.71014764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.295919999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.27, Y:0.91, Z:-1.72 [[ 9.99725932e-01 -2.25159234e-02 -6.41050730e-03 6.02734898e+01] [ 2.25170036e-02 9.99746455e-01 9.63720566e-05 9.08106213e-01] [ 6.40671204e-03 -2.40691060e-04 9.99979448e-01 -1.71914420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.325919999999996 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:60.30, Y:0.91, Z:-1.72 [[ 9.99706562e-01 -2.33600938e-02 -6.41066359e-03 6.03027381e+01] [ 2.33610739e-02 9.99727090e-01 7.80355177e-05 9.05515652e-01] [ 6.40709113e-03 -2.27772605e-04 9.99979448e-01 -1.72163101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.35592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.33, Y:0.91, Z:-1.73 [[ 9.99717705e-01 -2.28782556e-02 -6.41066572e-03 6.03318203e+01] [ 2.28792242e-02 9.99738233e-01 7.77771576e-05 9.05111739e-01] [ 6.40720821e-03 -2.24426260e-04 9.99979448e-01 -1.72595711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.38592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.36, Y:0.90, Z:-1.72 [[ 9.99694885e-01 -2.38545061e-02 -6.41087748e-03 6.03625739e+01] [ 2.38553252e-02 9.99715420e-01 5.13273718e-05 9.03016361e-01] [ 6.40782869e-03 -2.04245278e-04 9.99979449e-01 -1.72116316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.41592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.39, Y:0.90, Z:-1.72 [[ 9.99740316e-01 -2.18679005e-02 -6.41063809e-03 6.03916753e+01] [ 2.18688740e-02 9.99760844e-01 8.17785017e-05 8.99322211e-01] [ 6.40731663e-03 -2.21950702e-04 9.99979448e-01 -1.72201675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.445919999999994 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:60.42, Y:0.90, Z:-1.72 [[ 9.99746689e-01 -2.15745409e-02 -6.41067378e-03 6.04208638e+01] [ 2.15754772e-02 9.99767219e-01 7.69161405e-05 8.98267067e-01] [ 6.40752207e-03 -2.15210003e-04 9.99979448e-01 -1.71941653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.475919999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.45, Y:0.90, Z:-1.72 [[ 9.99766302e-01 -2.06456686e-02 -6.41074082e-03 6.04488935e+01] [ 2.06465238e-02 9.99786836e-01 6.72448843e-05 8.97104667e-01] [ 6.40798597e-03 -1.99588682e-04 9.99979449e-01 -1.72345618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.505919999999996 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:60.48, Y:0.90, Z:-1.72 [[ 9.99800231e-01 -1.89314865e-02 -6.41067744e-03 6.04773019e+01] [ 1.89323720e-02 9.99820764e-01 7.74626271e-05 8.96539426e-01] [ 6.40806193e-03 -1.98816482e-04 9.99979448e-01 -1.72378641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.53592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:60.51, Y:0.90, Z:-1.71 [[ 9.99856631e-01 -1.56722629e-02 -6.41080714e-03 6.05086351e+01] [ 1.56729386e-02 9.99877170e-01 5.51630740e-05 8.97613704e-01] [ 6.40915517e-03 -1.55631352e-04 9.99979449e-01 -1.71031264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.56592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.54, Y:0.90, Z:-1.72 [[ 9.99861210e-01 -1.53773760e-02 -6.41066411e-03 6.05381830e+01] [ 1.53782082e-02 9.99881745e-01 8.05475054e-05 8.97213417e-01] [ 6.40866741e-03 -1.79120854e-04 9.99979448e-01 -1.72351343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.59592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.57, Y:0.90, Z:-1.71 [[ 9.99881320e-01 -1.40088055e-02 -6.41080978e-03 6.05684928e+01] [ 1.40094299e-02 9.99901862e-01 5.25042830e-05 8.95300549e-01] [ 6.40944511e-03 -1.42309842e-04 9.99979449e-01 -1.70957448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.625919999999994 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:60.60, Y:0.89, Z:-1.71 [[ 9.99859261e-01 -1.55036328e-02 -6.41057893e-03 6.05987122e+01] [ 1.55045883e-02 9.99879792e-01 9.93884018e-05 8.94694908e-01] [ 6.40826744e-03 -1.98767801e-04 9.99979447e-01 -1.70980016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.655919999999995 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:60.63, Y:0.89, Z:-1.71 [[ 9.99852245e-01 -1.59496792e-02 -6.41062252e-03 6.06271564e+01] [ 1.59505806e-02 9.99872777e-01 8.94929054e-05 8.94417591e-01] [ 6.40837956e-03 -1.91732833e-04 9.99979448e-01 -1.70962040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.685919999999996 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:60.66, Y:0.89, Z:-1.71 [[ 9.99851939e-01 -1.59688270e-02 -6.41064712e-03 6.06560312e+01] [ 1.59696852e-02 9.99872473e-01 8.27126273e-05 8.94821467e-01] [ 6.40850877e-03 -1.85076397e-04 9.99979448e-01 -1.71083512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.71592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:60.68, Y:0.90, Z:-1.71 [[ 9.99838381e-01 -1.67963081e-02 -6.41067894e-03 6.06847949e+01] [ 1.67971111e-02 9.99858916e-01 7.14211497e-05 8.95387355e-01] [ 6.40857489e-03 -1.79090493e-04 9.99979449e-01 -1.70894501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.74592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.71, Y:0.90, Z:-1.71 [[ 9.99860293e-01 -1.54369007e-02 -6.41072692e-03 6.07139782e+01] [ 1.54375494e-02 9.99880833e-01 5.17181050e-05 8.96068142e-01] [ 6.40916461e-03 -1.50676793e-04 9.99979450e-01 -1.70789007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.77592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:60.74, Y:0.90, Z:-1.71 [[ 9.99850762e-01 -1.60423578e-02 -6.41071076e-03 6.07424867e+01] [ 1.60430724e-02 9.99871300e-01 6.00463312e-05 8.95384477e-01] [ 6.40892241e-03 -1.62884867e-04 9.99979449e-01 -1.70661198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.80592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:60.77, Y:0.90, Z:-1.71 [[ 9.99893334e-01 -1.31233705e-02 -6.41074227e-03 6.07713229e+01] [ 1.31238613e-02 9.99913878e-01 3.44833108e-05 8.96541420e-01] [ 6.40973763e-03 -1.18613325e-04 9.99979450e-01 -1.70574811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.835919999999994 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:60.80, Y:0.90, Z:-1.71 [[ 9.99895793e-01 -1.29347059e-02 -6.41072607e-03 6.07999077e+01] [ 1.29353156e-02 9.99916334e-01 5.36530991e-05 8.98031625e-01] [ 6.40949572e-03 -1.36572273e-04 9.99979450e-01 -1.70536021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.865919999999996 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:60.83, Y:0.90, Z:-1.72 [[ 9.99906539e-01 -1.20754561e-02 -6.41072892e-03 6.08285436e+01] [ 1.20759756e-02 9.99927082e-01 4.23385172e-05 8.99421422e-01] [ 6.40975020e-03 -1.19750367e-04 9.99979450e-01 -1.71547225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.89592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.86, Y:0.90, Z:-1.72 [[ 9.99926825e-01 -1.02589987e-02 -6.41072591e-03 6.08580308e+01] [ 1.02592443e-02 9.99947373e-01 5.43144341e-06 9.00689525e-01] [ 6.41033280e-03 -7.12002491e-05 9.99979451e-01 -1.71777616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.92592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.89, Y:0.90, Z:-1.72 [[ 9.99926243e-01 -1.03156170e-02 -6.41072880e-03 6.08858060e+01] [ 1.03159089e-02 9.99946790e-01 1.24730453e-05 9.02294610e-01] [ 6.41025901e-03 -7.86046196e-05 9.99979451e-01 -1.71661250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.95592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:60.92, Y:0.90, Z:-1.70 [[ 9.99930367e-01 -9.90780751e-03 -6.41072601e-03 6.09161033e+01] [ 9.90806249e-03 9.99950914e-01 8.01476264e-06 9.03800655e-01] [ 6.41033193e-03 -7.15320785e-05 9.99979451e-01 -1.70441799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.98592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:60.95, Y:0.90, Z:-1.70 [[ 9.99936406e-01 -9.27825167e-03 -6.41074246e-03 6.09455627e+01] [ 9.27861131e-03 9.99956952e-01 2.63601035e-05 9.04799374e-01] [ 6.41022192e-03 -8.58412147e-05 9.99979451e-01 -1.70348729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.01592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:60.98, Y:0.90, Z:-1.71 [[ 9.99905374e-01 -1.21714865e-02 -6.41075622e-03 6.09754903e+01] [ 1.21719730e-02 9.99925918e-01 3.68816541e-05 9.03012162e-01] [ 6.40983239e-03 -1.14909716e-04 9.99979450e-01 -1.71088190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.04592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.00, Y:0.90, Z:-1.72 [[ 9.99929445e-01 -1.00003318e-02 -6.41076603e-03 6.10036839e+01] [ 1.00008071e-02 9.99949990e-01 4.20883671e-05 9.04738115e-01] [ 6.41002453e-03 -1.06198232e-04 9.99979450e-01 -1.71891520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.07592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:61.03, Y:0.91, Z:-1.72 [[ 9.99936108e-01 -9.31041642e-03 -6.41062869e-03 6.10329298e+01] [ 9.31049151e-03 9.99956656e-01 -1.81302120e-05 9.07010576e-01] [ 6.41051963e-03 -4.15570503e-05 9.99979452e-01 -1.71592109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.10592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.06, Y:0.91, Z:-1.72 [[ 9.99963234e-01 -5.69506905e-03 -6.41065441e-03 6.10610068e+01] [ 5.69513276e-03 9.99983783e-01 -8.31727690e-06 9.09859466e-01] [ 6.41059781e-03 -2.81925568e-05 9.99979452e-01 -1.72005343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.13592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:61.09, Y:0.91, Z:-1.71 [[ 9.99965659e-01 -5.25211826e-03 -6.41060678e-03 6.10919237e+01] [ 5.25206825e-03 9.99986207e-01 -2.46348463e-05 9.09168953e-01] [ 6.41064774e-03 -9.03494398e-06 9.99979452e-01 -1.70796285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.16592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.12, Y:0.91, Z:-1.71 [[ 9.99970502e-01 -4.23059444e-03 -6.41073674e-03 6.11207395e+01] [ 4.23079721e-03 9.99991050e-01 1.80683222e-05 9.09225416e-01] [ 6.41060292e-03 -4.51903163e-05 9.99979451e-01 -1.71015275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.19592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.15, Y:0.91, Z:-1.72 [[ 9.99971405e-01 -4.01144724e-03 -6.41068680e-03 6.11499535e+01] [ 4.01155225e-03 9.99991954e-01 3.52204987e-06 9.11035487e-01] [ 6.41062108e-03 -2.92387542e-05 9.99979451e-01 -1.71781181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.22592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:61.18, Y:0.91, Z:-1.71 [[ 9.99973882e-01 -3.33753239e-03 -6.41059850e-03 6.11813981e+01] [ 3.33746900e-03 9.99994430e-01 -2.05860520e-05 9.13197218e-01] [ 6.41063150e-03 -8.09659420e-07 9.99979452e-01 -1.71021117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.25592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:61.21, Y:0.92, Z:-1.70 [[ 9.99969977e-01 -4.35274781e-03 -6.41075775e-03 6.12109390e+01] [ 4.35297873e-03 9.99990525e-01 2.20686003e-05 9.15038622e-01] [ 6.41060095e-03 -4.99738299e-05 9.99979451e-01 -1.70492071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.28591999999999 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:61.24, Y:0.91, Z:-1.71 [[ 9.99963901e-01 -5.57673401e-03 -6.41070341e-03 6.12402113e+01] [ 5.57690303e-03 9.99984449e-01 8.48906233e-06 9.14682312e-01] [ 6.41055638e-03 -4.42406271e-05 9.99979451e-01 -1.70608524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.31591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.27, Y:0.91, Z:-1.72 [[ 9.99956629e-01 -6.75606434e-03 -6.41066834e-03 6.12688575e+01] [ 6.75620678e-03 9.99977177e-01 5.62488408e-07 9.14366028e-01] [ 6.41051823e-03 -4.38742649e-05 9.99979451e-01 -1.71613694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.34591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.30, Y:0.91, Z:-1.71 [[ 9.99942759e-01 -8.56646590e-03 -6.41048206e-03 6.12984952e+01] [ 8.56638861e-03 9.99963307e-01 -3.95134721e-05 9.14817084e-01] [ 6.41058533e-03 -1.54034703e-05 9.99979452e-01 -1.70508017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.37592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.33, Y:0.92, Z:-1.70 [[ 9.99930047e-01 -9.94010370e-03 -6.41061221e-03 6.13273995e+01] [ 9.94022832e-03 9.99950595e-01 -1.24233866e-05 9.15509344e-01] [ 6.41041898e-03 -5.13004315e-05 9.99979452e-01 -1.70417068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.40592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:61.36, Y:0.92, Z:-1.70 [[ 9.99923716e-01 -1.05578112e-02 -6.41058291e-03 6.13572302e+01] [ 1.05579110e-02 9.99944264e-01 -1.82838125e-05 9.16710596e-01] [ 6.41041864e-03 -4.93999458e-05 9.99979452e-01 -1.70383660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.43592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:61.39, Y:0.92, Z:-1.70 [[ 9.99904411e-01 -1.22504159e-02 -6.41066094e-03 6.13854761e+01] [ 1.22506478e-02 9.99924958e-01 -3.09992330e-06 9.18135859e-01] [ 6.41021785e-03 -7.54351222e-05 9.99979451e-01 -1.70304867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.46592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:61.42, Y:0.92, Z:-1.71 [[ 9.99876741e-01 -1.43320445e-02 -6.41049665e-03 6.14150070e+01] [ 1.43321295e-02 9.99897289e-01 -3.26880963e-05 9.18261999e-01] [ 6.41030671e-03 -5.91920006e-05 9.99979452e-01 -1.70847789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.49592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:61.44, Y:0.92, Z:-1.70 [[ 9.99863147e-01 -1.52510181e-02 -6.41041607e-03 6.14445907e+01] [ 1.52510318e-02 9.99883695e-01 -4.67484963e-05 9.15588560e-01] [ 6.41038347e-03 -5.10233610e-05 9.99979452e-01 -1.70339684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.52592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.47, Y:0.91, Z:-1.71 [[ 9.99843398e-01 -1.64950012e-02 -6.41052789e-03 6.14733195e+01] [ 1.64951634e-02 9.99863945e-01 -2.75700004e-05 9.14884833e-01] [ 6.41011048e-03 -7.81770222e-05 9.99979452e-01 -1.71219423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.55592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:61.50, Y:0.91, Z:-1.70 [[ 9.99831585e-01 -1.71961768e-02 -6.41034584e-03 6.15046393e+01] [ 1.71961632e-02 9.99852133e-01 -5.72385587e-05 9.14253794e-01] [ 6.41038225e-03 -5.30044343e-05 9.99979452e-01 -1.70310371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.58592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.53, Y:0.91, Z:-1.71 [[ 9.99785181e-01 -1.97103128e-02 -6.41056062e-03 6.15343161e+01] [ 1.97105720e-02 9.99805728e-01 -2.27453308e-05 9.13057405e-01] [ 6.40976354e-03 -1.03615372e-04 9.99979452e-01 -1.71453285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.61592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.56, Y:0.91, Z:-1.71 [[ 9.99748739e-01 -2.14794409e-02 -6.41035786e-03 6.15621138e+01] [ 2.14795348e-02 9.99769287e-01 -5.42036479e-05 9.13835745e-01] [ 6.41004317e-03 -8.35014763e-05 9.99979452e-01 -1.71459458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.64592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.59, Y:0.91, Z:-1.71 [[ 9.99748996e-01 -2.14675191e-02 -6.41024912e-03 6.15903123e+01] [ 2.14675099e-02 9.99769544e-01 -7.02576459e-05 9.14284508e-01] [ 6.41028009e-03 -6.73720752e-05 9.99979452e-01 -1.71335070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.67591999999999 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:61.62, Y:0.91, Z:-1.71 [[ 9.99758927e-01 -2.09999162e-02 -6.41028346e-03 6.16196920e+01] [ 2.09999292e-02 9.99779475e-01 -6.52889733e-05 9.14161825e-01] [ 6.41024090e-03 -6.93422647e-05 9.99979452e-01 -1.71385820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.70591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.65, Y:0.91, Z:-1.71 [[ 9.99750201e-01 -2.14112917e-02 -6.41034956e-03 6.16490134e+01] [ 2.14113728e-02 9.99770749e-01 -5.59843317e-05 9.13922686e-01] [ 6.41007868e-03 -8.12840373e-05 9.99979452e-01 -1.71483875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.73592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:61.68, Y:0.91, Z:-1.71 [[ 9.99737844e-01 -2.19806822e-02 -6.41041367e-03 6.16772086e+01] [ 2.19808307e-02 9.99758391e-01 -4.72948032e-05 9.14260256e-01] [ 6.40990443e-03 -9.36238133e-05 9.99979452e-01 -1.71423573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.76592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:61.71, Y:0.91, Z:-1.72 [[ 9.99694886e-01 -2.38546163e-02 -6.41030059e-03 6.17064440e+01] [ 2.38547091e-02 9.99715434e-01 -6.19947976e-05 9.14025604e-01] [ 6.40995530e-03 -9.09399737e-05 9.99979452e-01 -1.71597145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.79592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:61.74, Y:0.91, Z:-1.70 [[ 9.99637822e-01 -2.61367882e-02 -6.41038627e-03 6.17365114e+01] [ 2.61369965e-02 9.99658369e-01 -5.12852797e-05 9.11989057e-01] [ 6.40953671e-03 -1.16281538e-04 9.99979452e-01 -1.69941058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.82592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:61.77, Y:0.91, Z:-1.70 [[ 9.99582431e-01 -2.81757085e-02 -6.41038988e-03 6.17654922e+01] [ 2.81759617e-02 9.99602977e-01 -5.08357210e-05 9.11725207e-01] [ 6.40927714e-03 -1.29804406e-04 9.99979452e-01 -1.69824457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.85592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.80, Y:0.91, Z:-1.71 [[ 9.99528225e-01 -3.00372553e-02 -6.41024507e-03 6.17953359e+01] [ 3.00374330e-02 9.99548772e-01 -6.85830589e-05 9.12044176e-01] [ 6.40941264e-03 -1.23996604e-04 9.99979452e-01 -1.71202358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.88592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.82, Y:0.91, Z:-1.71 [[ 9.99461354e-01 -3.21855852e-02 -6.41015187e-03 6.18241645e+01] [ 3.21857338e-02 9.99481902e-01 -8.00160442e-05 9.12216073e-01] [ 6.40940615e-03 -1.26342498e-04 9.99979452e-01 -1.71393693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.91592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.85, Y:0.91, Z:-1.71 [[ 9.99477469e-01 -3.16811997e-02 -6.41013777e-03 6.18529863e+01] [ 3.16813268e-02 9.99498017e-01 -8.17349273e-05 9.11416506e-01] [ 6.40950946e-03 -1.21389451e-04 9.99979452e-01 -1.71361500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.94592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:61.88, Y:0.91, Z:-1.71 [[ 9.99442638e-01 -3.27616067e-02 -6.41024991e-03 6.18802749e+01] [ 3.27618405e-02 9.99463184e-01 -6.85568582e-05 9.09747896e-01] [ 6.40905482e-03 -1.41492938e-04 9.99979452e-01 -1.71185599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.97592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:61.91, Y:0.91, Z:-1.70 [[ 9.99438180e-01 -3.28973275e-02 -6.41012958e-03 6.19091690e+01] [ 3.28974760e-02 9.99458728e-01 -8.22978639e-05 9.08871622e-01] [ 6.40936734e-03 -1.28625457e-04 9.99979452e-01 -1.69551736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.00592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:61.94, Y:0.91, Z:-1.71 [[ 9.99415331e-01 -3.35843433e-02 -6.41006526e-03 6.19395504e+01] [ 3.35844601e-02 9.99435879e-01 -8.94437380e-05 9.06608270e-01] [ 6.40945312e-03 -1.25887138e-04 9.99979451e-01 -1.71153258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.03591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.97, Y:0.91, Z:-1.71 [[ 9.99376035e-01 -3.47339902e-02 -6.41013927e-03 6.19687467e+01] [ 3.47341840e-02 9.99396583e-01 -8.11238952e-05 9.05456941e-01] [ 6.40908904e-03 -1.41577680e-04 9.99979452e-01 -1.70848183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.06591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.00, Y:0.90, Z:-1.71 [[ 9.99255387e-01 -3.80470945e-02 -6.41012396e-03 6.19954233e+01] [ 3.80473455e-02 9.99275934e-01 -8.28317613e-05 9.00224194e-01] [ 6.40863412e-03 -1.61118117e-04 9.99979452e-01 -1.70874490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.09591999999999 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:62.03, Y:0.90, Z:-1.70 [[ 9.99266838e-01 -3.77451699e-02 -6.41009118e-03 6.20264825e+01] [ 3.77453917e-02 9.99287385e-01 -8.64046525e-05 8.97692291e-01] [ 6.40878461e-03 -1.55610099e-04 9.99979451e-01 -1.70004030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.12592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.05, Y:0.89, Z:-1.71 [[ 9.99154986e-01 -4.05982520e-02 -6.41058880e-03 6.20543351e+01] [ 4.05988669e-02 9.99175526e-01 -3.42412123e-05 8.94731344e-01] [ 6.40669357e-03 -2.26050363e-04 9.99979451e-01 -1.70981630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.15592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:62.08, Y:0.89, Z:-1.70 [[ 9.99239642e-01 -3.84584246e-02 -6.41000167e-03 6.20849520e+01] [ 3.84586055e-02 9.99260190e-01 -9.50715391e-05 8.94494841e-01] [ 6.40891578e-03 -1.51520475e-04 9.99979451e-01 -1.69735808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.18592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:62.11, Y:0.89, Z:-1.72 [[ 9.99326799e-01 -3.61227934e-02 -6.41041067e-03 6.21138005e+01] [ 3.61232009e-02 9.99347343e-01 -5.22496014e-05 8.90465789e-01] [ 6.40811427e-03 -1.79350125e-04 9.99979452e-01 -1.71517289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.21592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.14, Y:0.89, Z:-1.71 [[ 9.99391345e-01 -3.42906426e-02 -6.41030189e-03 6.21431427e+01] [ 3.42909417e-02 9.99411891e-01 -6.32709997e-05 8.87718103e-01] [ 6.40870153e-03 -1.56582799e-04 9.99979452e-01 -1.71498462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.24592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.17, Y:0.89, Z:-1.71 [[ 9.99461877e-01 -3.21693006e-02 -6.41029361e-03 6.21721579e+01] [ 3.21695508e-02 9.99482424e-01 -6.40989629e-05 8.85908681e-01] [ 6.40903781e-03 -1.42151796e-04 9.99979452e-01 -1.71491218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.27592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:62.20, Y:0.88, Z:-1.71 [[ 9.99540201e-01 -2.96360405e-02 -6.41028525e-03 6.22010151e+01] [ 2.96362334e-02 9.99560748e-01 -6.49241102e-05 8.83679234e-01] [ 6.40939362e-03 -1.25082452e-04 9.99979452e-01 -1.71450250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.30592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:62.23, Y:0.88, Z:-1.72 [[ 9.99595062e-01 -2.77239885e-02 -6.41027676e-03 6.22298855e+01] [ 2.77241367e-02 9.99615610e-01 -6.57519194e-05 8.80622346e-01] [ 6.40963562e-03 -1.11994095e-04 9.99979452e-01 -1.71630815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.33592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:62.26, Y:0.88, Z:-1.72 [[ 9.99637094e-01 -2.61646308e-02 -6.41026827e-03 6.22590010e+01] [ 2.61647418e-02 9.99657642e-01 -6.65697911e-05 8.79958734e-01] [ 6.40981544e-03 -1.01177381e-04 9.99979452e-01 -1.71654401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.36592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.29, Y:0.88, Z:-1.72 [[ 9.99690229e-01 -2.40490246e-02 -6.41025966e-03 6.22876736e+01] [ 2.40490868e-02 9.99710777e-01 -6.73882773e-05 8.79218488e-01] [ 6.41002629e-03 -8.67934890e-05 9.99979452e-01 -1.71642187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.39592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.32, Y:0.88, Z:-1.72 [[ 9.99697364e-01 -2.37505637e-02 -6.41025098e-03 6.23163019e+01] [ 2.37506146e-02 9.99717912e-01 -6.82041586e-05 8.77949331e-01] [ 6.41006261e-03 -8.40638827e-05 9.99979452e-01 -1.71560202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.42591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.35, Y:0.88, Z:-1.71 [[ 9.99721324e-01 -2.27196523e-02 -6.41021721e-03 6.23453361e+01] [ 2.27196625e-02 9.99741873e-01 -7.12429140e-05 8.76810663e-01] [ 6.41018117e-03 -7.44149113e-05 9.99979452e-01 -1.71475331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.45591999999999 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:62.37, Y:0.88, Z:-1.71 [[ 9.99768793e-01 -2.05248470e-02 -6.41020807e-03 6.23745733e+01] [ 2.05248068e-02 9.99789341e-01 -7.20560565e-05 8.75787528e-01] [ 6.41033664e-03 -5.95288856e-05 9.99979452e-01 -1.71423964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.48592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:62.40, Y:0.88, Z:-1.72 [[ 9.99774958e-01 -2.02223142e-02 -6.41019874e-03 6.24038399e+01] [ 2.02222625e-02 9.99795506e-01 -7.28763862e-05 8.77027068e-01] [ 6.41036163e-03 -5.67687359e-05 9.99979452e-01 -1.71521969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.51592 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:62.43, Y:0.88, Z:-1.72 [[ 9.99834439e-01 -1.70295333e-02 -6.41018940e-03 6.24326300e+01] [ 1.70294109e-02 9.99854986e-01 -7.36889189e-05 8.79705729e-01] [ 6.41051473e-03 -3.54850302e-05 9.99979452e-01 -1.71714687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.54592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:62.46, Y:0.88, Z:-1.72 [[ 9.99882872e-01 -1.38979395e-02 -6.41017990e-03 6.24616936e+01] [ 1.38977475e-02 9.99903419e-01 -7.45067793e-05 8.80368279e-01] [ 6.41059628e-03 -1.45890089e-05 9.99979452e-01 -1.71659957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.57592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:62.49, Y:0.88, Z:-1.72 [[ 9.99880198e-01 -1.40889580e-02 -6.41017040e-03 6.24902280e+01] [ 1.40887646e-02 9.99900746e-01 -7.53153943e-05 8.80650054e-01] [ 6.41059527e-03 -1.50050107e-05 9.99979452e-01 -1.71641686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.60592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:62.52, Y:0.88, Z:-1.71 [[ 9.99896354e-01 -1.28915251e-02 -6.41015577e-03 6.25194671e+01] [ 1.28912994e-02 9.99916901e-01 -7.65399893e-05 8.81023744e-01] [ 6.41060981e-03 -6.10318082e-06 9.99979452e-01 -1.71437460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.63592 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:62.55, Y:0.88, Z:-1.71 [[ 9.99909817e-01 -1.18011789e-02 -6.41014590e-03 6.25479250e+01] [ 1.18009254e-02 9.99930364e-01 -7.73583121e-05 8.82944709e-01] [ 6.41061244e-03 1.70568190e-06 9.99979452e-01 -1.71339305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.66592 meters Centerline goodness : 0.997517 Centerline is valid? [True, True] Translation: X:62.60, Y:0.90, Z:-1.72 [[ 9.99911735e-01 -1.16375108e-02 -6.41013103e-03 6.26048088e+01] [ 1.16372462e-02 9.99932282e-01 -7.85711018e-05 8.95203964e-01] [ 6.41061132e-03 3.96789358e-06 9.99979452e-01 -1.71797085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.69592 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:62.61, Y:0.88, Z:-1.71 [[ 9.99883335e-01 -1.38594426e-02 -6.42127315e-03 6.26071822e+01] [ 1.38664228e-02 9.99903312e-01 1.04380524e-03 8.81373215e-01] [ 6.40618573e-03 -1.13272355e-03 9.99978839e-01 -1.71214084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.72592 meters Centerline goodness : 0.998957 Centerline is valid? [True, True] Translation: X:62.64, Y:0.89, Z:-1.72 [[ 9.99858497e-01 -1.55562737e-02 -6.40215133e-03 6.26357626e+01] [ 1.55560983e-02 9.99878994e-01 -7.71998169e-05 8.85341870e-01] [ 6.40257757e-03 -2.24036024e-05 9.99979503e-01 -1.71536101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.75592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:62.66, Y:0.89, Z:-1.71 [[ 9.99862358e-01 -1.53063834e-02 -6.40157520e-03 6.26646091e+01] [ 1.53059892e-02 9.99882850e-01 -1.10559299e-04 8.88693217e-01] [ 6.40251752e-03 1.25616405e-05 9.99979504e-01 -1.71477764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.78591999999999 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:62.69, Y:0.89, Z:-1.71 [[ 9.99880791e-01 -1.40507426e-02 -6.40156122e-03 6.26938513e+01] [ 1.40503176e-02 9.99901283e-01 -1.11362812e-04 8.91975468e-01] [ 6.40249401e-03 2.14055680e-05 9.99979504e-01 -1.71465030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.81591999999999 meters Centerline goodness : 0.998760 Centerline is valid? [True, True] Translation: X:62.72, Y:0.89, Z:-1.71 [[ 9.99884773e-01 -1.37644583e-02 -6.40154710e-03 6.27226436e+01] [ 1.37640222e-02 9.99905265e-01 -1.12168398e-04 8.92406326e-01] [ 6.40248459e-03 2.40444367e-05 9.99979504e-01 -1.71283425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.84591999999999 meters Centerline goodness : 0.835002 Centerline is valid? [True, False] Translation: X:62.74, Y:0.89, Z:-1.71 [[ 9.99985619e-01 -1.10334540e-03 -5.24819100e-03 6.27386297e+01] [ 1.11129566e-03 9.99998239e-01 1.51218099e-03 8.93656304e-01] [ 5.24651330e-03 -1.51799153e-03 9.99985085e-01 -1.70757491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.87592 meters Centerline goodness : 0.997173 Centerline is valid? [False, True] Translation: X:62.76, Y:0.89, Z:-1.70 [[ 9.99957947e-01 -3.76666823e-03 -8.36156365e-03 6.27594843e+01] [ 3.83425043e-03 9.99959995e-01 8.08122199e-03 8.89362034e-01] [ 8.33078986e-03 -8.11294248e-03 9.99932387e-01 -1.70294032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.90592 meters Centerline goodness : 0.998312 Centerline is valid? [True, True] Translation: X:62.79, Y:0.90, Z:-1.71 [[ 9.99947089e-01 -6.09611267e-03 -8.28590385e-03 6.27870755e+01] [ 6.09566778e-03 9.99981418e-01 -7.89458785e-05 8.99991714e-01] [ 8.28623114e-03 2.84335843e-05 9.99965668e-01 -1.70615136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.93592 meters Centerline goodness : 0.998958 Centerline is valid? [True, True] Translation: X:62.82, Y:0.90, Z:-1.68 [[ 9.99958139e-01 -3.88130617e-03 -8.28590741e-03 6.28202443e+01] [ 3.88078837e-03 9.99992467e-01 -7.85699162e-05 9.01354016e-01] [ 8.28614995e-03 4.64107741e-05 9.99965668e-01 -1.68360835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.96592 meters Centerline goodness : 0.998361 Centerline is valid? [True, True] Translation: X:62.85, Y:0.90, Z:-1.71 [[ 9.99948555e-01 -5.84889608e-03 -8.28721001e-03 6.28456357e+01] [ 5.84961808e-03 9.99982889e-01 6.28863010e-05 9.01315303e-01] [ 8.28670039e-03 -1.11360079e-04 9.99965659e-01 -1.70584227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.99592 meters Centerline goodness : 0.997665 Centerline is valid? [True, True] Translation: X:62.87, Y:0.90, Z:-1.70 [[ 9.99949743e-01 -5.64433355e-03 -8.28575702e-03 6.28744797e+01] [ 5.64384205e-03 9.99984070e-01 -8.26992813e-05 9.02774104e-01] [ 8.28609181e-03 3.59316211e-05 9.99965669e-01 -1.70443384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.02592 meters Centerline goodness : 0.996227 Centerline is valid? [True, True] Translation: X:62.90, Y:0.91, Z:-1.70 [[ 9.99957679e-01 -3.99832505e-03 -8.28574924e-03 6.29034181e+01] [ 3.99777065e-03 9.99992005e-01 -8.34718528e-05 9.05837223e-01] [ 8.28601674e-03 5.03437951e-05 9.99965669e-01 -1.70498333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.05592 meters Centerline goodness : 0.997516 Centerline is valid? [True, True] Translation: X:62.94, Y:0.91, Z:-1.68 [[ 9.99963188e-01 -2.22930590e-03 -8.28573859e-03 6.29355678e+01] [ 2.22868213e-03 9.99997513e-01 -8.45153386e-05 9.08294986e-01] [ 8.28590640e-03 6.60459498e-05 9.99965669e-01 -1.68151339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.08592 meters Centerline goodness : 0.995436 Centerline is valid? [True, True] Translation: X:62.94, Y:0.90, Z:-1.70 [[ 9.99958618e-01 3.75340596e-03 -8.28695402e-03 6.29360845e+01] [-3.75323716e-03 9.99992956e-01 3.59213967e-05 8.99848720e-01] [ 8.28703047e-03 -4.81700650e-06 9.99965662e-01 -1.69826264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.11592 meters Centerline goodness : 0.997320 Centerline is valid? [True, True] Translation: X:62.99, Y:0.91, Z:-1.71 [[ 9.99958617e-01 3.77596564e-03 -8.27682227e-03 6.29864843e+01] [-3.78487720e-03 9.99992274e-01 -1.06128963e-03 9.12891253e-01] [ 8.27275094e-03 1.09257247e-03 9.99965183e-01 -1.70672785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.14592 meters Centerline goodness : 0.945520 Centerline is valid? [True, False] Translation: X:63.01, Y:0.91, Z:-1.70 [[ 9.99932773e-01 1.00832708e-03 -1.15512780e-02 6.30079025e+01] [-9.46006055e-04 9.99984976e-01 5.39935690e-03 9.08548352e-01] [ 1.15565488e-02 -5.38806634e-03 9.99918704e-01 -1.70269412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.17591999999999 meters Centerline goodness : 0.993446 Centerline is valid? [False, True] Translation: X:63.01, Y:0.91, Z:-1.70 [[ 9.99931214e-01 1.08138368e-03 -1.16789576e-02 6.30083129e+01] [-1.02743396e-03 9.99988780e-01 4.62440790e-03 9.12413954e-01] [ 1.16838273e-02 -4.61209045e-03 9.99921105e-01 -1.70296512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.20591999999999 meters Centerline goodness : 0.996430 Centerline is valid? [True, True] Translation: X:63.06, Y:0.93, Z:-1.69 [[ 9.99913048e-01 6.20964282e-03 -1.16334424e-02 6.30631871e+01] [-6.21882007e-03 9.99980380e-01 -7.52859362e-04 9.34548478e-01] [ 1.16285392e-02 8.25140184e-04 9.99932046e-01 -1.68788202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.23592 meters Centerline goodness : 0.996180 Centerline is valid? [True, True] Translation: X:63.09, Y:0.94, Z:-1.69 [[ 9.99926147e-01 3.51090170e-03 -1.16350016e-02 6.30905034e+01] [-3.50794041e-03 9.99993809e-01 2.74914164e-04 9.35370242e-01] [ 1.16358948e-02 -2.34078968e-04 9.99932273e-01 -1.68664160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.26592 meters Centerline goodness : 0.847145 Centerline is valid? [True, False] Translation: X:63.09, Y:0.94, Z:-1.69 [[ 9.99926104e-01 3.62103841e-03 -1.16049457e-02 6.30905003e+01] [-3.62593036e-03 9.99993346e-01 -4.00527947e-04 9.38808373e-01] [ 1.16034181e-02 4.42577074e-04 9.99932580e-01 -1.68707872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.29592 meters Centerline goodness : 0.997713 Centerline is valid? [False, True] Translation: X:63.11, Y:0.94, Z:-1.68 [[ 9.99943138e-01 -5.90693875e-04 -1.06476569e-02 6.31101195e+01] [ 6.39397560e-04 9.99989347e-01 4.57129873e-03 9.38088626e-01] [ 1.06448432e-02 -4.57784688e-03 9.99932863e-01 -1.68475911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.32592 meters Centerline goodness : 0.997164 Centerline is valid? [True, True] Translation: X:63.14, Y:0.94, Z:-1.69 [[ 9.99942869e-01 -1.09682771e-03 -1.06327323e-02 6.31390858e+01] [ 1.09652060e-03 9.99999398e-01 -3.47129107e-05 9.42581080e-01] [ 1.06327640e-02 2.30519175e-05 9.99943470e-01 -1.68547596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.35592 meters Centerline goodness : 0.997615 Centerline is valid? [True, True] Translation: X:63.17, Y:0.94, Z:-1.66 [[ 9.99942849e-01 -1.11567309e-03 -1.06327277e-02 6.31717357e+01] [ 1.11535274e-03 9.99999377e-01 -3.60584734e-05 9.44383062e-01] [ 1.06327614e-02 2.41971705e-05 9.99943470e-01 -1.66235243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.38592 meters Centerline goodness : 0.996617 Centerline is valid? [True, True] Translation: X:63.20, Y:0.94, Z:-1.68 [[ 9.99936783e-01 -3.65616348e-03 -1.06331130e-02 6.31999958e+01] [ 3.65722840e-03 9.99993309e-01 8.07087908e-05 9.44368826e-01] [ 1.06327468e-02 -1.19591411e-04 9.99943464e-01 -1.68393861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.41592 meters Centerline goodness : 0.994735 Centerline is valid? [True, True] Translation: X:63.23, Y:0.95, Z:-1.65 [[ 9.99939556e-01 -2.79853258e-03 -1.06326647e-02 6.32334885e+01] [ 2.79826948e-03 9.99996084e-01 -3.96216607e-05 9.49251499e-01] [ 1.06327339e-02 9.86620483e-06 9.99943471e-01 -1.65443310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.44592 meters Centerline goodness : 0.997419 Centerline is valid? [True, True] Translation: X:63.26, Y:0.95, Z:-1.66 [[ 9.99922963e-01 -6.40304724e-03 -1.06333665e-02 6.32632542e+01] [ 6.40484503e-03 9.99979480e-01 1.35025855e-04 9.49720894e-01] [ 1.06322837e-02 -2.03120518e-04 9.99943455e-01 -1.65824898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.47592 meters Centerline goodness : 0.997071 Centerline is valid? [True, True] Translation: X:63.29, Y:0.95, Z:-1.66 [[ 9.99912751e-01 -7.83754593e-03 -1.06331013e-02 6.32919302e+01] [ 7.83879035e-03 9.99969273e-01 7.53600184e-05 9.50958629e-01] [ 1.06321840e-02 -1.58704095e-04 9.99943464e-01 -1.65848328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.50592 meters Centerline goodness : 0.996176 Centerline is valid? [True, True] Translation: X:63.32, Y:0.95, Z:-1.66 [[ 9.99891851e-01 -1.01599295e-02 -1.06331146e-02 6.33201641e+01] [ 1.01613342e-02 9.99948369e-01 7.80896934e-05 9.53123386e-01] [ 1.06317722e-02 -1.86127879e-04 9.99943464e-01 -1.65684651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.53591999999999 meters Centerline goodness : 0.996427 Centerline is valid? [True, True] Translation: X:63.35, Y:0.95, Z:-1.67 [[ 9.99831181e-01 -1.49849748e-02 -1.06330107e-02 6.33483942e+01] [ 1.49864330e-02 9.99887695e-01 5.74659382e-05 9.52246791e-01] [ 1.06309554e-02 -2.16807139e-04 9.99943466e-01 -1.67363670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.56591999999999 meters Centerline goodness : 0.996721 Centerline is valid? [True, True] Translation: X:63.38, Y:0.95, Z:-1.68 [[ 9.99824445e-01 -1.54281798e-02 -1.06325207e-02 6.33763135e+01] [ 1.54287117e-02 9.99880970e-01 -3.20058466e-05 9.53390864e-01] [ 1.06317489e-02 -1.32045868e-04 9.99943473e-01 -1.67714353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.59591999999999 meters Centerline goodness : 0.994189 Centerline is valid? [True, True] Translation: X:63.41, Y:0.96, Z:-1.66 [[ 9.99861403e-01 -1.28113846e-02 -1.06321588e-02 6.34081453e+01] [ 1.28110759e-02 9.99917930e-01 -9.71448124e-05 9.55807824e-01] [ 1.06325308e-02 -3.90780453e-05 9.99943472e-01 -1.65649751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.62592 meters Centerline goodness : 0.996326 Centerline is valid? [True, True] Translation: X:63.44, Y:0.96, Z:-1.68 [[ 9.99763073e-01 -1.89932990e-02 -1.06326498e-02 6.34356862e+01] [ 1.89942683e-02 9.99819593e-01 -9.82923384e-06 9.58728804e-01] [ 1.06309183e-02 -1.92132498e-04 9.99943472e-01 -1.67923982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.65592 meters Centerline goodness : 0.995879 Centerline is valid? [True, True] Translation: X:63.47, Y:0.96, Z:-1.67 [[ 9.99791102e-01 -1.74559339e-02 -1.06321632e-02 6.34681339e+01] [ 1.74559655e-02 9.99847629e-01 -8.98370993e-05 9.61190310e-01] [ 1.06321114e-02 -9.57763417e-05 9.99943473e-01 -1.67200987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.68592 meters Centerline goodness : 0.993747 Centerline is valid? [True, True] Translation: X:63.50, Y:0.96, Z:-1.66 [[ 9.99789686e-01 -1.75364759e-02 -1.06327733e-02 6.34970280e+01] [ 1.75376274e-02 9.99846204e-01 1.50576583e-05 9.62226423e-01] [ 1.06308740e-02 -2.01528108e-04 9.99943470e-01 -1.65988395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.71592 meters Centerline goodness : 0.992354 Centerline is valid? [True, True] Translation: X:63.53, Y:0.96, Z:-1.68 [[ 9.99774867e-01 -1.83620927e-02 -1.06324398e-02 6.35268631e+01] [ 1.83627257e-02 9.99831390e-01 -3.80918730e-05 9.63630460e-01] [ 1.06313466e-02 -1.57157279e-04 9.99943473e-01 -1.67609184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.74592 meters Centerline goodness : 0.994434 Centerline is valid? [True, True] Translation: X:63.56, Y:0.96, Z:-1.66 [[ 9.99773164e-01 -1.84546858e-02 -1.06323140e-02 6.35573273e+01] [ 1.84551207e-02 9.99829688e-01 -5.72175025e-05 9.63386953e-01] [ 1.06315592e-02 -1.39016116e-04 9.99943474e-01 -1.66107252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.77592 meters Centerline goodness : 0.995379 Centerline is valid? [True, True] Translation: X:63.59, Y:0.96, Z:-1.68 [[ 9.99745983e-01 -1.98725103e-02 -1.06326606e-02 6.35892857e+01] [ 1.98735707e-02 9.99802501e-01 -5.92647554e-06 9.62657617e-01] [ 1.06306784e-02 -2.05383963e-04 9.99943472e-01 -1.67619533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.80592 meters Centerline goodness : 0.996226 Centerline is valid? [True, True] Translation: X:63.62, Y:0.96, Z:-1.68 [[ 9.99730719e-01 -2.06259442e-02 -1.06329618e-02 6.36174706e+01] [ 2.06274996e-02 9.99787230e-01 3.66290634e-05 9.63929747e-01] [ 1.06299439e-02 -2.55950615e-04 9.99943468e-01 -1.67658068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.83592 meters Centerline goodness : 0.995283 Centerline is valid? [True, True] Translation: X:63.65, Y:0.96, Z:-1.66 [[ 9.99718059e-01 -2.12308168e-02 -1.06327310e-02 6.36476267e+01] [ 2.12320927e-02 9.99774574e-01 7.11537856e-06 9.64894412e-01] [ 1.06301830e-02 -2.32868502e-04 9.99943471e-01 -1.65854083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.86592 meters Centerline goodness : 0.992347 Centerline is valid? [True, True] Translation: X:63.68, Y:0.97, Z:-1.65 [[ 9.99766946e-01 -1.87883452e-02 -1.06325685e-02 6.36786608e+01] [ 1.87892759e-02 9.99823466e-01 -1.23623054e-05 9.65201977e-01] [ 1.06309238e-02 -1.87418839e-04 9.99943473e-01 -1.65411090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.89592 meters Centerline goodness : 0.993338 Centerline is valid? [True, True] Translation: X:63.71, Y:0.96, Z:-1.68 [[ 9.99766652e-01 -1.88037430e-02 -1.06330196e-02 6.37081420e+01] [ 1.88052440e-02 9.99823165e-01 4.11983609e-05 9.64548785e-01] [ 1.06303646e-02 -2.41145275e-04 9.99943467e-01 -1.67806615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.92591999999999 meters Centerline goodness : 0.995276 Centerline is valid? [True, True] Translation: X:63.74, Y:0.96, Z:-1.66 [[ 9.99785312e-01 -1.77842685e-02 -1.06324691e-02 6.37395283e+01] [ 1.77850577e-02 9.99841833e-01 -2.03293314e-05 9.62494947e-01] [ 1.06311489e-02 -1.68774110e-04 9.99943473e-01 -1.65526235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.95591999999999 meters Centerline goodness : 0.967462 Centerline is valid? [True, True] Translation: X:63.80, Y:0.97, Z:-1.67 [[ 9.99647235e-01 -2.43380833e-02 -1.06331650e-02 6.38026785e+01] [ 2.43401069e-02 9.99703734e-01 6.09214236e-05 9.74211746e-01] [ 1.06285320e-02 -3.19712305e-04 9.99943464e-01 -1.67436588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.98592 meters Centerline goodness : 0.995927 Centerline is valid? [True, True] Translation: X:63.79, Y:0.95, Z:-1.66 [[ 9.99657024e-01 -2.39262810e-02 -1.06474597e-02 6.37944204e+01] [ 2.39534550e-02 9.99710117e-01 2.43197216e-03 9.51488237e-01] [ 1.05861851e-02 -2.68618150e-03 9.99940357e-01 -1.65666343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.01592 meters Centerline goodness : 0.995235 Centerline is valid? [True, True] Translation: X:63.82, Y:0.95, Z:-1.66 [[ 9.99662283e-01 -2.37236636e-02 -1.06069965e-02 6.38229690e+01] [ 2.37244399e-02 9.99718534e-01 -5.26526897e-05 9.54623929e-01] [ 1.06052601e-02 -1.99010143e-04 9.99943743e-01 -1.65665755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.04592 meters Centerline goodness : 0.994287 Centerline is valid? [True, True] Translation: X:63.85, Y:0.96, Z:-1.65 [[ 9.99671851e-01 -2.33167751e-02 -1.06074476e-02 6.38518724e+01] [ 2.33178096e-02 9.99728103e-01 -2.61472189e-05 9.55835602e-01] [ 1.06051732e-02 -2.21203806e-04 9.99943739e-01 -1.65478849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.07592 meters Centerline goodness : 0.995682 Centerline is valid? [True, True] Translation: X:63.88, Y:0.96, Z:-1.66 [[ 9.99679384e-01 -2.29917299e-02 -1.06070810e-02 6.38808073e+01] [ 2.29925283e-02 9.99735636e-01 -4.66866845e-05 9.56536515e-01] [ 1.06053503e-02 -1.97211895e-04 9.99943742e-01 -1.65676482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.10592 meters Centerline goodness : 0.996163 Centerline is valid? [True, True] Translation: X:63.91, Y:0.96, Z:-1.66 [[ 9.99664640e-01 -2.36243440e-02 -1.06064739e-02 6.39108238e+01] [ 2.36248304e-02 9.99720892e-01 -7.94521616e-05 9.56620929e-01] [ 1.06053905e-02 -1.71150630e-04 9.99943747e-01 -1.65884097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.13592 meters Centerline goodness : 0.995762 Centerline is valid? [True, True] Translation: X:63.94, Y:0.96, Z:-1.67 [[ 9.99634942e-01 -2.48492338e-02 -1.06065574e-02 6.39391040e+01] [ 2.48498360e-02 9.99691192e-01 -7.50323342e-05 9.57812440e-01] [ 1.06051465e-02 -1.88566268e-04 9.99943746e-01 -1.66767779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.16592 meters Centerline goodness : 0.996320 Centerline is valid? [True, True] Translation: X:63.97, Y:0.96, Z:-1.67 [[ 9.99622919e-01 -2.53287033e-02 -1.06054950e-02 6.39680712e+01] [ 2.53287588e-02 9.99679167e-01 -1.29105765e-04 9.58657531e-01] [ 1.06053625e-02 -1.39566943e-04 9.99943752e-01 -1.66763304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.19592 meters Centerline goodness : 0.997370 Centerline is valid? [True, True] Translation: X:64.00, Y:0.96, Z:-1.67 [[ 9.99586828e-01 -2.67150296e-02 -1.06057030e-02 6.39966221e+01] [ 2.67152734e-02 9.99643076e-01 -1.18714045e-04 9.58377299e-01] [ 1.06050890e-02 -1.64669258e-04 9.99943751e-01 -1.67046233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.22592 meters Centerline goodness : 0.998362 Centerline is valid? [True, True] Translation: X:64.02, Y:0.96, Z:-1.67 [[ 9.99570661e-01 -2.73134069e-02 -1.06052542e-02 6.40243694e+01] [ 2.73134558e-02 9.99626908e-01 -1.40257888e-04 9.58579257e-01] [ 1.06051284e-02 -1.49468472e-04 9.99943753e-01 -1.66951259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.25592 meters Centerline goodness : 0.998958 Centerline is valid? [True, True] Translation: X:64.05, Y:0.96, Z:-1.67 [[ 9.99519031e-01 -2.91417704e-02 -1.06049410e-02 6.40527170e+01] [ 2.91417661e-02 9.99575277e-01 -1.54958879e-04 9.60057198e-01] [ 1.06049526e-02 -1.54162362e-04 9.99943754e-01 -1.67288835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.28591999999999 meters Centerline goodness : 0.999005 Centerline is valid? [True, True] Translation: X:64.08, Y:0.96, Z:-1.67 [[ 9.99480941e-01 -3.04203024e-02 -1.06044604e-02 6.40804425e+01] [ 3.04201377e-02 9.99537185e-01 -1.76873995e-04 9.60486934e-01] [ 1.06049331e-02 -1.45806958e-04 9.99943755e-01 -1.67147136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.31591999999999 meters Centerline goodness : 0.998808 Centerline is valid? [True, True] Translation: X:64.11, Y:0.96, Z:-1.67 [[ 9.99488345e-01 -3.01761956e-02 -1.06040223e-02 6.41088031e+01] [ 3.01758098e-02 9.99544587e-01 -1.96411370e-04 9.59420812e-01] [ 1.06051200e-02 -1.23674084e-04 9.99943756e-01 -1.67225754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.34591999999999 meters Centerline goodness : 0.997857 Centerline is valid? [True, True] Translation: X:64.14, Y:0.96, Z:-1.66 [[ 9.99450861e-01 -3.13933693e-02 -1.06034315e-02 6.41386065e+01] [ 3.13927776e-02 9.99507101e-01 -2.22280124e-04 9.60338022e-01] [ 1.06051832e-02 -1.10713104e-04 9.99943757e-01 -1.65897949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.37592 meters Centerline goodness : 0.997268 Centerline is valid? [True, True] Translation: X:64.17, Y:0.96, Z:-1.66 [[ 9.99469441e-01 -3.07961758e-02 -1.06034263e-02 6.41675861e+01] [ 3.07955481e-02 9.99525680e-01 -2.22505412e-04 9.62803247e-01] [ 1.06052492e-02 -1.04150966e-04 9.99943757e-01 -1.65925883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.40592 meters Centerline goodness : 0.998955 Centerline is valid? [True, True] Translation: X:64.20, Y:0.96, Z:-1.67 [[ 9.99501565e-01 -2.97354573e-02 -1.06029816e-02 6.41975461e+01] [ 2.97345665e-02 9.99557801e-01 -2.41679130e-04 9.64111670e-01] [ 1.06054794e-02 -7.37163938e-05 9.99943758e-01 -1.67207477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.43592 meters Centerline goodness : 0.996166 Centerline is valid? [True, True] Translation: X:64.23, Y:0.97, Z:-1.66 [[ 9.99497064e-01 -2.98864335e-02 -1.06028787e-02 6.42266308e+01] [ 2.98855042e-02 9.99553298e-01 -2.46114598e-04 9.65057326e-01] [ 1.06054978e-02 -7.08815567e-05 9.99943758e-01 -1.65878706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.46592 meters Centerline goodness : 0.996166 Centerline is valid? [True, True] Translation: X:64.25, Y:0.97, Z:-1.66 [[ 9.99495016e-01 -2.99551253e-02 -1.06020754e-02 6.42549615e+01] [ 2.99538334e-02 9.99551244e-01 -2.80655143e-04 9.65733194e-01] [ 1.06057248e-02 -3.70593850e-05 9.99943757e-01 -1.65849384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.49592 meters Centerline goodness : 0.998111 Centerline is valid? [True, True] Translation: X:64.29, Y:0.97, Z:-1.66 [[ 9.99548027e-01 -2.81307313e-02 -1.06020549e-02 6.42863614e+01] [ 2.81293275e-02 9.99604253e-01 -2.81535299e-04 9.67952817e-01] [ 1.06057790e-02 -1.68206219e-05 9.99943757e-01 -1.65997469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.52592 meters Centerline goodness : 0.998858 Centerline is valid? [True, True] Translation: X:64.32, Y:0.97, Z:-1.67 [[ 9.99579694e-01 -2.69816087e-02 -1.06031922e-02 6.43157962e+01] [ 2.69806550e-02 9.99635929e-01 -2.33000643e-04 9.69489233e-01] [ 1.06056186e-02 -5.31783581e-05 9.99943757e-01 -1.67081628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.55592 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:64.34, Y:0.97, Z:-1.67 [[ 9.99564236e-01 -2.75488342e-02 -1.06018946e-02 6.43446374e+01] [ 2.75473296e-02 9.99620459e-01 -2.87946416e-04 9.71444588e-01] [ 1.06058034e-02 -4.23294607e-06 9.99943757e-01 -1.67095576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.58592 meters Centerline goodness : 0.997762 Centerline is valid? [True, True] Translation: X:64.38, Y:0.97, Z:-1.66 [[ 9.99611902e-01 -2.57613611e-02 -1.06017807e-02 6.43764691e+01] [ 2.57597057e-02 9.99668121e-01 -2.92693558e-04 9.73418320e-01] [ 1.06058023e-02 1.94812150e-05 9.99943757e-01 -1.65718881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.61592 meters Centerline goodness : 0.997712 Centerline is valid? [True, True] Translation: X:64.41, Y:0.98, Z:-1.66 [[ 9.99569767e-01 -2.73462252e-02 -1.06049883e-02 6.44051923e+01] [ 2.73460762e-02 9.99626013e-01 -1.59084561e-04 9.75595918e-01] [ 1.06053725e-02 -1.30988700e-04 9.99943753e-01 -1.65721206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.64592 meters Centerline goodness : 0.997563 Centerline is valid? [True, True] Translation: X:64.43, Y:0.98, Z:-1.65 [[ 9.99527630e-01 -2.88456903e-02 -1.06039050e-02 6.44326349e+01] [ 2.88451528e-02 9.99583871e-01 -2.03662445e-04 9.77906150e-01] [ 1.06053672e-02 -1.02305018e-04 9.99943756e-01 -1.65384889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.67591999999999 meters Centerline goodness : 0.997162 Centerline is valid? [True, True] Translation: X:64.46, Y:0.98, Z:-1.65 [[ 9.99419961e-01 -3.23625457e-02 -1.06021934e-02 6.44614721e+01] [ 3.23614641e-02 9.99476193e-01 -2.73604724e-04 9.80372424e-01] [ 1.06054944e-02 -6.96564773e-05 9.99943758e-01 -1.65356939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.70591999999999 meters Centerline goodness : 0.997412 Centerline is valid? [True, True] Translation: X:64.49, Y:0.98, Z:-1.65 [[ 9.99376000e-01 -3.36925664e-02 -1.06028788e-02 6.44907026e+01] [ 3.36918516e-02 9.99432238e-01 -2.46081483e-04 9.81166559e-01] [ 1.06051500e-02 -1.11302689e-04 9.99943758e-01 -1.65382426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.73592 meters Centerline goodness : 0.992286 Centerline is valid? [True, True] Translation: X:64.49, Y:0.97, Z:-1.67 [[ 9.99289017e-01 -3.61807552e-02 -1.06025521e-02 6.44885473e+01] [ 3.61800435e-02 9.99345254e-01 -2.58983534e-04 9.65822227e-01] [ 1.06049803e-02 -1.24801394e-04 9.99943758e-01 -1.67306922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.76592 meters Centerline goodness : 0.970364 Centerline is valid? [True, True] Translation: X:64.63, Y:0.95, Z:-1.68 [[ 9.92830887e-01 -1.19075947e-01 -1.03801897e-02 6.46272790e+01] [ 1.19049919e-01 9.92883454e-01 -3.09260177e-03 9.45963463e-01] [ 1.06745731e-02 1.83466982e-03 9.99941342e-01 -1.68106212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.79592 meters Centerline goodness : 0.991704 Centerline is valid? [True, True] Translation: X:64.50, Y:0.95, Z:-1.67 [[ 9.99685863e-01 -2.26460036e-02 -1.07393474e-02 6.45001210e+01] [ 2.26858402e-02 9.99736154e-01 3.60219958e-03 9.47871267e-01] [ 1.06549384e-02 -3.84469911e-03 9.99935843e-01 -1.67120560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.82592 meters Centerline goodness : 0.998061 Centerline is valid? [True, True] Translation: X:64.55, Y:0.96, Z:-1.66 [[ 9.99634347e-01 -2.48515081e-02 -1.06571109e-02 6.45536387e+01] [ 2.48433602e-02 9.99690954e-01 -8.96277589e-04 9.63910104e-01] [ 1.06760912e-02 6.31191418e-04 9.99942810e-01 -1.65558441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.85592 meters Centerline goodness : 0.904118 Centerline is valid? [True, False] Translation: X:64.54, Y:0.96, Z:-1.66 [[ 9.99896632e-01 -1.34794064e-02 5.00315809e-03 6.45378231e+01] [ 1.34780393e-02 9.99909120e-01 3.06854510e-04 9.62547843e-01] [-5.00683962e-03 -2.39390029e-04 9.99987437e-01 -1.65751484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.88592 meters Centerline goodness : 0.872185 Centerline is valid? [False, False] Translation: X:64.54, Y:0.97, Z:-1.66 [[ 9.99997978e-01 3.93076426e-04 -1.97234350e-03 6.45433530e+01] [-4.03478590e-04 9.99985998e-01 -5.27638865e-03 9.69269601e-01] [ 1.97024186e-03 5.27717378e-03 9.99984135e-01 -1.65880409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.91592 meters Centerline goodness : 0.931408 Centerline is valid? [False, False] Translation: X:64.52, Y:0.96, Z:-1.66 [[ 9.99981572e-01 2.13145182e-03 5.68448717e-03 6.45185969e+01] [-2.17143874e-03 9.99972879e-01 7.03752322e-03 9.58378484e-01] [-5.66933286e-03 -7.04973705e-03 9.99959079e-01 -1.65988706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.94592 meters Centerline goodness : 0.999354 Centerline is valid? [False, True] Translation: X:64.50, Y:0.95, Z:-1.66 [[ 9.99917319e-01 5.66636761e-04 1.28465700e-02 6.44964793e+01] [-7.54733618e-04 9.99892520e-01 1.46416792e-02 9.50178642e-01] [-1.28368928e-02 -1.46501643e-02 9.99810275e-01 -1.66170253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.97592 meters Centerline goodness : 0.856232 Centerline is valid? [True, False] Translation: X:64.50, Y:0.95, Z:-1.66 [[ 9.99918231e-01 5.25325135e-04 1.27771479e-02 6.44967413e+01] [-7.14087425e-04 9.99890613e-01 1.47733567e-02 9.49512637e-01] [-1.27679894e-02 -1.47812727e-02 9.99809228e-01 -1.66186283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.00592 meters Centerline goodness : 0.998855 Centerline is valid? [False, True] Translation: X:64.50, Y:0.95, Z:-1.66 [[ 9.99912831e-01 -3.49040462e-03 1.27336973e-02 6.44968517e+01] [ 3.36512975e-03 9.99945862e-01 9.84625615e-03 9.53089435e-01] [-1.27673753e-02 -9.80254732e-03 9.99870444e-01 -1.66255787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.03591999999999 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:64.53, Y:0.96, Z:-1.68 [[ 9.99914167e-01 -3.50624760e-03 1.26240094e-02 6.45267188e+01] [ 3.51035713e-03 9.99993793e-01 -3.03389141e-04 9.64156660e-01] [-1.26228672e-02 3.47677881e-04 9.99920268e-01 -1.67778132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.06591999999999 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:64.56, Y:0.96, Z:-1.66 [[ 9.99919272e-01 -1.43011558e-03 1.26255691e-02 6.45596815e+01] [ 1.43226635e-03 9.99998961e-01 -1.61309802e-04 9.64050137e-01] [-1.26253253e-02 1.79379958e-04 9.99920281e-01 -1.66313109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.09591999999999 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:64.59, Y:0.96, Z:-1.66 [[ 9.99916710e-01 -2.68332846e-03 1.26243261e-02 6.45900361e+01] [ 2.68703102e-03 9.99996352e-01 -2.76334891e-04 9.64073821e-01] [-1.26235385e-02 3.10233831e-04 9.99920272e-01 -1.66483026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.12592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:64.62, Y:0.96, Z:-1.67 [[ 9.99911425e-01 -4.21385157e-03 1.26247967e-02 6.46218937e+01] [ 4.21711493e-03 9.99991081e-01 -2.31877800e-04 9.64603570e-01] [-1.26237070e-02 2.85097480e-04 9.99920277e-01 -1.66920179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.15592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.65, Y:0.96, Z:-1.68 [[ 9.99899755e-01 -6.41085710e-03 1.26246083e-02 6.46517374e+01] [ 6.41452115e-03 9.99979396e-01 -2.49759801e-04 9.64455681e-01] [-1.26227470e-02 3.30715581e-04 9.99920275e-01 -1.68125762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.18592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.68, Y:0.96, Z:-1.68 [[ 9.99902219e-01 -6.01170829e-03 1.26258409e-02 6.46849334e+01] [ 6.01383696e-03 9.99981908e-01 -1.30636843e-04 9.63860027e-01] [-1.26248271e-02 2.06553818e-04 9.99920282e-01 -1.67543211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.21592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.72, Y:0.96, Z:-1.67 [[ 9.99896177e-01 -6.94624292e-03 1.26247866e-02 6.47181551e+01] [ 6.94974703e-03 9.99975823e-01 -2.33707611e-04 9.63528595e-01] [-1.26228580e-02 3.21422420e-04 9.99920277e-01 -1.67391350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.24592 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:64.75, Y:0.96, Z:-1.68 [[ 9.99892827e-01 -7.41362856e-03 1.26242720e-02 6.47494431e+01] [ 7.41777878e-03 9.99972448e-01 -2.81956844e-04 9.63683714e-01] [-1.26218338e-02 3.75570683e-04 9.99920271e-01 -1.67890104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.27592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:64.78, Y:0.96, Z:-1.67 [[ 9.99906198e-01 -5.31212315e-03 1.26244160e-02 6.47811595e+01] [ 5.31593572e-03 9.99985834e-01 -2.68461678e-04 9.63447570e-01] [-1.26228110e-02 3.35547079e-04 9.99920273e-01 -1.66809845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.30592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:64.81, Y:0.96, Z:-1.67 [[ 9.99908337e-01 -4.89403731e-03 1.26240471e-02 6.48137162e+01] [ 4.89826578e-03 9.99987957e-01 -3.04056589e-04 9.63277304e-01] [-1.26224070e-02 3.65864656e-04 9.99920267e-01 -1.67062246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.33592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.84, Y:0.96, Z:-1.68 [[ 9.99898866e-01 -6.55007860e-03 1.26235481e-02 6.48431883e+01] [ 6.55506860e-03 9.99978453e-01 -3.53957294e-04 9.64146079e-01] [-1.26209577e-02 4.36669720e-04 9.99920257e-01 -1.68083746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.36592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.87, Y:0.96, Z:-1.68 [[ 9.99903790e-01 -5.74756505e-03 1.26244650e-02 6.48749035e+01] [ 5.75130802e-03 9.99983427e-01 -2.60199570e-04 9.64958292e-01] [-1.26227603e-02 3.32781723e-04 9.99920274e-01 -1.67890857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.39592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:64.91, Y:0.97, Z:-1.67 [[ 9.99913192e-01 -3.77307813e-03 1.26242710e-02 6.49061090e+01] [ 3.77691386e-03 9.99992828e-01 -2.80010190e-04 9.65413491e-01] [-1.26231240e-02 3.27666667e-04 9.99920272e-01 -1.66895646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.42591999999999 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:64.94, Y:0.97, Z:-1.67 [[ 9.99909699e-01 -4.60699153e-03 1.26241482e-02 6.49378242e+01] [ 4.61105760e-03 9.99989326e-01 -2.92998706e-04 9.65071227e-01] [-1.26226636e-02 3.51182922e-04 9.99920269e-01 -1.66953981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.45591999999999 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:64.97, Y:0.97, Z:-1.67 [[ 9.99912331e-01 -3.99462013e-03 1.26242999e-02 6.49689542e+01] [ 3.99843169e-03 9.99991968e-01 -2.76696950e-04 9.67137512e-01] [-1.26230932e-02 3.27150093e-04 9.99920272e-01 -1.67115739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.48592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.00, Y:0.97, Z:-1.67 [[ 9.99911150e-01 -4.27996553e-03 1.26243424e-02 6.50010553e+01] [ 4.28373881e-03 9.99990788e-01 -2.71863122e-04 9.68488686e-01] [-1.26230625e-02 3.25918352e-04 9.99920273e-01 -1.66864353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.51592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:65.03, Y:0.97, Z:-1.69 [[ 9.99900811e-01 -6.24432100e-03 1.26244792e-02 6.50281467e+01] [ 6.24805566e-03 9.99980448e-01 -2.56407700e-04 9.69718289e-01] [-1.26226312e-02 3.35260716e-04 9.99920275e-01 -1.68507663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.54592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:65.06, Y:0.97, Z:-1.67 [[ 9.99908336e-01 -4.88969920e-03 1.26257555e-02 6.50613652e+01] [ 4.89148055e-03 9.99988031e-01 -1.10211213e-04 9.68638856e-01] [-1.26250654e-02 1.71959748e-04 9.99920286e-01 -1.66989788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.57592 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:65.09, Y:0.97, Z:-1.67 [[ 9.99911639e-01 -4.16242471e-03 1.26249245e-02 6.50930183e+01] [ 4.16531398e-03 9.99991305e-01 -2.02568624e-04 9.68178070e-01] [-1.26239715e-02 2.55137499e-04 9.99920282e-01 -1.67203178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.60592 meters Centerline goodness : 0.999005 Centerline is valid? [True, True] Translation: X:65.12, Y:0.97, Z:-1.67 [[ 9.99909269e-01 -4.69816793e-03 1.26246412e-02 6.51243540e+01] [ 4.70150816e-03 9.99988920e-01 -2.34915005e-04 9.68138213e-01] [-1.26233976e-02 2.94248544e-04 9.99920278e-01 -1.67070872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.63592 meters Centerline goodness : 0.998062 Centerline is valid? [True, True] Translation: X:65.16, Y:0.97, Z:-1.67 [[ 9.99902636e-01 -5.94393874e-03 1.26248939e-02 6.51563139e+01] [ 5.94702212e-03 9.99982295e-01 -2.06702163e-04 9.67716528e-01] [-1.26234417e-02 2.81762561e-04 9.99920281e-01 -1.67260757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.66592 meters Centerline goodness : 0.997562 Centerline is valid? [True, True] Translation: X:65.19, Y:0.97, Z:-1.67 [[ 9.99899828e-01 -6.39882114e-03 1.26249278e-02 6.51885667e+01] [ 6.40189265e-03 9.99979487e-01 -2.02890678e-04 9.67666599e-01] [-1.26233705e-02 2.83693786e-04 9.99920282e-01 -1.67400425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.69592 meters Centerline goodness : 0.992677 Centerline is valid? [True, True] Translation: X:65.25, Y:0.98, Z:-1.69 [[ 9.99878635e-01 -9.12825117e-03 1.26249530e-02 6.52475142e+01] [ 9.13150525e-03 9.99958287e-01 -2.00127547e-04 9.75646922e-01] [-1.26225995e-02 3.15388083e-04 9.99920282e-01 -1.69208469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.72592 meters Centerline goodness : 0.995574 Centerline is valid? [True, True] Translation: X:65.24, Y:0.96, Z:-1.67 [[ 9.99865807e-01 -1.04771814e-02 1.25935436e-02 6.52433010e+01] [ 1.05104330e-02 9.99941443e-01 -2.57708790e-03 9.62972368e-01] [-1.25658055e-02 2.70910566e-03 9.99917377e-01 -1.67162111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.75592 meters Centerline goodness : 0.927350 Centerline is valid? [True, False] Translation: X:65.24, Y:0.96, Z:-1.67 [[ 9.99901290e-01 -6.46261531e-03 1.24757735e-02 6.52435846e+01] [ 6.43061058e-03 9.99975934e-01 2.60376380e-03 9.58309769e-01] [-1.24923003e-02 -2.52327994e-03 9.99918784e-01 -1.67172238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.78591999999999 meters Centerline goodness : 0.995271 Centerline is valid? [False, True] Translation: X:65.25, Y:0.95, Z:-1.68 [[ 9.99935189e-01 -4.65439610e-04 1.13755018e-02 6.52489388e+01] [ 3.53240140e-04 9.99951294e-01 9.86327438e-03 9.52280765e-01] [-1.13795385e-02 -9.85861684e-03 9.99886650e-01 -1.67575950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.81591999999999 meters Centerline goodness : 0.945188 Centerline is valid? [True, False] Translation: X:65.24, Y:0.95, Z:-1.67 [[ 9.99924578e-01 9.46916921e-04 1.22450558e-02 6.52445025e+01] [-1.09399222e-03 9.99927280e-01 1.20098798e-02 9.48951831e-01] [-1.22327930e-02 -1.20223700e-02 9.99852900e-01 -1.67140352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.84591999999999 meters Centerline goodness : 0.993021 Centerline is valid? [False, True] Translation: X:65.24, Y:0.95, Z:-1.67 [[ 9.99925404e-01 9.23801681e-04 1.21792371e-02 6.52446556e+01] [-1.07399752e-03 9.99923389e-01 1.23313551e-02 9.47633538e-01] [-1.21669123e-02 -1.23435157e-02 9.99849791e-01 -1.67118803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.87592 meters Centerline goodness : 0.913017 Centerline is valid? [True, False] Translation: X:65.25, Y:0.95, Z:-1.67 [[ 9.99927056e-01 8.99086188e-04 1.20447106e-02 6.52450482e+01] [-1.05226322e-03 9.99918581e-01 1.27170738e-02 9.45865030e-01] [-1.20322962e-02 -1.27288203e-02 9.99846589e-01 -1.67145494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.90592 meters Centerline goodness : 0.900959 Centerline is valid? [False, False] Translation: X:65.25, Y:0.94, Z:-1.67 [[ 9.99931814e-01 7.73943004e-04 1.16519263e-02 6.52460144e+01] [-9.30114120e-04 9.99909735e-01 1.34035825e-02 9.42444696e-01] [-1.16405009e-02 -1.34135062e-02 9.99842276e-01 -1.67191492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.93592 meters Centerline goodness : 0.990711 Centerline is valid? [False, True] Translation: X:65.25, Y:0.94, Z:-1.68 [[ 9.99941854e-01 2.64249038e-03 1.04549845e-02 6.52516875e+01] [-2.81586304e-03 9.99858196e-01 1.66029556e-02 9.35878325e-01] [-1.04096288e-02 -1.66314300e-02 9.99807499e-01 -1.67581833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.96592 meters Centerline goodness : 0.992155 Centerline is valid? [True, True] Translation: X:65.27, Y:0.96, Z:-1.69 [[ 9.99712136e-01 2.17574739e-02 1.01122522e-02 6.52740811e+01] [-2.17538876e-02 9.99763248e-01 -4.64511729e-04 9.57866083e-01] [-1.01199647e-02 2.44397214e-04 9.99948762e-01 -1.68892838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.99592 meters Centerline goodness : 0.990611 Centerline is valid? [True, True] Translation: X:65.31, Y:0.95, Z:-1.68 [[ 9.99897883e-01 1.00846816e-02 1.01253395e-02 6.53127893e+01] [-1.00870480e-02 9.99949108e-01 1.82664069e-04 9.49988808e-01] [-1.01229821e-02 -2.84780201e-04 9.99948721e-01 -1.68099914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.02592 meters Centerline goodness : 0.752511 Centerline is valid? [True, False] Translation: X:65.32, Y:0.94, Z:-1.68 [[ 9.99990026e-01 3.63389629e-03 2.59665496e-03 6.53173858e+01] [-3.66946707e-03 9.99897658e-01 1.38278234e-02 9.35302172e-01] [-2.54614034e-03 -1.38372139e-02 9.99901019e-01 -1.68083348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.05592 meters Centerline goodness : 0.947319 Centerline is valid? [False, False] Translation: X:65.32, Y:0.94, Z:-1.68 [[ 9.99990608e-01 3.58197698e-03 2.44005402e-03 6.53178872e+01] [-3.61533906e-03 9.99898125e-01 1.38083188e-02 9.35367801e-01] [-2.39034436e-03 -1.38170107e-02 9.99901683e-01 -1.68118423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.08592 meters Centerline goodness : 0.811766 Centerline is valid? [False, False] Translation: X:65.34, Y:0.92, Z:-1.68 [[ 9.99975790e-01 6.93621382e-03 5.55137232e-04 6.53415134e+01] [-6.94965113e-03 9.99533938e-01 2.97255592e-02 9.22004065e-01] [-3.48695669e-04 -2.97286975e-02 9.99557944e-01 -1.67781854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.11592 meters Centerline goodness : 0.989746 Centerline is valid? [False, True] Translation: X:65.37, Y:0.94, Z:-1.68 [[ 9.99962127e-01 4.97452465e-03 -7.14130521e-03 6.53662312e+01] [-4.85391706e-03 9.99846956e-01 1.68078664e-02 9.35310142e-01] [ 7.22382342e-03 -1.67725665e-02 9.99833235e-01 -1.67658406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.14592 meters Centerline goodness : 0.984240 Centerline is valid? [True, True] Translation: X:65.36, Y:0.96, Z:-1.70 [[ 9.99229919e-01 3.85693722e-02 -7.20917594e-03 6.53603455e+01] [-3.85709200e-02 9.99255862e-01 -7.57413895e-05 9.62911385e-01] [ 7.20089002e-03 3.53747611e-04 9.99974011e-01 -1.70296538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.17591999999999 meters Centerline goodness : 0.992233 Centerline is valid? [True, True] Translation: X:65.39, Y:0.95, Z:-1.73 [[ 9.99931288e-01 -9.24085864e-03 -7.21283828e-03 6.53903120e+01] [ 9.23405248e-03 9.99956889e-01 -9.76350144e-04 9.46191447e-01] [ 7.22154964e-03 9.09679330e-04 9.99973511e-01 -1.73199575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.20591999999999 meters Centerline goodness : 0.991342 Centerline is valid? [True, True] Translation: X:65.46, Y:0.95, Z:-1.70 [[ 9.99973643e-01 -8.34026073e-04 -7.21232360e-03 6.54623170e+01] [ 8.24246477e-04 9.99998737e-01 -1.35882239e-03 9.50380693e-01] [ 7.21344779e-03 1.35284184e-03 9.99973068e-01 -1.69676022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.23592 meters Centerline goodness : 0.989476 Centerline is valid? [True, True] Translation: X:65.51, Y:0.95, Z:-1.70 [[ 9.99791342e-01 -1.91178874e-02 -7.19568869e-03 6.55112640e+01] [ 1.91211793e-02 9.99817098e-01 3.88957373e-04 9.46819898e-01] [ 7.18693654e-03 -5.26466268e-04 9.99974035e-01 -1.70275886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.26592 meters Centerline goodness : 0.989154 Centerline is valid? [True, True] Translation: X:65.54, Y:0.95, Z:-1.70 [[ 9.99741284e-01 -2.15837940e-02 -7.17667148e-03 6.55422804e+01] [ 2.15926201e-02 9.99766185e-01 1.15463104e-03 9.49665565e-01] [ 7.15007215e-03 -1.30929546e-03 9.99973581e-01 -1.70192149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.29592 meters Centerline goodness : 0.986967 Centerline is valid? [True, True] Translation: X:65.58, Y:0.95, Z:-1.71 [[ 9.99498519e-01 -3.08426001e-02 -7.17243410e-03 6.55791436e+01] [ 3.08526246e-02 9.99523110e-01 1.29119000e-03 9.52786121e-01] [ 7.12918998e-03 -1.51183091e-03 9.99973444e-01 -1.70649497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.32592 meters Centerline goodness : 0.926562 Centerline is valid? [True, False] Translation: X:65.61, Y:0.96, Z:-1.71 [[ 9.99775181e-01 -1.84240583e-02 -1.04948112e-02 6.56088513e+01] [ 1.84214414e-02 9.99830251e-01 -3.45970791e-04 9.57703743e-01] [ 1.04994039e-02 1.52563461e-04 9.99944868e-01 -1.70555930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.35592 meters Centerline goodness : 0.908072 Centerline is valid? [False, False] Translation: X:65.64, Y:0.96, Z:-1.70 [[ 9.99902193e-01 -6.19633061e-03 -1.25383109e-02 6.56365889e+01] [ 6.16601568e-03 9.99977976e-01 -2.45499900e-03 9.64171082e-01] [ 1.25532468e-02 2.37744746e-03 9.99918379e-01 -1.70351917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.38592 meters Centerline goodness : 0.908072 Centerline is valid? [False, False] Translation: X:65.64, Y:0.96, Z:-1.70 [[ 9.99916850e-01 1.71705437e-03 -1.27806661e-02 6.56372931e+01] [-1.62725016e-03 9.99973940e-01 7.03365315e-03 9.57635383e-01] [ 1.27924102e-02 -7.01227096e-03 9.99893585e-01 -1.70285247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.41592 meters Centerline goodness : 0.893083 Centerline is valid? [False, False] Translation: X:65.66, Y:0.95, Z:-1.70 [[ 9.99864782e-01 -9.43468228e-04 -1.64172662e-02 6.56583441e+01] [ 1.17070256e-03 9.99903578e-01 1.38370789e-02 9.52531721e-01] [ 1.64026284e-02 -1.38544276e-02 9.99769478e-01 -1.69804760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.44592 meters Centerline goodness : 0.951535 Centerline is valid? [False, True] Translation: X:65.66, Y:0.96, Z:-1.70 [[ 9.99859684e-01 -9.74656611e-04 -1.67231346e-02 6.56591344e+01] [ 1.19715549e-03 9.99910834e-01 1.33000069e-02 9.55333032e-01] [ 1.67086805e-02 -1.33181609e-02 9.99771697e-01 -1.69832270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.47592 meters Centerline goodness : 0.979100 Centerline is valid? [True, True] Translation: X:65.50, Y:0.98, Z:-1.69 [[ 9.99663627e-01 1.98403745e-02 -1.67030360e-02 6.54985151e+01] [-1.98331309e-02 9.99803125e-01 5.99221677e-04 9.79667693e-01] [ 1.67116363e-02 -2.67746617e-04 9.99860315e-01 -1.68543725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.50592 meters Centerline goodness : 0.994622 Centerline is valid? [True, True] Translation: X:65.58, Y:0.97, Z:-1.69 [[ 9.99859975e-01 -1.40055828e-03 -1.66754050e-02 6.55814408e+01] [ 1.35365733e-03 9.99995098e-01 -2.82353736e-03 9.72771137e-01] [ 1.66792778e-02 2.80056921e-03 9.99856969e-01 -1.69486882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.53591999999999 meters Centerline goodness : 0.998109 Centerline is valid? [True, True] Translation: X:65.57, Y:0.97, Z:-1.69 [[ 9.99854900e-01 3.49250415e-03 -1.66727605e-02 6.55651378e+01] [-3.49272417e-03 9.99993900e-01 1.59224188e-05 9.74707993e-01] [ 1.66727145e-02 4.23132452e-05 9.99861000e-01 -1.69145864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.56591999999999 meters Centerline goodness : 0.929616 Centerline is valid? [True, False] Translation: X:65.56, Y:0.96, Z:-1.69 [[ 9.99974829e-01 1.77973771e-03 -6.86826570e-03 6.55593924e+01] [-1.65625955e-03 9.99837656e-01 1.79420721e-02 9.55524818e-01] [ 6.89908286e-03 -1.79302448e-02 9.99815437e-01 -1.68796788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.59591999999999 meters Centerline goodness : 0.997306 Centerline is valid? [False, True] Translation: X:65.55, Y:0.95, Z:-1.68 [[ 9.99974102e-01 3.52681092e-03 -6.27357621e-03 6.55549884e+01] [-3.39987176e-03 9.99791574e-01 2.01308038e-02 9.54418566e-01] [ 6.34326618e-03 -2.01089531e-02 9.99777672e-01 -1.68336674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.62592 meters Centerline goodness : 0.912779 Centerline is valid? [True, False] Translation: X:65.55, Y:0.95, Z:-1.68 [[ 9.99969957e-01 4.94905400e-03 -5.96583213e-03 6.55517757e+01] [-4.81806324e-03 9.99751292e-01 2.17747724e-02 9.54259507e-01] [ 6.07211291e-03 -2.17453745e-02 9.99745102e-01 -1.67966530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.65592 meters Centerline goodness : 0.987113 Centerline is valid? [False, True] Translation: X:65.55, Y:0.96, Z:-1.68 [[ 9.99982220e-01 2.74088614e-03 -5.29590127e-03 6.55472051e+01] [-2.63745094e-03 9.99807538e-01 1.94404257e-02 9.55865666e-01] [ 5.34816601e-03 -1.94261124e-02 9.99796991e-01 -1.67546936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.68592 meters Centerline goodness : 0.984380 Centerline is valid? [True, True] Translation: X:65.56, Y:0.97, Z:-1.68 [[ 9.99808358e-01 1.88383088e-02 -5.32589000e-03 6.55619973e+01] [-1.88299412e-02 9.99821393e-01 1.61692269e-03 9.71286702e-01] [ 5.35539885e-03 -1.51632662e-03 9.99984510e-01 -1.68343070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.71592 meters Centerline goodness : 0.957965 Centerline is valid? [True, True] Translation: X:65.58, Y:0.97, Z:-1.69 [[ 9.99485951e-01 3.16152046e-02 -5.32088543e-03 6.55813114e+01] [-3.16176347e-02 9.99499968e-01 -3.73199699e-04 9.73495506e-01] [ 5.30642603e-03 5.41241668e-04 9.99985774e-01 -1.69251922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.74592 meters Centerline goodness : 0.990688 Centerline is valid? [True, True] Translation: X:65.70, Y:0.95, Z:-1.69 [[ 9.99618842e-01 -2.70905037e-02 -5.31744945e-03 6.57018578e+01] [ 2.70850009e-02 9.99632524e-01 -1.10416891e-03 9.53060593e-01] [ 5.34540791e-03 9.59724926e-04 9.99985253e-01 -1.68750598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.77592 meters Centerline goodness : 0.940968 Centerline is valid? [True, False] Translation: X:65.69, Y:0.96, Z:-1.69 [[ 9.99856705e-01 -1.51910553e-02 7.46999757e-03 6.56915689e+01] [ 1.52100279e-02 9.99881221e-01 -2.48962156e-03 9.56264239e-01] [-7.43129031e-03 2.60288368e-03 9.99969000e-01 -1.68989313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.80592 meters Centerline goodness : 0.994105 Centerline is valid? [False, True] Translation: X:65.72, Y:0.96, Z:-1.69 [[ 9.99996678e-01 -9.12371697e-04 2.41063572e-03 6.57198196e+01] [ 9.13826834e-04 9.99999401e-01 -6.02599556e-04 9.58604063e-01] [-2.41008448e-03 6.04800458e-04 9.99996913e-01 -1.68689170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.83592 meters Centerline goodness : 0.925205 Centerline is valid? [True, False] Translation: X:65.72, Y:0.96, Z:-1.69 [[ 9.99992690e-01 3.14910118e-03 2.16848090e-03 6.57205174e+01] [-3.15724520e-03 9.99987938e-01 3.76251057e-03 9.57862287e-01] [-2.15660622e-03 -3.76932949e-03 9.99990571e-01 -1.68670751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.86592 meters Centerline goodness : 0.991493 Centerline is valid? [False, True] Translation: X:65.72, Y:0.96, Z:-1.69 [[ 9.99993347e-01 3.16658097e-03 1.81072436e-03 6.57214895e+01] [-3.17247860e-03 9.99989642e-01 3.26351337e-03 9.60209311e-01] [-1.80037143e-03 -3.26923615e-03 9.99993035e-01 -1.68696795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.89591999999999 meters Centerline goodness : 0.869347 Centerline is valid? [True, False] Translation: X:65.72, Y:0.96, Z:-1.69 [[ 9.99973288e-01 7.12285946e-03 1.63945355e-03 6.57221477e+01] [-7.13602447e-03 9.99941167e-01 8.16946296e-03 9.57029084e-01] [-1.58116716e-03 -8.18094392e-03 9.99965285e-01 -1.68656263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.92591999999999 meters Centerline goodness : 0.876691 Centerline is valid? [False, False] Translation: X:65.74, Y:0.96, Z:-1.68 [[ 9.99999048e-01 7.50892079e-05 -1.37802893e-03 6.57432549e+01] [-6.17003287e-05 9.99952822e-01 9.71343568e-03 9.57014306e-01] [ 1.37869329e-03 -9.71334140e-03 9.99951874e-01 -1.68335582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.95591999999999 meters Centerline goodness : 0.877200 Centerline is valid? [False, False] Translation: X:65.74, Y:0.96, Z:-1.68 [[ 9.99991200e-01 -3.91984642e-03 -1.49499658e-03 6.57435148e+01] [ 3.92633772e-03 9.99982769e-01 4.36408265e-03 9.62791936e-01] [ 1.47786429e-03 -4.36991411e-03 9.99989360e-01 -1.68409028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.98592 meters Centerline goodness : 0.996914 Centerline is valid? [False, True] Translation: X:65.74, Y:0.96, Z:-1.68 [[ 9.99998603e-01 1.84188986e-04 -1.66119473e-03 6.57440631e+01] [-1.69054362e-04 9.99958523e-01 9.10622986e-03 9.60272944e-01] [ 1.66280310e-03 -9.10593631e-03 9.99957158e-01 -1.68354851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.01592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:65.82, Y:0.97, Z:-1.69 [[ 9.99631624e-01 2.70593565e-02 -2.09937006e-03 6.58160684e+01] [-2.70591318e-02 9.99633825e-01 1.35364986e-04 9.72310215e-01] [ 2.10226421e-03 -7.85079894e-05 9.99997787e-01 -1.68694843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.04592 meters Centerline goodness : 0.997861 Centerline is valid? [True, True] Translation: X:65.82, Y:0.96, Z:-1.67 [[ 9.99578551e-01 2.89540075e-02 -2.09418349e-03 6.58223571e+01] [-2.89533843e-02 9.99580709e-01 3.27280920e-04 9.64827034e-01] [ 2.10278151e-03 -2.66509288e-04 9.99997754e-01 -1.66981377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.07592 meters Centerline goodness : 0.998310 Centerline is valid? [True, True] Translation: X:65.85, Y:0.96, Z:-1.67 [[ 9.99571495e-01 2.91961587e-02 -2.09993384e-03 6.58549930e+01] [-2.91960984e-02 9.99573701e-01 5.93577955e-05 9.64767436e-01] [ 2.10077166e-03 1.97751453e-06 9.99997793e-01 -1.66842556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.10592 meters Centerline goodness : 0.998111 Centerline is valid? [True, True] Translation: X:65.89, Y:0.96, Z:-1.67 [[ 9.99596989e-01 2.83098992e-02 -2.09980810e-03 6.58877056e+01] [-2.83098245e-02 9.99599194e-01 6.52924960e-05 9.63908551e-01] [ 2.10081491e-03 -5.82098354e-06 9.99997793e-01 -1.67265369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.13592 meters Centerline goodness : 0.998507 Centerline is valid? [True, True] Translation: X:65.92, Y:0.96, Z:-1.68 [[ 9.99628822e-01 2.71626557e-02 -2.09982657e-03 6.59185281e+01] [-2.71625803e-02 9.99631027e-01 6.44038177e-05 9.61615201e-01] [ 2.10080117e-03 -7.34320441e-06 9.99997793e-01 -1.68178614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.16592 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:65.95, Y:0.96, Z:-1.68 [[ 9.99696740e-01 2.45360651e-02 -2.10004968e-03 6.59506583e+01] [-2.45360069e-02 9.99698945e-01 5.35204508e-05 9.57537899e-01] [ 2.10073063e-03 -1.97738680e-06 9.99997793e-01 -1.68264426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.19592 meters Centerline goodness : 0.998258 Centerline is valid? [True, True] Translation: X:65.98, Y:0.96, Z:-1.67 [[ 9.99752193e-01 2.21617102e-02 -2.10005484e-03 6.59807054e+01] [-2.21616472e-02 9.99754399e-01 5.32687774e-05 9.55913218e-01] [ 2.10071959e-03 -6.71490254e-06 9.99997793e-01 -1.67199852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.22592 meters Centerline goodness : 0.999254 Centerline is valid? [True, True] Translation: X:66.01, Y:0.95, Z:-1.68 [[ 9.99767680e-01 2.14517103e-02 -2.10009554e-03 6.60107650e+01] [-2.14516499e-02 9.99769886e-01 5.12781737e-05 9.54374597e-01] [ 2.10071228e-03 -6.21574646e-06 9.99997793e-01 -1.68057884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.25592 meters Centerline goodness : 0.998260 Centerline is valid? [True, True] Translation: X:66.04, Y:0.95, Z:-1.67 [[ 9.99806518e-01 1.95580342e-02 -2.10018604e-03 6.60426600e+01] [-1.95579790e-02 9.99808723e-01 4.67912954e-05 9.50559663e-01] [ 2.10069947e-03 -5.70684757e-06 9.99997794e-01 -1.67118682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.28591999999999 meters Centerline goodness : 0.998607 Centerline is valid? [True, True] Translation: X:66.07, Y:0.95, Z:-1.67 [[ 9.99841445e-01 1.76825992e-02 -2.10002896e-03 6.60737628e+01] [-1.76825235e-02 9.99843650e-01 5.45967481e-05 9.46859558e-01] [ 2.10066603e-03 -1.74542801e-05 9.99997793e-01 -1.67453367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.31591999999999 meters Centerline goodness : 0.998751 Centerline is valid? [True, True] Translation: X:66.11, Y:0.94, Z:-1.68 [[ 9.99878922e-01 1.54185206e-02 -2.10012991e-03 6.61053883e+01] [-1.54184506e-02 9.99881127e-01 4.95534392e-05 9.40653099e-01] [ 2.10064431e-03 -1.71666901e-05 9.99997793e-01 -1.67765756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.34591999999999 meters Centerline goodness : 0.998806 Centerline is valid? [True, True] Translation: X:66.14, Y:0.94, Z:-1.68 [[ 9.99898810e-01 1.40697907e-02 -2.10023745e-03 6.61361922e+01] [-1.40697290e-02 9.99901015e-01 4.41593626e-05 9.38126082e-01] [ 2.10065087e-03 -1.46051224e-05 9.99997794e-01 -1.67999047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.37592 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:66.17, Y:0.93, Z:-1.68 [[ 9.99885690e-01 1.49731694e-02 -2.10034018e-03 6.61678299e+01] [-1.49731205e-02 9.99887896e-01 3.90076724e-05 9.33151314e-01] [ 2.10068879e-03 -7.55456691e-06 9.99997794e-01 -1.68015454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.40592 meters Centerline goodness : 0.998209 Centerline is valid? [True, True] Translation: X:66.20, Y:0.93, Z:-1.67 [[ 9.99850559e-01 1.71594787e-02 -2.10028547e-03 6.62001293e+01] [-1.71594289e-02 9.99852765e-01 4.17584950e-05 9.29456359e-01] [ 2.10069279e-03 -5.71255540e-06 9.99997794e-01 -1.66871069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.43592 meters Centerline goodness : 0.998252 Centerline is valid? [True, True] Translation: X:66.23, Y:0.93, Z:-1.67 [[ 9.99871282e-01 1.59063143e-02 -2.09981392e-03 6.62296664e+01] [-1.59062107e-02 9.99873486e-01 6.60576615e-05 9.25202872e-01] [ 2.10059900e-03 -3.26490761e-05 9.99997793e-01 -1.67100044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.46592 meters Centerline goodness : 0.998408 Centerline is valid? [True, True] Translation: X:66.26, Y:0.92, Z:-1.67 [[ 9.99831245e-01 1.82502389e-02 -2.10010084e-03 6.62609081e+01] [-1.82501717e-02 9.99833450e-01 5.11620858e-05 9.24277849e-01] [ 2.10068478e-03 -1.28262512e-05 9.99997793e-01 -1.67041813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.49592 meters Centerline goodness : 0.999252 Centerline is valid? [True, True] Translation: X:66.29, Y:0.92, Z:-1.68 [[ 9.99823274e-01 1.86818561e-02 -2.09985198e-03 6.62900306e+01] [-1.86817618e-02 9.99825479e-01 6.45425977e-05 9.19817791e-01] [ 2.10069128e-03 -2.53022569e-05 9.99997793e-01 -1.68147276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.52592 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:66.32, Y:0.92, Z:-1.68 [[ 9.99779109e-01 2.09122558e-02 -2.10031156e-03 6.63214430e+01] [-2.09122191e-02 9.99781315e-01 3.94344385e-05 9.16703626e-01] [ 2.10067692e-03 4.49644790e-06 9.99997794e-01 -1.68163399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.55592 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:66.35, Y:0.91, Z:-1.68 [[ 9.99713119e-01 2.38593520e-02 -2.10032557e-03 6.63537311e+01] [-2.38593234e-02 9.99715325e-01 3.86735285e-05 9.14140680e-01] [ 2.10065039e-03 1.14499132e-05 9.99997794e-01 -1.67903946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.58592 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:66.39, Y:0.91, Z:-1.68 [[ 9.99571431e-01 2.91983495e-02 -2.10020738e-03 6.63855474e+01] [-2.91983193e-02 9.99573637e-01 4.50478223e-05 9.12541057e-01] [ 2.10062725e-03 1.62940094e-05 9.99997794e-01 -1.67734362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.61592 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:66.42, Y:0.91, Z:-1.68 [[ 9.99506624e-01 3.13384501e-02 -2.10008667e-03 6.64175796e+01] [-3.13384109e-02 9.99508830e-01 5.15601498e-05 9.13204978e-01] [ 2.10067099e-03 1.42786680e-05 9.99997793e-01 -1.67839181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.64591999999999 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:66.45, Y:0.91, Z:-1.68 [[ 9.99315155e-01 3.69433296e-02 -2.10011493e-03 6.64509026e+01] [-3.69433060e-02 9.99317362e-01 5.00367483e-05 9.12804947e-01] [ 2.10052984e-03 2.75827077e-05 9.99997794e-01 -1.68030268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.67591999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:66.48, Y:0.91, Z:-1.68 [[ 9.99275174e-01 3.80094270e-02 -2.10000798e-03 6.64820226e+01] [-3.80093936e-02 9.99277380e-01 5.58124839e-05 9.10919737e-01] [ 2.10061187e-03 2.40480001e-05 9.99997793e-01 -1.68186564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.70591999999999 meters Centerline goodness : 0.999502 Centerline is valid? [True, True] Translation: X:66.52, Y:0.91, Z:-1.67 [[ 9.99065637e-01 4.31675940e-02 -2.10018997e-03 6.65155841e+01] [-4.31675930e-02 9.99067844e-01 4.58399450e-05 9.09208371e-01] [ 2.10021107e-03 4.48630321e-05 9.99997794e-01 -1.66771254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.73592 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:66.54, Y:0.91, Z:-1.68 [[ 9.99075639e-01 4.29355209e-02 -2.09969545e-03 6.65440843e+01] [-4.29354625e-02 9.99077845e-01 7.29119812e-05 9.07876080e-01] [ 2.10088972e-03 1.73068109e-05 9.99997793e-01 -1.68221432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.76592 meters Centerline goodness : 0.998757 Centerline is valid? [True, True] Translation: X:66.58, Y:0.91, Z:-1.68 [[ 9.98960462e-01 4.55366317e-02 -2.10020358e-03 6.65777302e+01] [-4.55366385e-02 9.98962668e-01 4.46173038e-05 9.07394980e-01] [ 2.10005670e-03 5.10652889e-05 9.99997794e-01 -1.68209469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.79592 meters Centerline goodness : 0.998855 Centerline is valid? [True, True] Translation: X:66.61, Y:0.91, Z:-1.68 [[ 9.98942464e-01 4.59297724e-02 -2.10001471e-03 6.66076029e+01] [-4.59297581e-02 9.98944670e-01 5.50526983e-05 9.07803844e-01] [ 2.10032706e-03 4.14586898e-05 9.99997793e-01 -1.68282891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.82592 meters Centerline goodness : 0.998607 Centerline is valid? [True, True] Translation: X:66.64, Y:0.91, Z:-1.68 [[ 9.98803744e-01 4.88535445e-02 -2.10032132e-03 6.66411390e+01] [-4.88535727e-02 9.98805951e-01 3.78899189e-05 9.08882097e-01] [ 2.09966449e-03 6.47636075e-05 9.99997794e-01 -1.68186972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.85592 meters Centerline goodness : 0.997808 Centerline is valid? [True, True] Translation: X:66.67, Y:0.91, Z:-1.67 [[ 9.98757988e-01 4.97802343e-02 -2.10011823e-03 6.66710325e+01] [-4.97802409e-02 9.98760194e-01 4.91340596e-05 9.10041084e-01] [ 2.09996040e-03 5.54713571e-05 9.99997794e-01 -1.66929583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.88592 meters Centerline goodness : 0.997554 Centerline is valid? [True, True] Translation: X:66.70, Y:0.91, Z:-1.68 [[ 9.98713935e-01 5.06563334e-02 -2.10024426e-03 6.67014494e+01] [-5.06563567e-02 9.98716142e-01 4.21268815e-05 9.11588308e-01] [ 2.09968183e-03 6.43180186e-05 9.99997794e-01 -1.68222829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.91592 meters Centerline goodness : 0.997012 Centerline is valid? [True, True] Translation: X:66.74, Y:0.91, Z:-1.67 [[ 9.98714886e-01 5.06375872e-02 -2.10038823e-03 6.67357233e+01] [-5.06376272e-02 9.98717092e-01 3.41841385e-05 9.12713858e-01] [ 2.09942463e-03 7.22184682e-05 9.99997794e-01 -1.66811856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.94592 meters Centerline goodness : 0.997362 Centerline is valid? [True, True] Translation: X:66.76, Y:0.91, Z:-1.67 [[ 9.98766995e-01 4.95992061e-02 -2.09981667e-03 6.67642412e+01] [-4.95991790e-02 9.98769201e-01 6.49971803e-05 9.12903087e-01] [ 2.10045603e-03 3.92321445e-05 9.99997793e-01 -1.66840785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.97592 meters Centerline goodness : 0.997413 Centerline is valid? [True, True] Translation: X:66.80, Y:0.91, Z:-1.67 [[ 9.98938640e-01 4.60128667e-02 -2.10009011e-03 6.67963010e+01] [-4.60128634e-02 9.98940846e-01 4.99167306e-05 9.13317729e-01] [ 2.10016261e-03 4.67674085e-05 9.99997794e-01 -1.66930037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.00592 meters Centerline goodness : 0.997109 Centerline is valid? [True, True] Translation: X:66.83, Y:0.92, Z:-1.67 [[ 9.99098697e-01 4.23955699e-02 -2.09998608e-03 6.68270889e+01] [-4.23955466e-02 9.99100903e-01 5.56099095e-05 9.17299714e-01] [ 2.10045560e-03 3.34702696e-05 9.99997793e-01 -1.66789716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.03591999999999 meters Centerline goodness : 0.994224 Centerline is valid? [True, True] Translation: X:66.83, Y:0.92, Z:-1.68 [[ 9.98944342e-01 4.58889042e-02 -2.10017054e-03 6.68334613e+01] [-4.58889101e-02 9.98946548e-01 4.53724271e-05 9.17144419e-01] [ 2.10004020e-03 5.10500079e-05 9.99997794e-01 -1.68036623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.06591999999999 meters Centerline goodness : 0.997015 Centerline is valid? [True, True] Translation: X:66.88, Y:0.92, Z:-1.67 [[ 9.99078328e-01 4.28726905e-02 -2.10385376e-03 6.68799822e+01] [-4.28731155e-02 9.99080513e-01 -1.57288422e-04 9.21504533e-01] [ 2.09517591e-03 2.47342219e-04 9.99997775e-01 -1.67036611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.09591999999999 meters Centerline goodness : 0.997560 Centerline is valid? [True, True] Translation: X:66.92, Y:0.92, Z:-1.67 [[ 9.99078669e-01 4.28649484e-02 -2.09963800e-03 6.69152908e+01] [-4.28649732e-02 9.99080874e-01 3.32187016e-05 9.17497934e-01] [ 2.09913209e-03 5.68128305e-05 9.99997795e-01 -1.66960345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.12592 meters Centerline goodness : 0.997166 Centerline is valid? [True, True] Translation: X:66.95, Y:0.92, Z:-1.67 [[ 9.99130679e-01 4.16351094e-02 -2.09875361e-03 6.69471085e+01] [-4.16350483e-02 9.99132883e-01 7.28050441e-05 9.15829383e-01] [ 2.09996499e-03 1.46399550e-05 9.99997795e-01 -1.67027346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.15592 meters Centerline goodness : 0.997157 Centerline is valid? [True, True] Translation: X:66.98, Y:0.92, Z:-1.67 [[ 9.99239691e-01 3.89311704e-02 -2.09872389e-03 6.69778366e+01] [-3.89311006e-02 9.99241895e-01 7.41454798e-05 9.16738762e-01] [ 2.10001941e-03 7.61652457e-06 9.99997795e-01 -1.66742884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.18592 meters Centerline goodness : 0.997211 Centerline is valid? [True, True] Translation: X:67.01, Y:0.92, Z:-1.67 [[ 9.99313131e-01 3.69981173e-02 -2.09886124e-03 6.70078131e+01] [-3.69980564e-02 9.99315335e-01 6.78454736e-05 9.15333797e-01] [ 2.09993438e-03 9.85491404e-06 9.99997795e-01 -1.67120118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.21592 meters Centerline goodness : 0.996963 Centerline is valid? [True, True] Translation: X:67.03, Y:0.91, Z:-1.67 [[ 9.99254694e-01 3.85441500e-02 -2.09894106e-03 6.70325101e+01] [-3.85441003e-02 9.99256898e-01 6.41485330e-05 9.11491504e-01] [ 2.09985388e-03 1.68010719e-05 9.99997795e-01 -1.67035229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.24592 meters Centerline goodness : 0.997111 Centerline is valid? [True, True] Translation: X:67.07, Y:0.91, Z:-1.67 [[ 9.99296449e-01 3.74459123e-02 -2.10009792e-03 6.70687176e+01] [-3.74459714e-02 9.99298654e-01 1.11884937e-05 9.08993573e-01] [ 2.09904399e-03 6.74595845e-05 9.99997795e-01 -1.66841721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.27592 meters Centerline goodness : 0.997111 Centerline is valid? [True, True] Translation: X:67.10, Y:0.91, Z:-1.67 [[ 9.99305111e-01 3.72141115e-02 -2.09880473e-03 6.71004205e+01] [-3.72140483e-02 9.99307315e-01 6.92029954e-05 9.08099665e-01] [ 2.09992625e-03 8.95011358e-06 9.99997795e-01 -1.66833858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.30592 meters Centerline goodness : 0.996814 Centerline is valid? [True, True] Translation: X:67.13, Y:0.91, Z:-1.67 [[ 9.99241281e-01 3.88903223e-02 -2.09882152e-03 6.71335112e+01] [-3.88902643e-02 9.99243485e-01 6.84446520e-05 9.05488590e-01] [ 2.09989557e-03 1.32310020e-05 9.99997795e-01 -1.66738754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.33592 meters Centerline goodness : 0.996963 Centerline is valid? [True, True] Translation: X:67.17, Y:0.90, Z:-1.67 [[ 9.99180573e-01 4.04200206e-02 -2.09877802e-03 6.71667819e+01] [-4.04199618e-02 9.99182777e-01 7.04201765e-05 9.03627969e-01] [ 2.09990923e-03 1.44700549e-05 9.99997795e-01 -1.66844778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.36592 meters Centerline goodness : 0.997262 Centerline is valid? [True, True] Translation: X:67.20, Y:0.90, Z:-1.67 [[ 9.99066770e-01 4.31414400e-02 -2.09873157e-03 6.71987913e+01] [-4.31413827e-02 9.99068975e-01 7.25787608e-05 9.02021867e-01] [ 2.09990875e-03 1.80311538e-05 9.99997795e-01 -1.66934292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.39591999999999 meters Centerline goodness : 0.997106 Centerline is valid? [True, True] Translation: X:67.23, Y:0.90, Z:-1.67 [[ 9.99004693e-01 4.45557886e-02 -2.09875476e-03 6.72316250e+01] [-4.45557367e-02 9.99006897e-01 7.14858915e-05 9.01129498e-01] [ 2.09985559e-03 2.20968236e-05 9.99997795e-01 -1.66880564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.42591999999999 meters Centerline goodness : 0.994846 Centerline is valid? [True, True] Translation: X:67.29, Y:0.91, Z:-1.69 [[ 9.98980722e-01 4.50900611e-02 -2.09861727e-03 6.72923408e+01] [-4.50899972e-02 9.98982926e-01 7.77996663e-05 9.09956002e-01] [ 2.09999081e-03 1.69062799e-05 9.99997795e-01 -1.68553149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.45591999999999 meters Centerline goodness : 0.997313 Centerline is valid? [True, True] Translation: X:67.29, Y:0.89, Z:-1.67 [[ 9.99097724e-01 4.24190145e-02 -2.08946790e-03 6.72891786e+01] [-4.24181693e-02 9.99099844e-01 4.47197159e-04 8.92276377e-01] [ 2.10655671e-03 -3.58162261e-04 9.99997717e-01 -1.67210310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.48592 meters Centerline goodness : 0.995249 Centerline is valid? [True, True] Translation: X:67.29, Y:0.89, Z:-1.68 [[ 9.98965464e-01 4.54269693e-02 -2.09573091e-03 6.72920565e+01] [-4.54269388e-02 9.98967662e-01 6.21510695e-05 8.86566215e-01] [ 2.09639074e-03 3.31158677e-05 9.99997802e-01 -1.68084113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.51592 meters Centerline goodness : 0.946952 Centerline is valid? [True, False] Translation: X:67.29, Y:0.88, Z:-1.68 [[ 9.99490521e-01 3.16056835e-02 4.44734119e-03 6.72871561e+01] [-3.16304511e-02 9.99483868e-01 5.61352874e-03 8.80473631e-01] [-4.26762637e-03 -5.75134017e-03 9.99974354e-01 -1.68109827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.54592 meters Centerline goodness : 0.996766 Centerline is valid? [False, True] Translation: X:67.29, Y:0.87, Z:-1.68 [[ 9.99817558e-01 1.90979147e-02 3.46098571e-04 6.72890679e+01] [-1.91007657e-02 9.99737463e-01 1.26556501e-02 8.74438870e-01] [-1.04311181e-04 -1.26599519e-02 9.99919854e-01 -1.68057527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.57592 meters Centerline goodness : 0.997360 Centerline is valid? [True, True] Translation: X:67.32, Y:0.89, Z:-1.70 [[ 9.99850427e-01 1.72884259e-02 4.84425065e-04 6.73157200e+01] [-1.72882868e-02 9.99850504e-01 -2.89973462e-04 8.88419227e-01] [-4.89365830e-04 2.81555211e-04 9.99999841e-01 -1.69545520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.60592 meters Centerline goodness : 0.997413 Centerline is valid? [True, True] Translation: X:67.35, Y:0.89, Z:-1.69 [[ 9.99793630e-01 2.03092413e-02 4.81117058e-04 6.73476922e+01] [-2.03092462e-02 9.99793746e-01 5.21221827e-06 8.89686598e-01] [-4.80911970e-04 -1.49822674e-05 9.99999884e-01 -1.69478462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.63592 meters Centerline goodness : 0.997211 Centerline is valid? [True, True] Translation: X:67.38, Y:0.89, Z:-1.69 [[ 9.99752170e-01 2.22568518e-02 4.81127408e-04 6.73806479e+01] [-2.22568565e-02 9.99752285e-01 4.29777937e-06 8.90718536e-01] [-4.80912570e-04 -1.50050979e-05 9.99999884e-01 -1.69398342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.66592 meters Centerline goodness : 0.997264 Centerline is valid? [True, True] Translation: X:67.41, Y:0.89, Z:-1.69 [[ 9.99702616e-01 2.43812901e-02 4.81135624e-04 6.74142691e+01] [-2.43812946e-02 9.99702732e-01 3.57381490e-06 8.91885501e-01] [-4.80905463e-04 -1.53034615e-05 9.99999884e-01 -1.69236239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.69592 meters Centerline goodness : 0.997559 Centerline is valid? [True, True] Translation: X:67.45, Y:0.89, Z:-1.70 [[ 9.99728278e-01 2.33053436e-02 4.81155047e-04 6.74466214e+01] [-2.33053472e-02 9.99728394e-01 1.91937814e-06 8.94771330e-01] [-4.80979630e-04 -1.31323421e-05 9.99999884e-01 -1.69720800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.72592 meters Centerline goodness : 0.997201 Centerline is valid? [True, True] Translation: X:67.48, Y:0.90, Z:-1.70 [[ 9.99760935e-01 2.18595916e-02 4.81150462e-04 6.74770141e+01] [-2.18595952e-02 9.99761050e-01 2.31801351e-06 8.99696712e-01] [-4.80984820e-04 -1.28352137e-05 9.99999884e-01 -1.69695792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.75592 meters Centerline goodness : 0.997212 Centerline is valid? [True, True] Translation: X:67.51, Y:0.90, Z:-1.70 [[ 9.99772311e-01 2.13329473e-02 4.81119817e-04 6.75093816e+01] [-2.13329521e-02 9.99772427e-01 4.96615658e-06 9.00410123e-01] [-4.80904384e-04 -1.52287319e-05 9.99999884e-01 -1.69811124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.78591999999999 meters Centerline goodness : 0.997356 Centerline is valid? [True, True] Translation: X:67.54, Y:0.90, Z:-1.70 [[ 9.99767331e-01 2.15650715e-02 4.81124900e-04 6.75411149e+01] [-2.15650762e-02 9.99767447e-01 4.53036446e-06 8.99338278e-01] [-4.80915316e-04 -1.49048055e-05 9.99999884e-01 -1.69746229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.81591999999999 meters Centerline goodness : 0.997708 Centerline is valid? [True, True] Translation: X:67.58, Y:0.90, Z:-1.70 [[ 9.99770760e-01 2.14055007e-02 4.81126311e-04 6.75750378e+01] [-2.14055053e-02 9.99770876e-01 4.40900029e-06 8.99305165e-01] [-4.80921697e-04 -1.47067414e-05 9.99999884e-01 -1.69599961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.84591999999999 meters Centerline goodness : 0.997553 Centerline is valid? [True, True] Translation: X:67.61, Y:0.90, Z:-1.70 [[ 9.99817141e-01 1.91168438e-02 4.81162079e-04 6.76055754e+01] [-1.91168466e-02 9.99817256e-01 1.36442573e-06 9.04053493e-01] [-4.81048067e-04 -1.05624779e-05 9.99999884e-01 -1.69919090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.87592 meters Centerline goodness : 0.997860 Centerline is valid? [True, True] Translation: X:67.64, Y:0.90, Z:-1.70 [[ 9.99833433e-01 1.82448657e-02 4.81119216e-04 6.76374044e+01] [-1.82448702e-02 9.99833548e-01 4.98199004e-06 9.04658006e-01] [-4.80948237e-04 -1.37591179e-05 9.99999884e-01 -1.69972680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.90592 meters Centerline goodness : 0.997656 Centerline is valid? [True, True] Translation: X:67.67, Y:0.90, Z:-1.70 [[ 9.99863492e-01 1.65156488e-02 4.81112879e-04 6.76683588e+01] [-1.65156533e-02 9.99863607e-01 5.51237945e-06 9.03990443e-01] [-4.80956218e-04 -1.34575205e-05 9.99999884e-01 -1.69879558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.93592 meters Centerline goodness : 0.997608 Centerline is valid? [True, True] Translation: X:67.70, Y:0.90, Z:-1.70 [[ 9.99907171e-01 1.36168592e-02 4.81099422e-04 6.77018785e+01] [-1.36168639e-02 9.99907286e-01 6.64357638e-06 9.04217561e-01] [-4.80964353e-04 -1.31940250e-05 9.99999884e-01 -1.69610367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.96592 meters Centerline goodness : 0.997112 Centerline is valid? [True, True] Translation: X:67.73, Y:0.91, Z:-1.69 [[ 9.99901951e-01 1.39949200e-02 4.81117893e-04 6.77330982e+01] [-1.39949240e-02 9.99902066e-01 5.06583653e-06 9.05992289e-01] [-4.80999879e-04 -1.17985482e-05 9.99999884e-01 -1.68679069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.99592 meters Centerline goodness : 0.997513 Centerline is valid? [True, True] Translation: X:67.76, Y:0.91, Z:-1.70 [[ 9.99955593e-01 9.41175099e-03 4.81131431e-04 6.77624687e+01] [-9.41175396e-03 9.99955708e-01 3.90157235e-06 9.05249977e-01] [-4.81073401e-04 -8.42968975e-06 9.99999884e-01 -1.69639630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.02592 meters Centerline goodness : 0.997254 Centerline is valid? [True, True] Translation: X:67.79, Y:0.90, Z:-1.69 [[ 9.99970729e-01 7.63614324e-03 4.81093161e-04 6.77943967e+01] [-7.63614761e-03 9.99970844e-01 7.24412851e-06 9.03791945e-01] [-4.81023818e-04 -1.09176149e-05 9.99999884e-01 -1.68795689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.05592 meters Centerline goodness : 0.997411 Centerline is valid? [True, True] Translation: X:67.83, Y:0.90, Z:-1.69 [[ 9.99987039e-01 5.06847044e-03 4.81137544e-04 6.78267144e+01] [-5.06847263e-03 9.99987155e-01 3.34062356e-06 9.04242783e-01] [-4.81114432e-04 -5.77921274e-06 9.99999884e-01 -1.68640203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.08592 meters Centerline goodness : 0.997704 Centerline is valid? [True, True] Translation: X:67.86, Y:0.90, Z:-1.68 [[ 9.99991117e-01 4.18730328e-03 4.81180706e-04 6.78583693e+01] [-4.18730360e-03 9.99991233e-01 -3.61177957e-07 9.04842144e-01] [-4.81178000e-04 -1.65367495e-06 9.99999884e-01 -1.68363651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.11592 meters Centerline goodness : 0.998657 Centerline is valid? [True, True] Translation: X:67.89, Y:0.90, Z:-1.70 [[ 9.99995625e-01 2.91878576e-03 4.81187172e-04 6.78878399e+01] [-2.91878567e-03 9.99995740e-01 -8.96757025e-07 9.03688542e-01] [-4.81187740e-04 -5.07729119e-07 9.99999884e-01 -1.69865825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.14591999999999 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:67.92, Y:0.90, Z:-1.70 [[ 9.99997921e-01 1.98171834e-03 4.81133578e-04 6.79193127e+01] [-1.98172015e-03 9.99998036e-01 3.28194154e-06 9.00025266e-01] [-4.81126130e-04 -4.23540682e-06 9.99999884e-01 -1.69558001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.17591999999999 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:67.95, Y:0.90, Z:-1.68 [[ 9.99999559e-01 8.06567224e-04 4.81178193e-04 6.79509740e+01] [-8.06567242e-04 9.99999675e-01 -1.55584937e-07 9.00065183e-01] [-4.81178162e-04 -2.32517701e-07 9.99999884e-01 -1.68373548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.20591999999999 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:67.98, Y:0.90, Z:-1.68 [[ 9.99999288e-01 1.09210979e-03 4.81203806e-04 6.79821712e+01] [-1.09210891e-03 9.99999404e-01 -2.09805104e-06 9.01635661e-01] [-4.81205810e-04 1.57252258e-06 9.99999884e-01 -1.68150105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.23592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:68.01, Y:0.90, Z:-1.68 [[ 9.99999585e-01 7.74172554e-04 4.81226973e-04 6.80135771e+01] [-7.74170827e-04 9.99999700e-01 -3.77447208e-06 9.03355328e-01] [-4.81229751e-04 3.40191863e-06 9.99999884e-01 -1.68462843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.26592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.04, Y:0.91, Z:-1.70 [[ 9.99999052e-01 -1.29004414e-03 4.81213239e-04 6.80388507e+01] [ 1.29004565e-03 9.99999168e-01 -2.82186825e-06 9.06862033e-01] [-4.81209198e-04 3.44265262e-06 9.99999884e-01 -1.69785924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.29592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.07, Y:0.91, Z:-1.68 [[ 9.99994029e-01 3.42218022e-03 4.81061340e-04 6.80723122e+01] [-3.42218411e-03 9.99994144e-01 7.25299006e-06 9.09171465e-01] [-4.81033702e-04 -8.89922722e-06 9.99999884e-01 -1.68244129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.32592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.10, Y:0.91, Z:-1.70 [[ 9.99993091e-01 3.68599122e-03 4.81238153e-04 6.80982154e+01] [-3.68598947e-03 9.99993207e-01 -4.53899814e-06 9.10866361e-01] [-4.81251614e-04 2.76512801e-06 9.99999884e-01 -1.69690343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.35592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:68.13, Y:0.91, Z:-1.68 [[ 9.99941984e-01 1.07608758e-02 4.81050168e-04 6.81344714e+01] [-1.07608806e-02 9.99942100e-01 7.50703937e-06 9.14074230e-01] [-4.80941533e-04 -1.26831273e-05 9.99999884e-01 -1.67951735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.38592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:68.17, Y:0.92, Z:-1.68 [[ 9.99926968e-01 1.20758847e-02 4.81258278e-04 6.81658479e+01] [-1.20758834e-02 9.99927084e-01 -5.53472408e-06 9.17641363e-01] [-4.81290023e-04 -2.77298983e-07 9.99999884e-01 -1.68139581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.41592 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:68.20, Y:0.92, Z:-1.68 [[ 9.99883890e-01 1.52307313e-02 4.81268115e-04 6.81974135e+01] [-1.52307301e-02 9.99884006e-01 -6.13709171e-06 9.23746413e-01] [-4.81305763e-04 -1.19368562e-06 9.99999884e-01 -1.68378675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.44592 meters Centerline goodness : 0.998253 Centerline is valid? [True, True] Translation: X:68.21, Y:0.93, Z:-1.69 [[ 9.99744162e-01 2.26136988e-02 4.81234687e-04 6.82077808e+01] [-2.26136994e-02 9.99744278e-01 -4.18399707e-06 9.28553222e-01] [-4.81206240e-04 -6.69956989e-06 9.99999884e-01 -1.68707715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.47592 meters Centerline goodness : 0.999252 Centerline is valid? [True, True] Translation: X:68.25, Y:0.93, Z:-1.68 [[ 9.99776091e-01 2.11550694e-02 4.80547551e-04 6.82543983e+01] [-2.11550884e-02 9.99776205e-01 3.45306141e-05 9.32917931e-01] [-4.79709509e-04 -4.46889083e-05 9.99999884e-01 -1.68172229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.50592 meters Centerline goodness : 0.999402 Centerline is valid? [True, True] Translation: X:68.29, Y:0.94, Z:-1.68 [[ 9.99756078e-01 2.20805833e-02 4.81170877e-04 6.82870177e+01] [-2.20805824e-02 9.99756194e-01 -7.18212717e-06 9.36382025e-01] [-4.81212150e-04 -3.44415789e-06 9.99999884e-01 -1.68459487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.53591999999999 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:68.32, Y:0.94, Z:-1.68 [[ 9.99841252e-01 1.78112183e-02 4.81132493e-04 6.83152105e+01] [-1.78112181e-02 9.99841368e-01 -4.80302393e-06 9.39458167e-01] [-4.81141717e-04 -3.76729431e-06 9.99999884e-01 -1.68222072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.56591999999999 meters Centerline goodness : 0.995064 Centerline is valid? [True, True] Translation: X:68.31, Y:0.93, Z:-1.70 [[ 9.99769687e-01 2.14555515e-02 4.81029773e-04 6.83125907e+01] [-2.14555545e-02 9.99769803e-01 1.21503437e-06 9.32789019e-01] [-4.80892972e-04 -1.15355151e-05 9.99999884e-01 -1.70046011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.59591999999999 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:68.37, Y:0.95, Z:-1.69 [[ 9.99717757e-01 2.37523913e-02 4.80016813e-04 6.83688518e+01] [-2.37524238e-02 9.99717869e-01 6.21060024e-05 9.47604299e-01] [-4.78406219e-04 -7.34900361e-05 9.99999883e-01 -1.68867824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.62592 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:68.40, Y:0.95, Z:-1.68 [[ 9.99799936e-01 1.99964273e-02 4.80718245e-04 6.84001431e+01] [-1.99964273e-02 9.99800051e-01 -4.66142137e-06 9.50774336e-01] [-4.80715338e-04 -4.95215868e-06 9.99999884e-01 -1.68182784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.65592 meters Centerline goodness : 0.998954 Centerline is valid? [True, True] Translation: X:68.43, Y:0.95, Z:-1.69 [[ 9.99850578e-01 1.72797936e-02 4.80725098e-04 6.84295427e+01] [-1.72797931e-02 9.99850693e-01 -5.29388749e-06 9.50851200e-01] [-4.80744799e-04 -3.01373373e-06 9.99999884e-01 -1.69285340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.68592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:68.46, Y:0.95, Z:-1.69 [[ 9.99880717e-01 1.54376675e-02 4.80663825e-04 6.84613799e+01] [-1.54376693e-02 9.99880832e-01 -6.93388979e-08 9.52356114e-01] [-4.80607616e-04 -7.35099855e-06 9.99999884e-01 -1.69191387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.71592 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:68.49, Y:0.96, Z:-1.68 [[ 9.99925863e-01 1.21670650e-02 4.80676417e-04 6.84925022e+01] [-1.21670658e-02 9.99925979e-01 -1.13768277e-06 9.56806575e-01] [-4.80654679e-04 -4.71082318e-06 9.99999884e-01 -1.68382654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.74592 meters Centerline goodness : 0.999152 Centerline is valid? [True, True] Translation: X:68.52, Y:0.96, Z:-1.68 [[ 9.99937545e-01 1.11658366e-02 4.80683718e-04 6.85241160e+01] [-1.11658370e-02 9.99937660e-01 -1.74680557e-06 9.59821648e-01] [-4.80673257e-04 -3.62053958e-06 9.99999884e-01 -1.68152006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.77592 meters Centerline goodness : 0.999402 Centerline is valid? [True, True] Translation: X:68.55, Y:0.96, Z:-1.69 [[ 9.99953695e-01 9.61131719e-03 4.80697417e-04 6.85545329e+01] [-9.61131695e-03 9.99953810e-01 -2.81648887e-06 9.62301346e-01] [-4.80702283e-04 -1.80377678e-06 9.99999884e-01 -1.69312553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.80592 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] Translation: X:68.58, Y:0.97, Z:-1.68 [[ 9.99986350e-01 5.20272764e-03 4.80646120e-04 6.85835322e+01] [-5.20272878e-03 9.99986466e-01 1.12516654e-06 9.65685198e-01] [-4.80633761e-04 -3.62582258e-06 9.99999884e-01 -1.68293197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.83592 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:68.61, Y:0.97, Z:-1.69 [[ 9.99989003e-01 4.66509251e-03 4.80596105e-04 6.86148427e+01] [-4.66509540e-03 9.99989118e-01 4.89346136e-06 9.65270553e-01] [-4.80568047e-04 -7.13543423e-06 9.99999885e-01 -1.68501926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.86592 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:68.65, Y:0.97, Z:-1.70 [[ 9.99997619e-01 2.12842640e-03 4.80607912e-04 6.86453001e+01] [-2.12842858e-03 9.99997735e-01 4.02817312e-06 9.66188631e-01] [-4.80598250e-04 -5.05110315e-06 9.99999884e-01 -1.69566836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.89591999999999 meters Centerline goodness : 0.999252 Centerline is valid? [True, True] Translation: X:68.68, Y:0.97, Z:-1.68 [[ 9.99999884e-01 -4.44260145e-05 4.80588063e-04 6.86753193e+01] [ 4.44233911e-05 9.99999999e-01 5.46934837e-06 9.68441930e-01] [-4.80588305e-04 -5.44799838e-06 9.99999885e-01 -1.68095990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.92591999999999 meters Centerline goodness : 0.998905 Centerline is valid? [True, True] Translation: X:68.71, Y:0.97, Z:-1.68 [[ 9.99999764e-01 4.90892031e-04 4.80593331e-04 6.87073773e+01] [-4.90894533e-04 9.99999879e-01 5.08880948e-06 9.70815705e-01] [-4.80590775e-04 -5.32472892e-06 9.99999885e-01 -1.68130035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.95591999999999 meters Centerline goodness : 0.999303 Centerline is valid? [True, True] Translation: X:68.74, Y:0.97, Z:-1.68 [[ 9.99999884e-01 -9.31440972e-06 4.80634957e-04 6.87381729e+01] [ 9.31336842e-06 1.00000000e+00 2.16874404e-06 9.72079565e-01] [-4.80634977e-04 -2.16426746e-06 9.99999884e-01 -1.68122377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.98592 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:68.77, Y:0.98, Z:-1.68 [[ 9.99999430e-01 -9.53124048e-04 4.80625229e-04 6.87682088e+01] [ 9.53122790e-04 9.99999546e-01 2.84573114e-06 9.75165296e-01] [-4.80627723e-04 -2.38763466e-06 9.99999884e-01 -1.68358437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.01592 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:68.80, Y:0.98, Z:-1.68 [[ 9.99999656e-01 -6.75680277e-04 4.80586990e-04 6.88001800e+01] [ 6.75677732e-04 9.99999772e-01 5.45911786e-06 9.76667290e-01] [-4.80590569e-04 -5.13439406e-06 9.99999885e-01 -1.68150875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.04592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.83, Y:0.98, Z:-1.70 [[ 9.99997291e-01 -2.27743046e-03 4.80617921e-04 6.88295313e+01] [ 2.27742912e-03 9.99997407e-01 3.34740314e-06 9.75936400e-01] [-4.80624298e-04 -2.25282083e-06 9.99999884e-01 -1.69542162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.07592 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:68.86, Y:0.98, Z:-1.68 [[ 9.99988327e-01 -4.80788612e-03 4.80563614e-04 6.88597811e+01] [ 4.80788329e-03 9.99988442e-01 7.04949751e-06 9.75296577e-01] [-4.80591953e-04 -4.73892145e-06 9.99999885e-01 -1.68104641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.10592 meters Centerline goodness : 0.998954 Centerline is valid? [True, True] Translation: X:68.89, Y:0.98, Z:-1.68 [[ 9.99963126e-01 -8.57411093e-03 4.80586871e-04 6.88898264e+01] [ 8.57410928e-03 9.99963242e-01 5.47748943e-06 9.77195064e-01] [-4.80616170e-04 -1.35668310e-06 9.99999885e-01 -1.67832667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.13592 meters Centerline goodness : 0.999253 Centerline is valid? [True, True] Translation: X:68.92, Y:0.98, Z:-1.68 [[ 9.99961611e-01 -8.74899584e-03 4.80565050e-04 6.89203434e+01] [ 8.74899351e-03 9.99961727e-01 6.94450653e-06 9.78340593e-01] [-4.80607415e-04 -2.73977943e-06 9.99999885e-01 -1.68254243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.16592 meters Centerline goodness : 0.998703 Centerline is valid? [True, True] Translation: X:68.95, Y:0.98, Z:-1.68 [[ 9.99942462e-01 -1.07164113e-02 4.80566813e-04 6.89500596e+01] [ 1.07164092e-02 9.99942578e-01 6.82582197e-06 9.78013971e-01] [-4.80612366e-04 -1.67547861e-06 9.99999885e-01 -1.68075799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.19592 meters Centerline goodness : 0.998703 Centerline is valid? [True, True] Translation: X:68.98, Y:0.98, Z:-1.68 [[ 9.99942441e-01 -1.07183890e-02 4.80556001e-04 6.89800532e+01] [ 1.07183866e-02 9.99942556e-01 7.55899449e-06 9.78443263e-01] [-4.80609417e-04 -2.40777440e-06 9.99999885e-01 -1.68077231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.22592 meters Centerline goodness : 0.998953 Centerline is valid? [True, True] Translation: X:69.01, Y:0.98, Z:-1.68 [[ 9.99936397e-01 -1.12681086e-02 4.80555856e-04 6.90094616e+01] [ 1.12681063e-02 9.99936513e-01 7.56881038e-06 9.76025197e-01] [-4.80610633e-04 -2.15337453e-06 9.99999885e-01 -1.67990168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.25592 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:69.04, Y:0.98, Z:-1.69 [[ 9.99933187e-01 -1.15494657e-02 4.80557429e-04 6.90388717e+01] [ 1.15494634e-02 9.99933303e-01 7.46275694e-06 9.75488999e-01] [-4.80611568e-04 -1.91207787e-06 9.99999885e-01 -1.68860970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.28591999999999 meters Centerline goodness : 0.998953 Centerline is valid? [True, True] Translation: X:69.07, Y:0.97, Z:-1.68 [[ 9.99929986e-01 -1.18234061e-02 4.80528448e-04 6.90698813e+01] [ 1.18234029e-02 9.99930101e-01 9.41036856e-06 9.74257592e-01] [-4.80606122e-04 -3.72822825e-06 9.99999885e-01 -1.68041211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.31591999999999 meters Centerline goodness : 0.998753 Centerline is valid? [True, True] Translation: X:69.10, Y:0.97, Z:-1.68 [[ 9.99908813e-01 -1.34957022e-02 4.80564839e-04 6.90999129e+01] [ 1.34957005e-02 9.99908929e-01 6.92788908e-06 9.74441527e-01] [-4.80614570e-04 -4.41698233e-07 9.99999885e-01 -1.67889029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.34591999999999 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:69.13, Y:0.97, Z:-1.68 [[ 9.99897079e-01 -1.43388072e-02 4.80541459e-04 6.91298856e+01] [ 1.43388048e-02 9.99897194e-01 8.52995791e-06 9.73799560e-01] [-4.80614365e-04 -1.63868984e-06 9.99999885e-01 -1.67876185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.37592 meters Centerline goodness : 0.999451 Centerline is valid? [True, True] Translation: X:69.16, Y:0.97, Z:-1.68 [[ 9.99887796e-01 -1.49721155e-02 4.80551568e-04 6.91594843e+01] [ 1.49721134e-02 9.99887912e-01 7.82642719e-06 9.72519919e-01] [-4.80614882e-04 -6.30676438e-07 9.99999885e-01 -1.67848340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.40592 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:69.19, Y:0.97, Z:-1.69 [[ 9.99849950e-01 -1.73160900e-02 4.80560983e-04 6.91888026e+01] [ 1.73160886e-02 9.99850065e-01 7.16309561e-06 9.68935719e-01] [-4.80612967e-04 1.15941575e-06 9.99999885e-01 -1.69116319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.43592 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:69.22, Y:0.97, Z:-1.69 [[ 9.99835827e-01 -1.81131822e-02 4.80527259e-04 6.92184083e+01] [ 1.81131797e-02 9.99835943e-01 9.56868394e-06 9.68744040e-01] [-4.80621744e-04 -8.63236444e-07 9.99999885e-01 -1.69097981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.46592 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:69.25, Y:0.97, Z:-1.69 [[ 9.99801172e-01 -1.99345483e-02 4.80530933e-04 6.92470891e+01] [ 1.99345461e-02 9.99801287e-01 9.30488762e-06 9.67210831e-01] [-4.80620934e-04 2.76128495e-07 9.99999885e-01 -1.69173657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.49592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:69.28, Y:0.97, Z:-1.69 [[ 9.99818544e-01 -1.90433185e-02 4.80515442e-04 6.92754451e+01] [ 1.90433157e-02 9.99818660e-01 1.04094985e-05 9.66375467e-01] [-4.80626536e-04 -1.25700235e-06 9.99999884e-01 -1.69101577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.52592 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:69.31, Y:0.97, Z:-1.68 [[ 9.99844973e-01 -1.76011248e-02 4.80527154e-04 6.93061618e+01] [ 1.76011223e-02 9.99845088e-01 9.56016088e-06 9.65661550e-01] [-4.80620984e-04 -1.10086161e-06 9.99999885e-01 -1.68046643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.55592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:69.34, Y:0.97, Z:-1.69 [[ 9.99851438e-01 -1.72299723e-02 4.80570227e-04 6.93359902e+01] [ 1.72299712e-02 9.99851553e-01 6.41028401e-06 9.65222460e-01] [-4.80609337e-04 1.87087947e-06 9.99999885e-01 -1.69301234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.58592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.36, Y:0.97, Z:-1.69 [[ 9.99855104e-01 -1.70158987e-02 4.80541866e-04 6.93646056e+01] [ 1.70158966e-02 9.99855219e-01 8.51623512e-06 9.65626232e-01] [-4.80617204e-04 -3.38150458e-07 9.99999885e-01 -1.69258804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.61592 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:69.40, Y:0.96, Z:-1.68 [[ 9.99877610e-01 -1.56375612e-02 4.80528107e-04 6.93963545e+01] [ 1.56375584e-02 9.99877726e-01 9.52814786e-06 9.63847118e-01] [-4.80618347e-04 -2.01269536e-06 9.99999885e-01 -1.68047113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.64591999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:69.43, Y:0.96, Z:-1.69 [[ 9.99867381e-01 -1.62785095e-02 4.80587228e-04 6.94252559e+01] [ 1.62785089e-02 9.99867496e-01 5.14042823e-06 9.61962088e-01] [-4.80607227e-04 2.68349697e-06 9.99999885e-01 -1.69420880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.67591999999999 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:69.46, Y:0.96, Z:-1.68 [[ 9.99912583e-01 -1.32134832e-02 4.80554473e-04 6.94572770e+01] [ 1.32134811e-02 9.99912698e-01 7.59162007e-06 9.60326393e-01] [-4.80612831e-04 -1.24115898e-06 9.99999885e-01 -1.68136209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.70591999999999 meters Centerline goodness : 0.999551 Centerline is valid? [True, True] Translation: X:69.49, Y:0.96, Z:-1.68 [[ 9.99914198e-01 -1.30906715e-02 4.80615987e-04 6.94881248e+01] [ 1.30906716e-02 9.99914313e-01 2.97836370e-06 9.60026130e-01] [-4.80613793e-04 3.31347789e-06 9.99999884e-01 -1.68142033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.73592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:69.52, Y:0.96, Z:-1.69 [[ 9.99911402e-01 -1.33025511e-02 4.80624732e-04 6.95176408e+01] [ 1.33025515e-02 9.99911517e-01 2.32574596e-06 9.59121114e-01] [-4.80613143e-04 4.06799536e-06 9.99999884e-01 -1.69411732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.76592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.55, Y:0.96, Z:-1.69 [[ 9.99953585e-01 -9.62269088e-03 4.80563122e-04 6.95478010e+01] [ 9.62268870e-03 9.99953701e-01 6.86231974e-06 9.58910596e-01] [-4.80606906e-04 -2.23769191e-06 9.99999885e-01 -1.69279534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.79592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.58, Y:0.96, Z:-1.69 [[ 9.99971315e-01 -7.55897341e-03 4.80593375e-04 6.95776998e+01] [ 7.55897205e-03 9.99971431e-01 4.65104591e-06 9.60175656e-01] [-4.80614802e-04 -1.01812061e-06 9.99999885e-01 -1.69068995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.82592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.61, Y:0.96, Z:-1.69 [[ 9.99990308e-01 -4.37641353e-03 4.80626317e-04 6.96077277e+01] [ 4.37641295e-03 9.99990423e-01 2.26581958e-06 9.61163553e-01] [-4.80631630e-04 -1.62378386e-07 9.99999884e-01 -1.69166274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.85592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:69.64, Y:0.96, Z:-1.69 [[ 9.99995344e-01 -3.01359011e-03 4.80613398e-04 6.96380695e+01] [ 3.01358892e-03 9.99995459e-01 3.19724948e-06 9.61442329e-01] [-4.80620850e-04 -1.74886339e-06 9.99999885e-01 -1.69170295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.88592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:69.67, Y:0.96, Z:-1.68 [[ 9.99996478e-01 -2.61035129e-03 4.80625911e-04 6.96672424e+01] [ 2.61035048e-03 9.99996593e-01 2.30596586e-06 9.62789978e-01] [-4.80630293e-04 -1.05135566e-06 9.99999884e-01 -1.68110115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.91592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:69.70, Y:0.96, Z:-1.68 [[ 9.99999818e-01 3.63611356e-04 4.80567884e-04 6.97001900e+01] [-3.63614435e-04 9.99999934e-01 6.32096957e-06 9.64904707e-01] [-4.80565554e-04 -6.49570984e-06 9.99999885e-01 -1.67949441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.94592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:69.73, Y:0.97, Z:-1.69 [[ 9.99999836e-01 -3.11985068e-04 4.80666709e-04 6.97303769e+01] [ 3.11985409e-04 9.99999951e-01 -6.34975723e-07 9.66868411e-01] [-4.80666488e-04 7.84936618e-07 9.99999884e-01 -1.69160088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.97592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.76, Y:0.97, Z:-1.69 [[ 9.99999881e-01 -8.51443434e-05 4.80627785e-04 6.97608161e+01] [ 8.51433912e-05 9.99999996e-01 2.00150687e-06 9.68012829e-01] [-4.80627953e-04 -1.96058435e-06 9.99999884e-01 -1.69338203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.00592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.79, Y:0.97, Z:-1.69 [[ 9.99999884e-01 2.04155434e-05 4.80606908e-04 6.97913490e+01] [-2.04171693e-05 1.00000000e+00 3.37819787e-06 9.71572278e-01] [-4.80606839e-04 -3.38801011e-06 9.99999885e-01 -1.69387335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.03591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.82, Y:0.97, Z:-1.68 [[ 9.99999807e-01 -3.92881956e-04 4.80620154e-04 6.98222439e+01] [ 3.92880786e-04 9.99999923e-01 2.53039922e-06 9.74054744e-01] [-4.80621111e-04 -2.34157231e-06 9.99999884e-01 -1.68283350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.06591999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:69.85, Y:0.98, Z:-1.68 [[ 9.99999736e-01 -5.45324360e-04 4.80659854e-04 6.98525058e+01] [ 5.45324399e-04 9.99999851e-01 5.04956041e-08 9.76337936e-01] [-4.80659810e-04 2.11619954e-07 9.99999884e-01 -1.68278421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.09591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.88, Y:0.98, Z:-1.70 [[ 9.99991582e-01 -4.07486295e-03 4.80650124e-04 6.98803116e+01] [ 4.07486311e-03 9.99991698e-01 6.49429592e-07 9.78558845e-01] [-4.80648780e-04 1.30915933e-06 9.99999884e-01 -1.69591444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.12592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:69.91, Y:0.98, Z:-1.68 [[ 9.99994079e-01 -3.40759917e-03 4.80527801e-04 6.99123171e+01] [ 3.40759572e-03 9.99994194e-01 7.99837850e-06 9.84113074e-01] [-4.80552267e-04 -6.36088667e-06 9.99999885e-01 -1.67914707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.15592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.94, Y:0.99, Z:-1.69 [[ 9.99991460e-01 -4.10469622e-03 4.80640535e-04 6.99425399e+01] [ 4.10469613e-03 9.99991576e-01 1.17476509e-06 9.87281543e-01] [-4.80641308e-04 7.98128286e-07 9.99999884e-01 -1.69382522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.18592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.97, Y:0.99, Z:-1.69 [[ 9.99990338e-01 -4.36946927e-03 4.80583498e-04 6.99729434e+01] [ 4.36946758e-03 9.99990454e-01 4.56347108e-06 9.90999601e-01] [-4.80598850e-04 -2.46353298e-06 9.99999885e-01 -1.69431759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.21592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.00, Y:1.00, Z:-1.69 [[ 9.99990013e-01 -4.44333934e-03 4.80579387e-04 7.00033604e+01] [ 4.44333755e-03 9.99990128e-01 4.80508735e-06 9.96479809e-01] [-4.80595993e-04 -2.66966293e-06 9.99999885e-01 -1.69452236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.24592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:70.03, Y:1.00, Z:-1.68 [[ 9.99997481e-01 -2.19265404e-03 4.80564524e-04 7.00345915e+01] [ 2.19265156e-03 9.99997596e-01 5.67788334e-06 9.99921385e-01] [-4.80575819e-04 -4.62415848e-06 9.99999885e-01 -1.68341694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.27592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.06, Y:1.01, Z:-1.70 [[ 9.99989884e-01 -4.47232132e-03 4.80613899e-04 7.00616774e+01] [ 4.47232052e-03 9.99989999e-01 2.75539470e-06 1.00913233e+00] [-4.80621416e-04 -6.05907427e-07 9.99999885e-01 -1.69641626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.30592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:70.10, Y:1.01, Z:-1.68 [[ 9.99996633e-01 -2.55011084e-03 4.80519004e-04 7.00954169e+01] [ 2.55010716e-03 9.99996748e-01 8.26949666e-06 1.01454962e+00] [-4.80538530e-04 -7.04409387e-06 9.99999885e-01 -1.67803291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.33592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:70.12, Y:1.02, Z:-1.68 [[ 9.99991103e-01 -4.19082084e-03 4.80679957e-04 7.01249621e+01] [ 4.19082185e-03 9.99991218e-01 -1.09393487e-06 1.01740835e+00] [-4.80671151e-04 3.10836920e-06 9.99999884e-01 -1.67908626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.36592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.15, Y:1.02, Z:-1.70 [[ 9.99962482e-01 -8.64885094e-03 4.80634840e-04 7.01532373e+01] [ 8.64885123e-03 9.99962598e-01 1.46692549e-06 1.01799046e+00] [-4.80629550e-04 2.69006877e-06 9.99999884e-01 -1.69661171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.39591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.18, Y:1.02, Z:-1.70 [[ 9.99928548e-01 -1.19443472e-02 4.80504723e-04 7.01837502e+01] [ 1.19443444e-02 9.99928664e-01 8.67448541e-06 1.02296081e+00] [-4.80574056e-04 -2.93455170e-06 9.99999885e-01 -1.69919973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.42591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.21, Y:1.03, Z:-1.70 [[ 9.99931104e-01 -1.17284176e-02 4.80504723e-04 7.02148250e+01] [ 1.17284148e-02 9.99931220e-01 8.67448541e-06 1.02687559e+00] [-4.80573411e-04 -3.03832907e-06 9.99999885e-01 -1.69675637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.45591999999999 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:70.24, Y:1.03, Z:-1.69 [[ 9.99885509e-01 -1.51240913e-02 4.80565794e-04 7.02442473e+01] [ 1.51240905e-02 9.99885624e-01 5.27207713e-06 1.02905856e+00] [-4.80590564e-04 1.99664705e-06 9.99999885e-01 -1.68543060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.48592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:70.27, Y:1.03, Z:-1.70 [[ 9.99841877e-01 -1.77761364e-02 4.80529799e-04 7.02746484e+01] [ 1.77761349e-02 9.99841992e-01 7.26590223e-06 1.03003379e+00] [-4.80583032e-04 1.27720923e-06 9.99999885e-01 -1.69855220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.51592 meters Centerline goodness : 0.951466 Centerline is valid? [True, True] Translation: X:70.34, Y:1.05, Z:-1.71 [[ 9.99792497e-01 -2.03649877e-02 4.80503681e-04 7.03386056e+01] [ 2.03649859e-02 9.99792612e-01 8.70721872e-06 1.05400020e+00] [-4.80581353e-04 1.08003875e-06 9.99999885e-01 -1.71325171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.54592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:70.33, Y:1.02, Z:-1.69 [[ 9.99671041e-01 -2.56432582e-02 4.82106329e-04 7.03284420e+01] [ 2.56433187e-02 9.99671149e-01 -1.19808182e-04 1.02446400e+00] [-4.78875516e-04 1.32131576e-04 9.99999877e-01 -1.68698255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.57592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.36, Y:1.03, Z:-1.70 [[ 9.99637600e-01 -2.69153913e-02 4.79024792e-04 7.03586754e+01] [ 2.69153898e-02 9.99637715e-01 9.68082587e-06 1.02577454e+00] [-4.79111812e-04 3.21582146e-06 9.99999885e-01 -1.69998741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.60592 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:70.39, Y:1.03, Z:-1.70 [[ 9.99598150e-01 -2.83426938e-02 4.78985162e-04 7.03871634e+01] [ 2.83426916e-02 9.99598265e-01 1.13528373e-05 1.02732299e+00] [-4.79114507e-04 2.22745359e-06 9.99999885e-01 -1.70039014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.63592 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:70.42, Y:1.03, Z:-1.70 [[ 9.99555268e-01 -2.98167306e-02 4.78983649e-04 7.04156137e+01] [ 2.98167286e-02 9.99555382e-01 1.14163166e-05 1.02827214e+00] [-4.79111082e-04 2.87048606e-06 9.99999885e-01 -1.69913769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.66592 meters Centerline goodness : 0.999402 Centerline is valid? [True, True] Translation: X:70.45, Y:1.03, Z:-1.68 [[ 9.99520721e-01 -3.09531883e-02 4.78982130e-04 7.04464385e+01] [ 3.09531864e-02 9.99520835e-01 1.14797342e-05 1.02843710e+00] [-4.79107953e-04 3.35179089e-06 9.99999885e-01 -1.68488362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.69592 meters Centerline goodness : 0.999003 Centerline is valid? [True, True] Translation: X:70.48, Y:1.03, Z:-1.68 [[ 9.99477670e-01 -3.23134202e-02 4.79012056e-04 7.04761249e+01] [ 3.23134190e-02 9.99477785e-01 1.02288279e-05 1.02763466e+00] [-4.79092437e-04 5.25503213e-06 9.99999885e-01 -1.68150470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.72592 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:70.51, Y:1.03, Z:-1.68 [[ 9.99435110e-01 -3.36040447e-02 4.79023683e-04 7.05052484e+01] [ 3.36040439e-02 9.99435225e-01 9.74018196e-06 1.02735171e+00] [-4.79080452e-04 6.36245303e-06 9.99999885e-01 -1.68174893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.75592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:70.53, Y:1.03, Z:-1.70 [[ 9.99343944e-01 -3.62139672e-02 4.79062846e-04 7.05346110e+01] [ 3.62139675e-02 9.99344059e-01 8.10749110e-06 1.02708551e+00] [-4.79042213e-04 9.24659420e-06 9.99999885e-01 -1.69963496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.78591999999999 meters Centerline goodness : 0.998854 Centerline is valid? [True, True] Translation: X:70.59, Y:1.03, Z:-1.69 [[ 9.99118393e-01 -4.19786438e-02 4.78979960e-04 7.05882681e+01] [ 4.19786431e-02 9.99118508e-01 1.15459625e-05 1.03112305e+00] [-4.79042427e-04 8.57114535e-06 9.99999885e-01 -1.69343283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.81591999999999 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:70.59, Y:1.02, Z:-1.70 [[ 9.99093376e-01 -4.25698780e-02 4.80399224e-04 7.05923315e+01] [ 4.25699080e-02 9.99093489e-01 -5.24740458e-05 1.02232582e+00] [-4.77729924e-04 7.28770224e-05 9.99999883e-01 -1.69792153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.84591999999999 meters Centerline goodness : 0.998452 Centerline is valid? [True, True] Translation: X:70.62, Y:1.02, Z:-1.68 [[ 9.99103776e-01 -4.23251248e-02 4.78598325e-04 7.06226098e+01] [ 4.23251234e-02 9.99103890e-01 1.31366899e-05 1.02174247e+00] [-4.78725461e-04 7.13181666e-06 9.99999885e-01 -1.68275061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.87592 meters Centerline goodness : 0.998002 Centerline is valid? [True, True] Translation: X:70.65, Y:1.02, Z:-1.68 [[ 9.99104755e-01 -4.23020109e-02 4.78637180e-04 7.06513003e+01] [ 4.23020101e-02 9.99104869e-01 1.17234699e-05 1.02199489e+00] [-4.78704663e-04 8.53434035e-06 9.99999885e-01 -1.68204102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.90592 meters Centerline goodness : 0.998401 Centerline is valid? [True, True] Translation: X:70.68, Y:1.02, Z:-1.68 [[ 9.99185425e-01 -4.03516719e-02 4.78621823e-04 7.06812947e+01] [ 4.03516706e-02 9.99185540e-01 1.22803625e-05 1.02227160e+00] [-4.78727538e-04 7.04283095e-06 9.99999885e-01 -1.68260417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.93592 meters Centerline goodness : 0.997906 Centerline is valid? [True, True] Translation: X:70.71, Y:1.02, Z:-1.68 [[ 9.99262101e-01 -3.84060428e-02 4.78640074e-04 7.07103397e+01] [ 3.84060416e-02 9.99262216e-01 1.16194845e-05 1.02154079e+00] [-4.78733199e-04 6.77176014e-06 9.99999885e-01 -1.68243912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.96592 meters Centerline goodness : 0.997906 Centerline is valid? [True, True] Translation: X:70.74, Y:1.02, Z:-1.68 [[ 9.99294834e-01 -3.75447124e-02 4.78646724e-04 7.07401994e+01] [ 3.75447113e-02 9.99294949e-01 1.13819785e-05 1.02172117e+00] [-4.78736587e-04 6.59670075e-06 9.99999885e-01 -1.68194978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.99592 meters Centerline goodness : 0.997708 Centerline is valid? [True, True] Translation: X:70.77, Y:1.02, Z:-1.68 [[ 9.99291287e-01 -3.76390088e-02 4.78676419e-04 7.07687627e+01] [ 3.76390082e-02 9.99291401e-01 1.03220335e-05 1.02237130e+00] [-4.78725740e-04 7.70218755e-06 9.99999885e-01 -1.68203249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.02592 meters Centerline goodness : 0.997552 Centerline is valid? [True, True] Translation: X:70.80, Y:1.02, Z:-1.68 [[ 9.99307421e-01 -3.72081767e-02 4.78674359e-04 7.07973732e+01] [ 3.72081760e-02 9.99307536e-01 1.03949801e-05 1.02273430e+00] [-4.78729672e-04 7.42281906e-06 9.99999885e-01 -1.68097806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.05592 meters Centerline goodness : 0.998409 Centerline is valid? [True, True] Translation: X:70.83, Y:1.02, Z:-1.68 [[ 9.99289300e-01 -3.76917300e-02 4.78690344e-04 7.08274334e+01] [ 3.76917296e-02 9.99289414e-01 9.83709725e-06 1.02234051e+00] [-4.78720970e-04 8.21256097e-06 9.99999885e-01 -1.68188715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.08592 meters Centerline goodness : 0.998409 Centerline is valid? [True, True] Translation: X:70.86, Y:1.02, Z:-1.68 [[ 9.99272772e-01 -3.81273909e-02 4.78693980e-04 7.08558028e+01] [ 3.81273906e-02 9.99272887e-01 9.71184741e-06 1.02300509e+00] [-4.78716203e-04 8.54656769e-06 9.99999885e-01 -1.68190075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.11592 meters Centerline goodness : 0.998456 Centerline is valid? [True, True] Translation: X:70.88, Y:1.02, Z:-1.68 [[ 9.99285701e-01 -3.77870277e-02 4.78689081e-04 7.08847258e+01] [ 3.77870273e-02 9.99285815e-01 9.87828926e-06 1.02228052e+00] [-4.78720480e-04 8.21700417e-06 9.99999885e-01 -1.68216567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.14591999999999 meters Centerline goodness : 0.998255 Centerline is valid? [True, True] Translation: X:70.91, Y:1.02, Z:-1.68 [[ 9.99292153e-01 -3.76160083e-02 4.78630515e-04 7.09139436e+01] [ 3.76160069e-02 9.99292267e-01 1.18394763e-05 1.01865273e+00] [-4.78737126e-04 6.17307302e-06 9.99999885e-01 -1.68188286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.17591999999999 meters Centerline goodness : 0.998804 Centerline is valid? [True, True] Translation: X:70.94, Y:1.02, Z:-1.69 [[ 9.99274920e-01 -3.80710452e-02 4.78644145e-04 7.09432538e+01] [ 3.80710441e-02 9.99275035e-01 1.13881090e-05 1.01849207e+00] [-4.78730701e-04 6.84263059e-06 9.99999885e-01 -1.68925956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.20591999999999 meters Centerline goodness : 0.998258 Centerline is valid? [True, True] Translation: X:70.98, Y:1.02, Z:-1.68 [[ 9.99385464e-01 -3.50494759e-02 4.78664289e-04 7.09750359e+01] [ 3.50494748e-02 9.99385578e-01 1.07290583e-05 1.01795310e+00] [-4.78746235e-04 6.05446707e-06 9.99999885e-01 -1.68432202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.23592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:71.00, Y:1.02, Z:-1.69 [[ 9.99330480e-01 -3.65836245e-02 4.78754149e-04 7.10043074e+01] [ 3.65836250e-02 9.99330595e-01 7.82562955e-06 1.01715888e+00] [-4.78719959e-04 9.69417213e-06 9.99999885e-01 -1.69177489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.26592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:71.03, Y:1.02, Z:-1.69 [[ 9.99334511e-01 -3.64733604e-02 4.78638732e-04 7.10328670e+01] [ 3.64733591e-02 9.99334626e-01 1.15010978e-05 1.01601427e+00] [-4.78739741e-04 5.96411836e-06 9.99999885e-01 -1.69139130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.29592 meters Centerline goodness : 0.998654 Centerline is valid? [True, True] Translation: X:71.06, Y:1.02, Z:-1.69 [[ 9.99307847e-01 -3.71967503e-02 4.78618309e-04 7.10627444e+01] [ 3.71967487e-02 9.99307961e-01 1.21463234e-05 1.01580750e+00] [-4.78738891e-04 5.66512867e-06 9.99999885e-01 -1.68608523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.32592 meters Centerline goodness : 0.998253 Centerline is valid? [True, True] Translation: X:71.09, Y:1.02, Z:-1.69 [[ 9.99305761e-01 -3.72527566e-02 4.78631582e-04 7.10915852e+01] [ 3.72527553e-02 9.99305875e-01 1.17322553e-05 1.01592969e+00] [-4.78736411e-04 6.10623488e-06 9.99999885e-01 -1.68514881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.35592 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:71.12, Y:1.01, Z:-1.69 [[ 9.99274918e-01 -3.80711048e-02 4.78599406e-04 7.11213988e+01] [ 3.80711030e-02 9.99275033e-01 1.27322817e-05 1.01367876e+00] [-4.78737169e-04 5.49775757e-06 9.99999885e-01 -1.69428083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.38592 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:71.15, Y:1.01, Z:-1.69 [[ 9.99239711e-01 -3.89842430e-02 4.78589900e-04 7.11503769e+01] [ 3.89842412e-02 9.99239825e-01 1.30255890e-05 1.01280917e+00] [-4.78733881e-04 5.64177831e-06 9.99999885e-01 -1.69388716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.41592 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:71.18, Y:1.01, Z:-1.69 [[ 9.99129629e-01 -4.17103824e-02 4.78593320e-04 7.11792598e+01] [ 4.17103810e-02 9.99129743e-01 1.29210958e-05 1.01019217e+00] [-4.78715765e-04 7.05246009e-06 9.99999885e-01 -1.69357406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.44592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:71.21, Y:1.01, Z:-1.69 [[ 9.99075712e-01 -4.29824798e-02 4.78572783e-04 7.12082443e+01] [ 4.29824782e-02 9.99075826e-01 1.35460566e-05 1.00956939e+00] [-4.78712742e-04 7.03670806e-06 9.99999885e-01 -1.69362847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.47592 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:71.24, Y:1.01, Z:-1.69 [[ 9.99030280e-01 -4.40257868e-02 4.78556923e-04 7.12373174e+01] [ 4.40257851e-02 9.99030395e-01 1.40256125e-05 1.00863507e+00] [-4.78710400e-04 7.05683262e-06 9.99999885e-01 -1.69428810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.50592 meters Centerline goodness : 0.998706 Centerline is valid? [True, True] Translation: X:71.27, Y:1.01, Z:-1.69 [[ 9.98977134e-01 -4.52156659e-02 4.78595788e-04 7.12650725e+01] [ 4.52156649e-02 9.98977249e-01 1.28566742e-05 1.00508772e+00] [-4.78687627e-04 8.79650318e-06 9.99999885e-01 -1.69398521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.53591999999999 meters Centerline goodness : 0.997611 Centerline is valid? [True, True] Translation: X:71.30, Y:1.00, Z:-1.68 [[ 9.98995191e-01 -4.48149389e-02 4.78488527e-04 7.12955738e+01] [ 4.48149363e-02 9.98995306e-01 1.60536598e-05 1.00387380e+00] [-4.78727236e-04 5.40590390e-06 9.99999885e-01 -1.68168795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.56591999999999 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:71.32, Y:1.00, Z:-1.69 [[ 9.99072841e-01 -4.30491518e-02 4.78547720e-04 7.13243787e+01] [ 4.30491499e-02 9.99072956e-01 1.42973093e-05 1.00412457e+00] [-4.78719572e-04 6.31701913e-06 9.99999885e-01 -1.69475640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.59591999999999 meters Centerline goodness : 0.997559 Centerline is valid? [True, True] Translation: X:71.36, Y:1.01, Z:-1.68 [[ 9.99167849e-01 -4.07845682e-02 4.78484004e-04 7.13555152e+01] [ 4.07845651e-02 9.99167963e-01 1.61814058e-05 1.00586414e+00] [-4.78745839e-04 3.34682156e-06 9.99999885e-01 -1.67917652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.62592 meters Centerline goodness : 0.999004 Centerline is valid? [True, True] Translation: X:71.39, Y:1.01, Z:-1.69 [[ 9.99182858e-01 -4.04151972e-02 4.78539565e-04 7.13851042e+01] [ 4.04151949e-02 9.99182972e-01 1.45370573e-05 1.00646695e+00] [-4.78736103e-04 4.81509129e-06 9.99999885e-01 -1.69483761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.65592 meters Centerline goodness : 0.998506 Centerline is valid? [True, True] Translation: X:71.42, Y:1.00, Z:-1.69 [[ 9.99320398e-01 -3.68580113e-02 4.78482617e-04 7.14150670e+01] [ 3.68580077e-02 9.99320513e-01 1.62172683e-05 1.00498452e+00] [-4.78755231e-04 1.42966899e-06 9.99999885e-01 -1.69122992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.68592 meters Centerline goodness : 0.998109 Centerline is valid? [True, True] Translation: X:71.44, Y:1.01, Z:-1.69 [[ 9.99341791e-01 -3.62733515e-02 4.78520520e-04 7.14434112e+01] [ 3.62733484e-02 9.99341905e-01 1.50994038e-05 1.00581631e+00] [-4.78753315e-04 2.26807631e-06 9.99999885e-01 -1.68748583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.71592 meters Centerline goodness : 0.998955 Centerline is valid? [True, True] Translation: X:71.47, Y:1.01, Z:-1.69 [[ 9.99392936e-01 -3.48357567e-02 4.78481440e-04 7.14718573e+01] [ 3.48357529e-02 9.99393051e-01 1.62395954e-05 1.00751727e+00] [-4.78756744e-04 4.38524297e-07 9.99999885e-01 -1.69008679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.74592 meters Centerline goodness : 0.999003 Centerline is valid? [True, True] Translation: X:71.50, Y:1.01, Z:-1.69 [[ 9.99395734e-01 -3.47553930e-02 4.78487721e-04 7.15001708e+01] [ 3.47553893e-02 9.99395849e-01 1.60575135e-05 1.00816492e+00] [-4.78756728e-04 5.82216505e-07 9.99999885e-01 -1.68892448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.77592 meters Centerline goodness : 0.998703 Centerline is valid? [True, True] Translation: X:71.53, Y:1.01, Z:-1.68 [[ 9.99480261e-01 -3.22332003e-02 4.78471513e-04 7.15295670e+01] [ 3.22331961e-02 9.99480375e-01 1.65241102e-05 1.00748334e+00] [-4.78755512e-04 -1.09285583e-06 9.99999885e-01 -1.68229837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.80592 meters Centerline goodness : 0.998507 Centerline is valid? [True, True] Translation: X:71.56, Y:1.01, Z:-1.68 [[ 9.99526534e-01 -3.07649052e-02 4.78419397e-04 7.15594561e+01] [ 3.07649001e-02 9.99526648e-01 1.80215191e-05 1.00957195e+00] [-4.78747367e-04 -3.29446150e-06 9.99999885e-01 -1.67858309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.83592 meters Centerline goodness : 0.998159 Centerline is valid? [True, True] Translation: X:71.59, Y:1.01, Z:-1.68 [[ 9.99661804e-01 -2.60009373e-02 4.78407711e-04 7.15912832e+01] [ 2.60009315e-02 9.99661918e-01 1.83587648e-05 1.01362498e+00] [-4.78723316e-04 -5.91350978e-06 9.99999885e-01 -1.67813451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.86592 meters Centerline goodness : 0.998705 Centerline is valid? [True, True] Translation: X:71.62, Y:1.01, Z:-1.69 [[ 9.99694584e-01 -2.47084756e-02 4.78563203e-04 7.16192986e+01] [ 2.47084718e-02 9.99694699e-01 1.38772318e-05 1.01407207e+00] [-4.78759983e-04 -2.04842806e-06 9.99999885e-01 -1.68914116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.89591999999999 meters Centerline goodness : 0.998605 Centerline is valid? [True, True] Translation: X:71.65, Y:1.01, Z:-1.68 [[ 9.99724107e-01 -2.34836336e-02 4.78434036e-04 7.16491886e+01] [ 2.34836279e-02 9.99724221e-01 1.75894012e-05 1.01430781e+00] [-4.78715158e-04 -6.34918159e-06 9.99999885e-01 -1.68039099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.92591999999999 meters Centerline goodness : 0.998704 Centerline is valid? [True, True] Translation: X:71.68, Y:1.02, Z:-1.68 [[ 9.99719331e-01 -2.36860983e-02 4.78404537e-04 7.16787314e+01] [ 2.36860922e-02 9.99719445e-01 1.84370044e-05 1.01640508e+00] [-4.78707019e-04 -7.10029570e-06 9.99999885e-01 -1.67634820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.95591999999999 meters Centerline goodness : 0.998854 Centerline is valid? [True, True] Translation: X:71.71, Y:1.02, Z:-1.68 [[ 9.99733548e-01 -2.30781968e-02 4.78409393e-04 7.17091957e+01] [ 2.30781907e-02 9.99733663e-01 1.82975215e-05 1.01809347e+00] [-4.78704249e-04 -7.25182287e-06 9.99999885e-01 -1.68402866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.98592 meters Centerline goodness : 0.998756 Centerline is valid? [True, True] Translation: X:71.74, Y:1.02, Z:-1.67 [[ 9.99727329e-01 -2.33460728e-02 4.78464983e-04 7.17416570e+01] [ 2.33460675e-02 9.99727443e-01 1.66988132e-05 1.01887966e+00] [-4.78724426e-04 -5.52398413e-06 9.99999885e-01 -1.67308528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.01592 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:71.77, Y:1.02, Z:-1.68 [[ 9.99692886e-01 -2.47770969e-02 4.78640879e-04 7.17708160e+01] [ 2.47770942e-02 9.99693001e-01 1.16133671e-05 1.01943013e+00] [-4.78781682e-04 2.49529642e-07 9.99999885e-01 -1.68253120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.04592 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:71.80, Y:1.02, Z:-1.69 [[ 9.99704302e-01 -2.43121084e-02 4.78489070e-04 7.17999214e+01] [ 2.43121035e-02 9.99704417e-01 1.59593214e-05 1.02273631e+00] [-4.78735642e-04 -4.32152643e-06 9.99999885e-01 -1.68595188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.07592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.83, Y:1.03, Z:-1.69 [[ 9.99720145e-01 -2.36516997e-02 4.78502345e-04 7.18292471e+01] [ 2.36516950e-02 9.99720259e-01 1.55818247e-05 1.02501959e+00] [-4.78737025e-04 -4.26007255e-06 9.99999885e-01 -1.68696029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.10592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:71.86, Y:1.03, Z:-1.69 [[ 9.99716067e-01 -2.38234580e-02 4.78513291e-04 7.18577958e+01] [ 2.38234534e-02 9.99716181e-01 1.52744518e-05 1.02600226e+00] [-4.78741370e-04 -3.87027583e-06 9.99999885e-01 -1.68767455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.13592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.89, Y:1.03, Z:-1.68 [[ 9.99697660e-01 -2.45837342e-02 4.78487269e-04 7.18889696e+01] [ 2.45837294e-02 9.99697774e-01 1.60039621e-05 1.02688270e+00] [-4.78736095e-04 -4.23612191e-06 9.99999885e-01 -1.67751849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.16592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:71.92, Y:1.03, Z:-1.67 [[ 9.99655516e-01 -2.62415871e-02 4.78649231e-04 7.19179780e+01] [ 2.62415846e-02 9.99655630e-01 1.14956135e-05 1.02811753e+00] [-4.78786062e-04 1.06886082e-06 9.99999885e-01 -1.67316459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.19592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.95, Y:1.03, Z:-1.68 [[ 9.99589779e-01 -2.86364083e-02 4.78568050e-04 7.19498469e+01] [ 2.86364050e-02 9.99589894e-01 1.37333989e-05 1.03083641e+00] [-4.78765061e-04 -2.32967076e-08 9.99999885e-01 -1.67811698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.22592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:71.98, Y:1.03, Z:-1.68 [[ 9.99479508e-01 -3.22565358e-02 4.78651850e-04 7.19780029e+01] [ 3.22565340e-02 9.99479623e-01 1.14385961e-05 1.03088238e+00] [-4.78771740e-04 4.00700731e-06 9.99999885e-01 -1.67528767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.25592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.01, Y:1.03, Z:-1.68 [[ 9.99416907e-01 -3.41411283e-02 4.78523554e-04 7.20083350e+01] [ 3.41411251e-02 9.99417022e-01 1.49021805e-05 1.03140084e+00] [-4.78753362e-04 1.44384133e-06 9.99999885e-01 -1.68239906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.28591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.04, Y:1.03, Z:-1.68 [[ 9.99362975e-01 -3.56849558e-02 4.78520828e-04 7.20370886e+01] [ 3.56849527e-02 9.99363089e-01 1.49754020e-05 1.03174351e+00] [-4.78750449e-04 2.11013084e-06 9.99999885e-01 -1.68365330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.31591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.07, Y:1.03, Z:-1.69 [[ 9.99267226e-01 -3.82724668e-02 4.78520538e-04 7.20653357e+01] [ 3.82724640e-02 9.99267341e-01 1.49831378e-05 1.03122257e+00] [-4.78743387e-04 3.34200151e-06 9.99999885e-01 -1.69096983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.34591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.10, Y:1.03, Z:-1.68 [[ 9.99118721e-01 -4.19708483e-02 4.78403533e-04 7.20951087e+01] [ 4.19708445e-02 9.99118836e-01 1.80792606e-05 1.02877399e+00] [-4.78740783e-04 2.01567252e-06 9.99999885e-01 -1.67696512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.37592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.13, Y:1.03, Z:-1.68 [[ 9.99088880e-01 -4.26753092e-02 4.78332626e-04 7.21253270e+01] [ 4.26753045e-02 9.99088994e-01 1.99508114e-05 1.02810837e+00] [-4.78748269e-04 4.80356642e-07 9.99999885e-01 -1.67691404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.40592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.16, Y:1.03, Z:-1.68 [[ 9.99061292e-01 -4.33163484e-02 4.78404820e-04 7.21560324e+01] [ 4.33163447e-02 9.99061407e-01 1.80481786e-05 1.02826628e+00] [-4.78737574e-04 2.69151144e-06 9.99999885e-01 -1.68447796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.43592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.19, Y:1.03, Z:-1.67 [[ 9.99107085e-01 -4.22469314e-02 4.78405078e-04 7.21862074e+01] [ 4.22469276e-02 9.99107200e-01 1.80413782e-05 1.03004658e+00] [-4.78740151e-04 2.18587588e-06 9.99999885e-01 -1.67313230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.46592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.22, Y:1.03, Z:-1.67 [[ 9.99312680e-01 -3.70666903e-02 4.78483280e-04 7.22157217e+01] [ 3.70666869e-02 9.99312794e-01 1.59992547e-05 1.03318269e+00] [-4.78747503e-04 1.74753183e-06 9.99999885e-01 -1.67442604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.49592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.25, Y:1.03, Z:-1.68 [[ 9.99418626e-01 -3.40907808e-02 4.78430712e-04 7.22459545e+01] [ 3.40907763e-02 9.99418740e-01 1.73648444e-05 1.03473382e+00] [-4.78744600e-04 -1.04467459e-06 9.99999885e-01 -1.67578080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.52592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.28, Y:1.04, Z:-1.68 [[ 9.99617514e-01 -2.76513500e-02 4.78424308e-04 7.22755658e+01] [ 2.76513448e-02 9.99617628e-01 1.75306410e-05 1.03804664e+00] [-4.78726118e-04 -4.29486022e-06 9.99999885e-01 -1.67779402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.55592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.31, Y:1.04, Z:-1.68 [[ 9.99651987e-01 -2.63756764e-02 4.78413204e-04 7.23072795e+01] [ 2.63756709e-02 9.99652101e-01 1.78177164e-05 1.03999448e+00] [-4.78716719e-04 -5.19304644e-06 9.99999885e-01 -1.68107859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.58592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.34, Y:1.04, Z:-1.68 [[ 9.99646980e-01 -2.65647466e-02 4.78513961e-04 7.23357590e+01] [ 2.65647423e-02 9.99647095e-01 1.52280485e-05 1.04116584e+00] [-4.78749620e-04 -2.51107261e-06 9.99999885e-01 -1.68097134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.61592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:72.36, Y:1.04, Z:-1.69 [[ 9.99619529e-01 -2.75783873e-02 4.78507535e-04 7.23643142e+01] [ 2.75783831e-02 9.99619644e-01 1.53918991e-05 1.04234414e+00] [-4.78750015e-04 -2.18957887e-06 9.99999885e-01 -1.68525235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.64591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.39, Y:1.04, Z:-1.67 [[ 9.99497217e-01 -3.17030704e-02 4.78510692e-04 7.23938495e+01] [ 3.17030667e-02 9.99497331e-01 1.53123380e-05 1.04482558e+00] [-4.78755608e-04 -1.34382840e-07 9.99999885e-01 -1.67342853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.67591999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:72.42, Y:1.05, Z:-1.67 [[ 9.99434773e-01 -3.36140694e-02 4.78486782e-04 7.24221959e+01] [ 3.36140657e-02 9.99434887e-01 1.59106252e-05 1.04991607e+00] [-4.78751204e-04 1.82254048e-07 9.99999885e-01 -1.67489551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.70591999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:72.45, Y:1.05, Z:-1.67 [[ 9.99430260e-01 -3.37479771e-02 4.78474578e-04 7.24521184e+01] [ 3.37479732e-02 9.99430375e-01 1.62136873e-05 1.05217337e+00] [-4.78749206e-04 -5.69024643e-08 9.99999885e-01 -1.67444838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.73592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.48, Y:1.05, Z:-1.67 [[ 9.99423424e-01 -3.39498127e-02 4.78503303e-04 7.24814467e+01] [ 3.39498092e-02 9.99423539e-01 1.55007870e-05 1.05277382e+00] [-4.78753713e-04 7.53246178e-07 9.99999885e-01 -1.67287506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.76592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.51, Y:1.05, Z:-1.67 [[ 9.99356635e-01 -3.58620526e-02 4.78490364e-04 7.25103857e+01] [ 3.58620492e-02 9.99356750e-01 1.58190186e-05 1.05227708e+00] [-4.78749877e-04 1.35080378e-06 9.99999885e-01 -1.67291900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.79592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:72.54, Y:1.05, Z:-1.67 [[ 9.99338504e-01 -3.63638054e-02 4.78406041e-04 7.25400640e+01] [ 3.63638010e-02 9.99338618e-01 1.78851739e-05 1.05321853e+00] [-4.78740004e-04 -4.76680865e-07 9.99999885e-01 -1.66803313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.82592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.57, Y:1.06, Z:-1.67 [[ 9.99315590e-01 -3.69881460e-02 4.78399195e-04 7.25707626e+01] [ 3.69881416e-02 9.99315704e-01 1.80520950e-05 1.05595636e+00] [-4.78739542e-04 -3.44642769e-07 9.99999885e-01 -1.67378525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.85592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:72.60, Y:1.06, Z:-1.67 [[ 9.99306989e-01 -3.72198013e-02 4.78466725e-04 7.26007415e+01] [ 3.72197977e-02 9.99307103e-01 1.64077302e-05 1.05705724e+00] [-4.78745890e-04 1.41207526e-06 9.99999885e-01 -1.67415809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.88592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:72.63, Y:1.06, Z:-1.67 [[ 9.99308787e-01 -3.71714945e-02 4.78463299e-04 7.26303955e+01] [ 3.71714909e-02 9.99308901e-01 1.64908224e-05 1.05709923e+00] [-4.78745622e-04 1.30577046e-06 9.99999885e-01 -1.67057096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.91592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.66, Y:1.06, Z:-1.68 [[ 9.99239109e-01 -3.89996756e-02 4.78503596e-04 7.26587212e+01] [ 3.89996726e-02 9.99239223e-01 1.55264706e-05 1.05754262e+00] [-4.78745089e-04 3.14682693e-06 9.99999885e-01 -1.68472638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.94592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.69, Y:1.06, Z:-1.68 [[ 9.99270646e-01 -3.81830786e-02 4.78307966e-04 7.26879708e+01] [ 3.81830733e-02 9.99270760e-01 2.01664283e-05 1.05971680e+00] [-4.78729181e-04 -1.88845170e-06 9.99999885e-01 -1.68236361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.97592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.72, Y:1.06, Z:-1.68 [[ 9.99262333e-01 -3.84000015e-02 4.78379255e-04 7.27161863e+01] [ 3.83999971e-02 9.99262448e-01 1.84785180e-05 1.06165383e+00] [-4.78736000e-04 -9.51249924e-08 9.99999885e-01 -1.68331705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.00592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.75, Y:1.06, Z:-1.67 [[ 9.99222844e-01 -3.94142042e-02 4.78351080e-04 7.27465930e+01] [ 3.94141996e-02 9.99222958e-01 1.91426280e-05 1.06292275e+00] [-4.78733873e-04 -2.73926239e-07 9.99999885e-01 -1.66916981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.03591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.77, Y:1.06, Z:-1.67 [[ 9.99211761e-01 -3.96941815e-02 4.78374546e-04 7.27749279e+01] [ 3.96941772e-02 9.99211875e-01 1.85931713e-05 1.06402341e+00] [-4.78735568e-04 4.10168545e-07 9.99999885e-01 -1.66918346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.06591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.80, Y:1.07, Z:-1.67 [[ 9.99220692e-01 -3.94687242e-02 4.78369997e-04 7.28047061e+01] [ 3.94687198e-02 9.99220806e-01 1.86990784e-05 1.06537263e+00] [-4.78735283e-04 1.96145265e-07 9.99999885e-01 -1.67336437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.09591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.84, Y:1.07, Z:-1.68 [[ 9.99217725e-01 -3.95437680e-02 4.78324887e-04 7.28351833e+01] [ 3.95437631e-02 9.99217839e-01 1.97438143e-05 1.06720607e+00] [-4.78731505e-04 -8.13603229e-07 9.99999885e-01 -1.68177418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.12592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:72.87, Y:1.07, Z:-1.67 [[ 9.99164712e-01 -4.08613514e-02 4.78355042e-04 7.28655146e+01] [ 4.08613470e-02 9.99164826e-01 1.90464403e-05 1.06985639e+00] [-4.78733796e-04 5.15700318e-07 9.99999885e-01 -1.66633718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.15592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:72.89, Y:1.07, Z:-1.68 [[ 9.99066444e-01 -4.31973543e-02 4.78510162e-04 7.28945500e+01] [ 4.31973518e-02 9.99066559e-01 1.54765915e-05 1.07126704e+00] [-4.78732048e-04 5.20822852e-06 9.99999885e-01 -1.67616518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.18592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:72.92, Y:1.07, Z:-1.67 [[ 9.99012149e-01 -4.44353260e-02 4.78419637e-04 7.29249275e+01] [ 4.44353227e-02 9.99012263e-01 1.75505905e-05 1.07258957e+00] [-4.78726951e-04 3.72547777e-06 9.99999885e-01 -1.66614460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.21592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.95, Y:1.07, Z:-1.67 [[ 9.98904855e-01 -4.67852680e-02 4.78522333e-04 7.29535571e+01] [ 4.67852661e-02 9.98904970e-01 1.52084806e-05 1.07373543e+00] [-4.78709870e-04 7.19596959e-06 9.99999885e-01 -1.67254630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.24592 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:72.98, Y:1.08, Z:-1.67 [[ 9.98887443e-01 -4.71555655e-02 4.78381479e-04 7.29848906e+01] [ 4.71555621e-02 9.98887558e-01 1.83954188e-05 1.07580328e+00] [-4.78716753e-04 4.18339465e-06 9.99999885e-01 -1.66631640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.27592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.01, Y:1.08, Z:-1.67 [[ 9.98773328e-01 -4.95137311e-02 4.78452361e-04 7.30133862e+01] [ 4.95137287e-02 9.98773443e-01 1.68021614e-05 1.07787294e+00] [-4.78697450e-04 6.90840977e-06 9.99999885e-01 -1.66636470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.30592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:73.04, Y:1.08, Z:-1.67 [[ 9.98788300e-01 -4.92108018e-02 4.78409365e-04 7.30425145e+01] [ 4.92107989e-02 9.98788415e-01 1.77650871e-05 1.07972808e+00] [-4.78703965e-04 5.79934590e-06 9.99999885e-01 -1.66627071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.33592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.07, Y:1.08, Z:-1.67 [[ 9.98799942e-01 -4.89739356e-02 4.78441389e-04 7.30725302e+01] [ 4.89739330e-02 9.98800057e-01 1.70530925e-05 1.08083081e+00] [-4.78702443e-04 6.39852877e-06 9.99999885e-01 -1.67251675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.36592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:73.10, Y:1.08, Z:-1.67 [[ 9.98754549e-01 -4.98911075e-02 4.78445090e-04 7.31026681e+01] [ 4.98911051e-02 9.98754663e-01 1.69710269e-05 1.08178889e+00] [-4.78695968e-04 6.92026395e-06 9.99999885e-01 -1.66630819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.39591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.13, Y:1.08, Z:-1.67 [[ 9.98774230e-01 -4.94955380e-02 4.78426577e-04 7.31326642e+01] [ 4.94955354e-02 9.98774345e-01 1.73780872e-05 1.08187605e+00] [-4.78700328e-04 6.32319387e-06 9.99999885e-01 -1.66840292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.42591999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:73.16, Y:1.08, Z:-1.68 [[ 9.98688280e-01 -5.12004835e-02 4.78464175e-04 7.31606853e+01] [ 5.12004814e-02 9.98688395e-01 1.65554435e-05 1.08312877e+00] [-4.78684266e-04 7.96386869e-06 9.99999885e-01 -1.68172159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.45591999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:73.19, Y:1.09, Z:-1.67 [[ 9.98768334e-01 -4.96143860e-02 4.78208130e-04 7.31921677e+01] [ 4.96143811e-02 9.98768448e-01 2.20966824e-05 1.08505988e+00] [-4.78715505e-04 1.65653376e-06 9.99999885e-01 -1.66849755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.48592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.22, Y:1.09, Z:-1.67 [[ 9.98835171e-01 -4.82501007e-02 4.78379523e-04 7.32215487e+01] [ 4.82500974e-02 9.98835286e-01 1.83596277e-05 1.08655246e+00] [-4.78708201e-04 4.74361673e-06 9.99999885e-01 -1.66625649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.51592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.25, Y:1.09, Z:-1.67 [[ 9.98856650e-01 -4.78033872e-02 4.78426723e-04 7.32510669e+01] [ 4.78033843e-02 9.98856765e-01 1.73385323e-05 1.08742255e+00] [-4.78708609e-04 5.55170826e-06 9.99999885e-01 -1.66709286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.54592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:73.28, Y:1.09, Z:-1.67 [[ 9.98895708e-01 -4.69801575e-02 4.78389740e-04 7.32814406e+01] [ 4.69801542e-02 9.98895823e-01 1.81351965e-05 1.08940324e+00] [-4.78713508e-04 4.35965382e-06 9.99999885e-01 -1.66519300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.57592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.31, Y:1.09, Z:-1.68 [[ 9.98828545e-01 -4.83870758e-02 4.78430413e-04 7.33088497e+01] [ 4.83870730e-02 9.98828659e-01 1.72649572e-05 1.09186620e+00] [-4.78705409e-04 5.90511531e-06 9.99999885e-01 -1.67937862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.60592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.34, Y:1.10, Z:-1.68 [[ 9.98929156e-01 -4.62635169e-02 4.78186048e-04 7.33371869e+01] [ 4.62635115e-02 9.98929270e-01 2.24661991e-05 1.09516925e+00] [-4.78713405e-04 -3.19575547e-07 9.99999885e-01 -1.67865893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.63592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:73.37, Y:1.10, Z:-1.66 [[ 9.99102363e-01 -4.23584623e-02 4.78183050e-04 7.33692725e+01] [ 4.23584564e-02 9.99102478e-01 2.25298327e-05 1.09795714e+00] [-4.78708199e-04 -2.25451327e-06 9.99999885e-01 -1.66308216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.66592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:73.40, Y:1.10, Z:-1.66 [[ 9.99148105e-01 -4.12654205e-02 4.78446212e-04 7.33978792e+01] [ 4.12654171e-02 9.99148220e-01 1.69479340e-05 1.10124018e+00] [-4.78738045e-04 2.80978633e-06 9.99999885e-01 -1.66388432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.69592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.43, Y:1.11, Z:-1.68 [[ 9.99200996e-01 -3.99642402e-02 4.78378576e-04 7.34250334e+01] [ 3.99642360e-02 9.99201111e-01 1.83693643e-05 1.10750060e+00] [-4.78730522e-04 7.63347169e-07 9.99999885e-01 -1.67729751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.72592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.46, Y:1.11, Z:-1.66 [[ 9.99281006e-01 -3.79109757e-02 4.78159923e-04 7.34565984e+01] [ 3.79109691e-02 9.99281121e-01 2.29291221e-05 1.11126384e+00] [-4.78685449e-04 -4.78513017e-06 9.99999885e-01 -1.66416853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.75592 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:73.49, Y:1.12, Z:-1.66 [[ 9.99316664e-01 -3.69591147e-02 4.78371124e-04 7.34872116e+01] [ 3.69591100e-02 9.99316779e-01 1.85269564e-05 1.11507603e+00] [-4.78729031e-04 -8.34125201e-07 9.99999885e-01 -1.66272078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.78591999999999 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:73.52, Y:1.12, Z:-1.66 [[ 9.99291995e-01 -3.76202079e-02 4.78438960e-04 7.35158444e+01] [ 3.76202041e-02 9.99292109e-01 1.71244332e-05 1.11828237e+00] [-4.78744503e-04 8.86662297e-07 9.99999885e-01 -1.66268674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.81591999999999 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:73.55, Y:1.12, Z:-1.66 [[ 9.99341786e-01 -3.62734995e-02 4.78384831e-04 7.35459607e+01] [ 3.62734950e-02 9.99341900e-01 1.82385963e-05 1.12420227e+00] [-4.78731584e-04 -8.73901592e-07 9.99999885e-01 -1.66464669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.84591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.57, Y:1.13, Z:-1.68 [[ 9.99287122e-01 -3.77494257e-02 4.78446952e-04 7.35737437e+01] [ 3.77494219e-02 9.99287236e-01 1.69700018e-05 1.12755953e+00] [-4.78746540e-04 1.10319161e-06 9.99999885e-01 -1.67582916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.87592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:73.61, Y:1.13, Z:-1.66 [[ 9.99389163e-01 -3.49438534e-02 4.78122797e-04 7.36055611e+01] [ 3.49438462e-02 9.99389277e-01 2.35508924e-05 1.13234512e+00] [-4.78653755e-04 -6.82905717e-06 9.99999885e-01 -1.66381990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.90592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.64, Y:1.14, Z:-1.67 [[ 9.99389921e-01 -3.49221510e-02 4.78380365e-04 7.36354022e+01] [ 3.49221462e-02 9.99390036e-01 1.83223374e-05 1.13919506e+00] [-4.78728426e-04 -1.60509025e-06 9.99999885e-01 -1.67024335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.93592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:73.66, Y:1.14, Z:-1.67 [[ 9.99377341e-01 -3.52803152e-02 4.78307706e-04 7.36647239e+01] [ 3.52803097e-02 9.99377456e-01 1.97881343e-05 1.14290082e+00] [-4.78708070e-04 -2.90096906e-06 9.99999885e-01 -1.66631047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.96592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:73.69, Y:1.15, Z:-1.68 [[ 9.99195704e-01 -4.00963422e-02 4.78347106e-04 7.36926051e+01] [ 4.00963377e-02 9.99195818e-01 1.89965882e-05 1.14602305e+00] [-4.78724122e-04 1.98657809e-07 9.99999885e-01 -1.67557491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.99592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.72, Y:1.15, Z:-1.68 [[ 9.99095344e-01 -4.25237089e-02 4.78101454e-04 7.37216181e+01] [ 4.25237023e-02 9.99095458e-01 2.39088631e-05 1.14740515e+00] [-4.78685684e-04 -3.55658985e-06 9.99999885e-01 -1.67574777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.02592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:73.75, Y:1.15, Z:-1.67 [[ 9.99059766e-01 -4.33515281e-02 4.78098304e-04 7.37519848e+01] [ 4.33515216e-02 9.99059881e-01 2.39716871e-05 1.14857053e+00] [-4.78688043e-04 -3.22285915e-06 9.99999885e-01 -1.67123838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.05592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.78, Y:1.15, Z:-1.67 [[ 9.98999697e-01 -4.47143961e-02 4.78262507e-04 7.37801794e+01] [ 4.47143913e-02 9.98999811e-01 2.07076358e-05 1.15192361e+00] [-4.78710084e-04 6.98294979e-07 9.99999885e-01 -1.67432770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.08592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.81, Y:1.16, Z:-1.67 [[ 9.99017700e-01 -4.43103426e-02 4.78089586e-04 7.38088901e+01] [ 4.43103361e-02 9.99017814e-01 2.41332799e-05 1.15596923e+00] [-4.78689367e-04 -2.92526360e-06 9.99999885e-01 -1.67497386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.11592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.84, Y:1.16, Z:-1.68 [[ 9.99122501e-01 -4.18807710e-02 4.78086360e-04 7.38371341e+01] [ 4.18807643e-02 9.99122616e-01 2.41970128e-05 1.16174681e+00] [-4.78680284e-04 -4.15315778e-06 9.99999885e-01 -1.67526897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.14591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.87, Y:1.16, Z:-1.68 [[ 9.99171572e-01 -4.06932527e-02 4.78083169e-04 7.38659318e+01] [ 4.06932457e-02 9.99171687e-01 2.42598952e-05 1.16413278e+00] [-4.78674380e-04 -4.78504178e-06 9.99999885e-01 -1.67592076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.17591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.90, Y:1.17, Z:-1.67 [[ 9.99380307e-01 -3.51962023e-02 4.78079984e-04 7.38955339e+01] [ 3.51961947e-02 9.99380422e-01 2.43225112e-05 1.16847241e+00] [-4.78639836e-04 -7.48084250e-06 9.99999885e-01 -1.67240225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.20591999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:73.93, Y:1.17, Z:-1.67 [[ 9.99376180e-01 -3.53132072e-02 4.78208260e-04 7.39252829e+01] [ 3.53132008e-02 9.99376294e-01 2.18068283e-05 1.17113667e+00] [-4.78680068e-04 -4.90616048e-06 9.99999885e-01 -1.67253878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.23592 meters Centerline goodness : 0.978007 Centerline is valid? [True, True] Translation: X:73.99, Y:1.16, Z:-1.69 [[ 9.95982818e-01 -8.95432723e-02 4.78215462e-04 7.39938695e+01] [ 8.95432722e-02 9.95982933e-01 2.16658395e-05 1.15574921e+00] [-4.78234469e-04 2.12421734e-05 9.99999885e-01 -1.68512317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.26592 meters Centerline goodness : 0.808151 Centerline is valid? [True, False] Translation: X:73.99, Y:1.16, Z:-1.69 [[ 9.97120275e-01 -7.51029732e-02 1.05214179e-02 7.39876881e+01] [ 7.51254915e-02 9.97172532e-01 -1.76105115e-03 1.16071613e+00] [-1.03594088e-02 2.54640650e-03 9.99943098e-01 -1.68630238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.29592 meters Centerline goodness : 0.999801 Centerline is valid? [False, True] Translation: X:73.98, Y:1.17, Z:-1.69 [[ 9.97824713e-01 -6.21994632e-02 2.18419242e-02 7.39812212e+01] [ 6.22867075e-02 9.98052721e-01 -3.33636043e-03 1.16662820e+00] [-2.15918720e-02 4.68956443e-03 9.99755870e-01 -1.68613053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.32592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.01, Y:1.16, Z:-1.69 [[ 9.97840667e-01 -6.20634119e-02 2.14973688e-02 7.40123352e+01] [ 6.20466229e-02 9.98072202e-01 1.44774217e-03 1.16444645e+00] [-2.15457781e-02 -1.10776876e-04 9.99767857e-01 -1.69475575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.35592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.04, Y:1.17, Z:-1.70 [[ 9.97800702e-01 -6.27014279e-02 2.15009292e-02 7.40439022e+01] [ 6.26858529e-02 9.98032328e-01 1.39826743e-03 1.16721724e+00] [-2.15462958e-02 -4.73881358e-05 9.99767850e-01 -1.69547604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.38592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.08, Y:1.17, Z:-1.69 [[ 9.97900063e-01 -6.11002330e-02 2.14994274e-02 7.40765190e+01] [ 6.10838363e-02 9.98131630e-01 1.41915556e-03 1.17339853e+00] [-2.15459692e-02 -1.02907920e-04 9.99767853e-01 -1.69465793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.41592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.11, Y:1.18, Z:-1.70 [[ 9.97900165e-01 -6.10978137e-02 2.15015713e-02 7.41072428e+01] [ 6.10820606e-02 9.98131781e-01 1.38925693e-03 1.17781522e+00] [-2.15462822e-02 -7.29794363e-05 9.99767849e-01 -1.69655478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.44592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:74.14, Y:1.18, Z:-1.69 [[ 9.97826089e-01 -6.22982885e-02 2.14946140e-02 7.41402531e+01] [ 6.22807224e-02 9.98057565e-01 1.48634387e-03 1.18109428e+00] [-2.15454588e-02 -1.44412603e-04 9.99767859e-01 -1.68583266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.47592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.17, Y:1.18, Z:-1.70 [[ 9.97877028e-01 -6.14742361e-02 2.15024703e-02 7.41718596e+01] [ 6.14588469e-02 9.98108669e-01 1.37642352e-03 1.18387116e+00] [-2.15464166e-02 -5.19843760e-05 9.99767848e-01 -1.69577675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.50592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.20, Y:1.19, Z:-1.70 [[ 9.97784881e-01 -6.29518243e-02 2.15034458e-02 7.42022615e+01] [ 6.29370732e-02 9.98016567e-01 1.36273089e-03 1.18682832e+00] [-2.15465816e-02 -6.34833624e-06 9.99767845e-01 -1.69963530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.53591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.23, Y:1.19, Z:-1.70 [[ 9.97724348e-01 -6.39080311e-02 2.14915849e-02 7.42336236e+01] [ 6.38899108e-02 9.97955781e-01 1.52940726e-03 1.19253962e+00] [-2.15453928e-02 -1.52831414e-04 9.99767859e-01 -1.70078125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.56591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.27, Y:1.20, Z:-1.69 [[ 9.97686138e-01 -6.45015636e-02 2.14922810e-02 7.42665545e+01] [ 6.44837931e-02 9.97917597e-01 1.51956159e-03 1.19551613e+00] [-2.15455395e-02 -1.30141733e-04 9.99767859e-01 -1.68973369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.59591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.30, Y:1.20, Z:-1.70 [[ 9.97560090e-01 -6.64182815e-02 2.15053334e-02 7.42965980e+01] [ 6.64049449e-02 9.97791863e-01 1.33446393e-03 1.19782210e+00] [-2.15464794e-02 9.68525223e-05 9.99767843e-01 -1.70350854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.62592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:74.33, Y:1.20, Z:-1.69 [[ 9.97502420e-01 -6.72828715e-02 2.14927301e-02 7.43296481e+01] [ 6.72658781e-02 9.97733938e-01 1.51344968e-03 1.20094388e+00] [-2.15458555e-02 -6.39423603e-05 9.99767859e-01 -1.69103236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.65592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.36, Y:1.20, Z:-1.69 [[ 9.97397473e-01 -6.88182408e-02 2.15018920e-02 7.43610955e+01] [ 6.88044165e-02 9.97629210e-01 1.38294708e-03 1.20478261e+00] [-2.15460875e-02 1.00077210e-04 9.99767851e-01 -1.69417070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.68592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.39, Y:1.21, Z:-1.71 [[ 9.97308305e-01 -7.00980929e-02 2.15035447e-02 7.43923009e+01] [ 7.00850743e-02 9.97540092e-01 1.35937502e-03 1.20585650e+00] [-2.15459375e-02 1.51361531e-04 9.99767848e-01 -1.70523363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.71592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.42, Y:1.21, Z:-1.71 [[ 9.97090857e-01 -7.31277639e-02 2.14977221e-02 7.44242752e+01] [ 7.31136586e-02 9.97322572e-01 1.44243453e-03 1.20578419e+00] [-2.15456455e-02 1.33538833e-04 9.99767857e-01 -1.70593547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.74592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.46, Y:1.21, Z:-1.69 [[ 9.97115905e-01 -7.27857789e-02 2.14965882e-02 7.44566452e+01] [ 7.27712446e-02 9.97347592e-01 1.45864692e-03 1.20831628e+00] [-2.15457393e-02 1.09893434e-04 9.99767858e-01 -1.69370187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.77592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:74.49, Y:1.21, Z:-1.69 [[ 9.97030313e-01 -7.39472806e-02 2.15024285e-02 7.44883047e+01] [ 7.39348181e-02 9.97262128e-01 1.37508059e-03 1.21026386e+00] [-2.15452410e-02 2.18781109e-04 9.99767850e-01 -1.69441600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.80592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.52, Y:1.21, Z:-1.70 [[ 9.97022053e-01 -7.40591188e-02 2.15005492e-02 7.45204121e+01] [ 7.40461020e-02 9.97253834e-01 1.40198793e-03 1.21195860e+00] [-2.15453351e-02 1.94218983e-04 9.99767853e-01 -1.70492875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.83592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.55, Y:1.21, Z:-1.70 [[ 9.96982566e-01 -7.45887174e-02 2.15008420e-02 7.45530056e+01] [ 7.45759146e-02 9.97214360e-01 1.39777376e-03 1.21341209e+00] [-2.15452066e-02 2.09888886e-04 9.99767853e-01 -1.69500989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.86592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.59, Y:1.22, Z:-1.70 [[ 9.96974948e-01 -7.46906355e-02 2.15002883e-02 7.45851580e+01] [ 7.46776846e-02 9.97206732e-01 1.40574278e-03 1.21516163e+00] [-2.15452280e-02 2.04101415e-04 9.99767854e-01 -1.70334763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.89591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.62, Y:1.22, Z:-1.70 [[ 9.96978407e-01 -7.46438122e-02 2.15024721e-02 7.46185694e+01] [ 7.46315300e-02 9.97210232e-01 1.37422957e-03 1.21751322e+00] [-2.15450630e-02 2.34685188e-04 9.99767851e-01 -1.70407169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.92591999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:74.65, Y:1.22, Z:-1.71 [[ 9.96943529e-01 -7.51081939e-02 2.15025203e-02 7.46493104e+01] [ 7.50960347e-02 9.97175360e-01 1.37353384e-03 1.21932233e+00] [-2.15449471e-02 2.45418334e-04 9.99767851e-01 -1.71154834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.95591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.68, Y:1.22, Z:-1.70 [[ 9.97116274e-01 -7.27813281e-02 2.14945232e-02 7.46815219e+01] [ 7.27661388e-02 9.97347919e-01 1.48898061e-03 1.22310138e+00] [-2.15458879e-02 7.93866582e-05 9.99767857e-01 -1.69870996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.98592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.71, Y:1.23, Z:-1.71 [[ 9.97178236e-01 -7.19264868e-02 2.14975810e-02 7.47130005e+01] [ 7.19120538e-02 9.97409930e-01 1.44468640e-03 1.22507583e+00] [-2.15458120e-02 1.05325364e-04 9.99767856e-01 -1.71327532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.01592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.74, Y:1.23, Z:-1.71 [[ 9.97312058e-01 -7.00472180e-02 2.14952544e-02 7.47446610e+01] [ 7.00316193e-02 9.97543676e-01 1.47851202e-03 1.22765351e+00] [-2.15460208e-02 3.08096060e-05 9.99767857e-01 -1.70764728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.04592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.77, Y:1.23, Z:-1.70 [[ 9.97262668e-01 -7.07457551e-02 2.14990395e-02 7.47745896e+01] [ 7.07315076e-02 9.97494375e-01 1.42335522e-03 1.22879619e+00] [-2.15458673e-02 1.01200445e-04 9.99767856e-01 -1.70143389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.07592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.81, Y:1.23, Z:-1.70 [[ 9.97255565e-01 -7.08472947e-02 2.14941550e-02 7.48066076e+01] [ 7.08315379e-02 9.97487173e-01 1.49446819e-03 1.22924238e+00] [-2.15460229e-02 3.20973320e-05 9.99767857e-01 -1.70314320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.10592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.84, Y:1.23, Z:-1.70 [[ 9.97229371e-01 -7.12151372e-02 2.14938463e-02 7.48378764e+01] [ 7.11993686e-02 9.97460978e-01 1.49897707e-03 1.22983817e+00] [-2.15460228e-02 3.55243225e-05 9.99767857e-01 -1.70324145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.13592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.87, Y:1.23, Z:-1.70 [[ 9.97287050e-01 -7.04041846e-02 2.14892955e-02 7.48695673e+01] [ 7.03867909e-02 9.97518545e-01 1.56565007e-03 1.23151268e+00] [-2.15461991e-02 -4.88399935e-05 9.99767853e-01 -1.70370998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.16592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.90, Y:1.24, Z:-1.70 [[ 9.97371703e-01 -6.91943184e-02 2.14903078e-02 7.49011750e+01] [ 6.91769662e-02 9.97603199e-01 1.55069278e-03 1.23553738e+00] [-2.15460989e-02 -5.99828076e-05 9.99767854e-01 -1.70467911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.19592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.93, Y:1.24, Z:-1.71 [[ 9.97450829e-01 -6.80441376e-02 2.14904455e-02 7.49323438e+01] [ 6.80265626e-02 9.97682308e-01 1.54864698e-03 1.23903507e+00] [-2.15460136e-02 -8.27780736e-05 9.99767854e-01 -1.70818953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.22592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.96, Y:1.24, Z:-1.71 [[ 9.97546222e-01 -6.66300275e-02 2.14936121e-02 7.49635187e+01] [ 6.66131432e-02 9.97777748e-01 1.50135105e-03 1.24250986e+00] [-2.15458829e-02 -6.59100040e-05 9.99767858e-01 -1.70540218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.25592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.00, Y:1.24, Z:-1.72 [[ 9.97654956e-01 -6.49821830e-02 2.14919816e-02 7.49960350e+01] [ 6.49643898e-02 9.97886416e-01 1.52579411e-03 1.24461208e+00] [-2.15457059e-02 -1.26002591e-04 9.99767856e-01 -1.72104174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.28591999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:75.03, Y:1.25, Z:-1.71 [[ 9.97308480e-01 -7.00970926e-02 2.14987052e-02 7.50264217e+01] [ 7.00826738e-02 9.97540170e-01 1.42430875e-03 1.24586969e+00] [-2.15456619e-02 8.62115533e-05 9.99767862e-01 -1.70782385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.31591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.06, Y:1.25, Z:-1.71 [[ 9.97148528e-01 -7.23396751e-02 2.14891921e-02 7.50582756e+01] [ 7.23226752e-02 9.97380054e-01 1.56822625e-03 1.24760984e+00] [-2.15463366e-02 -9.59863452e-06 9.99767851e-01 -1.70783544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.34591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.09, Y:1.25, Z:-1.71 [[ 9.97089657e-01 -7.31471469e-02 2.14874513e-02 7.50897056e+01] [ 7.31297618e-02 9.97321159e-01 1.59479981e-03 1.25060323e+00] [-2.15465449e-02 -1.87862006e-05 9.99767846e-01 -1.70627327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.37592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.12, Y:1.25, Z:-1.72 [[ 9.97011486e-01 -7.42033729e-02 2.14931645e-02 7.51203145e+01] [ 7.41881291e-02 9.97243125e-01 1.50683695e-03 1.25322056e+00] [-2.15457229e-02 9.22039108e-05 9.99767860e-01 -1.72103276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.40592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.15, Y:1.26, Z:-1.72 [[ 9.96980533e-01 -7.46159472e-02 2.15006567e-02 7.51529284e+01] [ 7.46032959e-02 9.97212321e-01 1.39103493e-03 1.25556529e+00] [-2.15445132e-02 2.17185106e-04 9.99767866e-01 -1.72247496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.43592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.18, Y:1.26, Z:-1.71 [[ 9.96854412e-01 -7.62821908e-02 2.15013829e-02 7.51838078e+01] [ 7.62701710e-02 9.97086234e-01 1.37971855e-03 1.25593015e+00] [-2.15439808e-02 2.64535626e-04 9.99767867e-01 -1.71360507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.46592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.21, Y:1.26, Z:-1.72 [[ 9.96831249e-01 -7.65856591e-02 2.14964663e-02 7.52148282e+01] [ 7.65720522e-02 9.97062987e-01 1.45658989e-03 1.25623966e+00] [-2.15448848e-02 1.94054218e-04 9.99767863e-01 -1.72189039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.49592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.25, Y:1.26, Z:-1.72 [[ 9.96860048e-01 -7.62114294e-02 2.14910083e-02 7.52466404e+01] [ 7.61958874e-02 9.97091675e-01 1.54231241e-03 1.25633152e+00] [-2.15460473e-02 1.00056831e-04 9.99767852e-01 -1.71792582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.52592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.28, Y:1.25, Z:-1.72 [[ 9.96995102e-01 -7.44235944e-02 2.14917246e-02 7.52797900e+01] [ 7.44078818e-02 9.97226716e-01 1.53095487e-03 1.25461419e+00] [-2.15460611e-02 7.27991961e-05 9.99767854e-01 -1.72402796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.55592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.31, Y:1.25, Z:-1.72 [[ 9.96887670e-01 -7.58457803e-02 2.15032927e-02 7.53108567e+01] [ 7.58343823e-02 9.97119519e-01 1.34617679e-03 1.25399744e+00] [-2.15434547e-02 2.88701875e-04 9.99767871e-01 -1.71687799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.58592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.34, Y:1.25, Z:-1.71 [[ 9.96953535e-01 -7.49770299e-02 2.14963595e-02 7.53422087e+01] [ 7.49630331e-02 9.97185249e-01 1.45733038e-03 1.25436570e+00] [-2.15451189e-02 1.58541633e-04 9.99767864e-01 -1.71486440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.61592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.37, Y:1.25, Z:-1.72 [[ 9.96876874e-01 -7.59888204e-02 2.14987647e-02 7.53726682e+01] [ 7.59758959e-02 9.97108646e-01 1.41850605e-03 1.25450895e+00] [-2.15443947e-02 2.19312031e-04 9.99767869e-01 -1.72265388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.64591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.41, Y:1.25, Z:-1.71 [[ 9.97003208e-01 -7.43139651e-02 2.14950809e-02 7.54052085e+01] [ 7.42993669e-02 9.97234887e-01 1.47807580e-03 1.25302394e+00] [-2.15454863e-02 1.23424594e-04 9.99767861e-01 -1.71447684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.67591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.44, Y:1.25, Z:-1.72 [[ 9.97147753e-01 -7.23465169e-02 2.15021133e-02 7.54356831e+01] [ 7.23339296e-02 9.97379538e-01 1.36360061e-03 1.25342634e+00] [-2.15444196e-02 1.95621063e-04 9.99767873e-01 -1.71827971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.70591999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:75.47, Y:1.25, Z:-1.71 [[ 9.97191767e-01 -7.17376143e-02 2.15010164e-02 7.54684068e+01] [ 7.17244989e-02 9.97423525e-01 1.38152569e-03 1.25231386e+00] [-2.15447269e-02 1.64503581e-04 9.99767872e-01 -1.71282069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.73592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.50, Y:1.25, Z:-1.71 [[ 9.97278198e-01 -7.05253510e-02 2.15028086e-02 7.55003939e+01] [ 7.05125899e-02 9.97509973e-01 1.35202862e-03 1.25379221e+00] [-2.15446183e-02 1.67870056e-04 9.99767874e-01 -1.71464960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.76592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.53, Y:1.25, Z:-1.72 [[ 9.97342206e-01 -6.96134988e-02 2.15054410e-02 7.55293613e+01] [ 6.96014648e-02 9.97574019e-01 1.30847333e-03 1.25490781e+00] [-2.15443567e-02 1.91814522e-04 9.99767875e-01 -1.71755732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.79592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.56, Y:1.26, Z:-1.73 [[ 9.97428300e-01 -6.83709705e-02 2.14987408e-02 7.55616846e+01] [ 6.83562459e-02 9.97659966e-01 1.41989049e-03 1.25616524e+00] [-2.15455124e-02 5.33342547e-05 9.99767867e-01 -1.72850424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.82592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.59, Y:1.26, Z:-1.72 [[ 9.97543487e-01 -6.66667494e-02 2.15066602e-02 7.55929842e+01] [ 6.66544802e-02 9.97775286e-01 1.28761980e-03 1.25897888e+00] [-2.15446555e-02 1.49058508e-04 9.99767876e-01 -1.71733572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.85592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.62, Y:1.26, Z:-1.73 [[ 9.97633931e-01 -6.53000176e-02 2.15045963e-02 7.56236598e+01] [ 6.52866866e-02 9.97865673e-01 1.32214428e-03 1.26165324e+00] [-2.15450345e-02 8.49478462e-05 9.99767875e-01 -1.72654798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.88592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.66, Y:1.26, Z:-1.72 [[ 9.97767985e-01 -6.32190599e-02 2.15034342e-02 7.56556619e+01] [ 6.32048250e-02 9.97999674e-01 1.34166175e-03 1.26383046e+00] [-2.15452389e-02 2.04536534e-05 9.99767874e-01 -1.71590807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.91592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.69, Y:1.27, Z:-1.72 [[ 9.97877222e-01 -6.14690763e-02 2.15082071e-02 7.56873937e+01] [ 6.14561760e-02 9.98108986e-01 1.26087667e-03 1.26524267e+00] [-2.15450397e-02 6.36120508e-05 9.99767877e-01 -1.71764716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.94592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.72, Y:1.27, Z:-1.72 [[ 9.97941488e-01 -6.04162806e-02 2.15095366e-02 7.57192341e+01] [ 6.04036239e-02 9.98173266e-01 1.23823675e-03 1.26643261e+00] [-2.15450540e-02 6.35661319e-05 9.99767876e-01 -1.71943141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.97592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:75.75, Y:1.27, Z:-1.72 [[ 9.98091709e-01 -5.78819914e-02 2.15085158e-02 7.57517102e+01] [ 5.78683701e-02 9.98323432e-01 1.25568775e-03 1.26837142e+00] [-2.15451370e-02 -8.62878193e-06 9.99767877e-01 -1.72086454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.00592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.78, Y:1.27, Z:-1.72 [[ 9.98156901e-01 -5.67454029e-02 2.15118560e-02 7.57840834e+01] [ 5.67327533e-02 9.98388681e-01 1.19834773e-03 1.27175823e+00] [-2.15451942e-02 2.42877621e-05 9.99767875e-01 -1.72175535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.03591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.81, Y:1.28, Z:-1.73 [[ 9.98390351e-01 -5.24775139e-02 2.15132043e-02 7.58138211e+01] [ 5.24643749e-02 9.98622105e-01 1.17507733e-03 1.27810459e+00] [-2.15452265e-02 -4.45090501e-05 9.99767874e-01 -1.73274766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.06591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.85, Y:1.28, Z:-1.74 [[ 9.98472837e-01 -5.08857066e-02 2.15090209e-02 7.58455741e+01] [ 5.08706439e-02 9.98704472e-01 1.24722250e-03 1.28183586e+00] [-2.15446212e-02 -1.51140050e-04 9.99767876e-01 -1.73558788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.09591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.88, Y:1.29, Z:-1.74 [[ 9.98618324e-01 -4.79455960e-02 2.15095910e-02 7.58783837e+01] [ 4.79300648e-02 9.98849928e-01 1.23731116e-03 1.28513720e+00] [-2.15441771e-02 -2.04645509e-04 9.99767876e-01 -1.73886219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.12592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.91, Y:1.29, Z:-1.73 [[ 9.98598956e-01 -4.83470207e-02 2.15102385e-02 7.59104266e+01] [ 4.83318274e-02 9.98830582e-01 1.22595116e-03 1.28730283e+00] [-2.15443551e-02 -1.84604411e-04 9.99767876e-01 -1.72652143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.15592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.94, Y:1.29, Z:-1.72 [[ 9.98494588e-01 -5.04540369e-02 2.15162257e-02 7.59413883e+01] [ 5.04416058e-02 9.98726383e-01 1.12043015e-03 1.28979506e+00] [-2.15453525e-02 -3.34304642e-05 9.99767871e-01 -1.72459689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.18592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.97, Y:1.29, Z:-1.74 [[ 9.98435880e-01 -5.16028954e-02 2.15159321e-02 7.59720390e+01] [ 5.15906196e-02 9.98667683e-01 1.12559834e-03 1.29239024e+00] [-2.15453502e-02 -1.38175058e-05 9.99767872e-01 -1.73829073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.21592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.00, Y:1.30, Z:-1.73 [[ 9.98362461e-01 -5.30065218e-02 2.15106005e-02 7.60029835e+01] [ 5.29925456e-02 9.98594163e-01 1.21963218e-03 1.29630924e+00] [-2.15450086e-02 -7.77335044e-05 9.99767876e-01 -1.72618116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.24592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.04, Y:1.30, Z:-1.73 [[ 9.98333233e-01 -5.35532088e-02 2.15129970e-02 7.60351854e+01] [ 5.35402727e-02 9.98564997e-01 1.17724968e-03 1.29958673e+00] [-2.15451713e-02 -2.34757482e-05 9.99767876e-01 -1.72803981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.27592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.07, Y:1.30, Z:-1.74 [[ 9.98349780e-01 -5.32440261e-02 2.15125475e-02 7.60667415e+01] [ 5.32308465e-02 9.98581530e-01 1.18522050e-03 1.30278735e+00] [-2.15451385e-02 -3.81335107e-05 9.99767876e-01 -1.74138818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.30592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.10, Y:1.31, Z:-1.74 [[ 9.98411185e-01 -5.20804340e-02 2.15112332e-02 7.61000683e+01] [ 5.20664804e-02 9.98642890e-01 1.20861195e-03 1.30553733e+00] [-2.15449852e-02 -8.66774828e-05 9.99767876e-01 -1.74312090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.33592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:76.13, Y:1.31, Z:-1.73 [[ 9.98413955e-01 -5.20270487e-02 2.15118700e-02 7.61326716e+01] [ 5.20133292e-02 9.98645673e-01 1.19716980e-03 1.30584649e+00] [-2.15450211e-02 -7.63670614e-05 9.99767876e-01 -1.72903338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.36592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.17, Y:1.31, Z:-1.73 [[ 9.98352860e-01 -5.31841389e-02 2.15177610e-02 7.61650052e+01] [ 5.31729778e-02 9.98584721e-01 1.09091191e-03 1.30759779e+00] [-2.15453265e-02 5.50484028e-05 9.99767871e-01 -1.72897335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.39591999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:76.20, Y:1.31, Z:-1.73 [[ 9.98278897e-01 -5.45546944e-02 2.15181029e-02 7.61974728e+01] [ 5.45439853e-02 9.98510780e-01 1.08471220e-03 1.30958270e+00] [-2.15452339e-02 9.08377866e-05 9.99767870e-01 -1.72888444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.42591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.23, Y:1.31, Z:-1.73 [[ 9.98113277e-01 -5.75057179e-02 2.15169451e-02 7.62274179e+01] [ 5.74952410e-02 9.98345168e-01 1.10574489e-03 1.31049562e+00] [-2.15449248e-02 1.33463285e-04 9.99767872e-01 -1.73440057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.45591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.26, Y:1.31, Z:-1.74 [[ 9.98096745e-01 -5.77943624e-02 2.15104301e-02 7.62579349e+01] [ 5.77813917e-02 9.98328509e-01 1.22455078e-03 1.31138551e+00] [-2.15452478e-02 2.06824399e-05 9.99767874e-01 -1.74433628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.48592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.29, Y:1.31, Z:-1.73 [[ 9.98068092e-01 -5.82860928e-02 2.15131342e-02 7.62898058e+01] [ 5.82743033e-02 9.98299917e-01 1.17504392e-03 1.31302025e+00] [-2.15450488e-02 8.08890634e-05 9.99767875e-01 -1.73149846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.51592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:76.32, Y:1.31, Z:-1.73 [[ 9.98053239e-01 -5.85393987e-02 2.15144444e-02 7.63221132e+01] [ 5.85281879e-02 9.98285093e-01 1.15092729e-03 1.31436070e+00] [-2.15449237e-02 1.10514734e-04 9.99767875e-01 -1.73201521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.54592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.35, Y:1.31, Z:-1.74 [[ 9.97957095e-01 -6.01557720e-02 2.15155686e-02 7.63530667e+01] [ 6.01453860e-02 9.98188988e-01 1.13008610e-03 1.31473885e+00] [-2.15445848e-02 1.66284738e-04 9.99767875e-01 -1.74341875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.57592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.39, Y:1.32, Z:-1.74 [[ 9.97990119e-01 -5.96055807e-02 2.15150423e-02 7.63859251e+01] [ 5.95948563e-02 9.98221996e-01 1.13985750e-03 1.31622350e+00] [-2.15447303e-02 1.44619323e-04 9.99767875e-01 -1.74015393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.60592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.42, Y:1.32, Z:-1.74 [[ 9.97952505e-01 -6.02310987e-02 2.15177486e-02 7.64167508e+01] [ 6.02216086e-02 9.98184437e-01 1.08934378e-03 1.31844455e+00] [-2.15442941e-02 2.08720080e-04 9.99767873e-01 -1.73723901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.63592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.45, Y:1.32, Z:-1.74 [[ 9.97963699e-01 -6.00456884e-02 2.15167601e-02 7.64480886e+01] [ 6.00357570e-02 9.98195612e-01 1.10781215e-03 1.32114348e+00] [-2.15444549e-02 1.86218676e-04 9.99767874e-01 -1.73560377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.66592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:76.48, Y:1.32, Z:-1.74 [[ 9.97924014e-01 -6.07013854e-02 2.15175194e-02 7.64783369e+01] [ 6.06919141e-02 9.98155948e-01 1.09354413e-03 1.32245261e+00] [-2.15442196e-02 2.14665493e-04 9.99767873e-01 -1.73945570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.69592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.51, Y:1.33, Z:-1.75 [[ 9.97871954e-01 -6.15524217e-02 2.15142313e-02 7.65092143e+01] [ 6.15418178e-02 9.98103837e-01 1.15525306e-03 1.32592981e+00] [-2.15445454e-02 1.71230269e-04 9.99767875e-01 -1.74795000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.72592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.54, Y:1.33, Z:-1.74 [[ 9.97890192e-01 -6.12557362e-02 2.15150899e-02 7.65402045e+01] [ 6.12454129e-02 9.98122088e-01 1.13903575e-03 1.32911969e+00] [-2.15444589e-02 1.81067958e-04 9.99767875e-01 -1.73817568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.75592 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:76.57, Y:1.33, Z:-1.73 [[ 9.97934496e-01 -6.05289906e-02 2.15170394e-02 7.65717385e+01] [ 6.05192951e-02 9.98166419e-01 1.10208501e-03 1.33210042e+00] [-2.15442943e-02 2.02387413e-04 9.99767874e-01 -1.73452420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.78591999999999 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:76.60, Y:1.33, Z:-1.74 [[ 9.97877384e-01 -6.14636141e-02 2.15163020e-02 7.66028922e+01] [ 6.14538336e-02 9.98109303e-01 1.11609993e-03 1.33337332e+00] [-2.15442207e-02 2.08528367e-04 9.99767875e-01 -1.73593078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.81591999999999 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:76.63, Y:1.34, Z:-1.74 [[ 9.97893474e-01 -6.12022206e-02 2.15151846e-02 7.66344793e+01] [ 6.11919201e-02 9.98125371e-01 1.13739828e-03 1.33513876e+00] [-2.15444629e-02 1.81553144e-04 9.99767875e-01 -1.73661076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.84591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.67, Y:1.34, Z:-1.74 [[ 9.97868564e-01 -6.16069179e-02 2.15154854e-02 7.66653077e+01] [ 6.15968357e-02 9.98100471e-01 1.13163614e-03 1.33823669e+00] [-2.15443327e-02 1.96061690e-04 9.99767875e-01 -1.74354714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.87592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.70, Y:1.34, Z:-1.74 [[ 9.97851197e-01 -6.18871907e-02 2.15165839e-02 7.66980285e+01] [ 6.18776303e-02 9.98083126e-01 1.11045630e-03 1.34043964e+00] [-2.15440623e-02 2.23325076e-04 9.99767875e-01 -1.73981657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.90592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:76.73, Y:1.34, Z:-1.74 [[ 9.97884784e-01 -6.13434669e-02 2.15159764e-02 7.67296960e+01] [ 6.13335269e-02 9.98116696e-01 1.12220632e-03 1.34310658e+00] [-2.15442953e-02 1.99818104e-04 9.99767875e-01 -1.74214002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.93592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.76, Y:1.35, Z:-1.74 [[ 9.97958488e-01 -6.01326758e-02 2.15155172e-02 7.67626652e+01] [ 6.01222620e-02 9.98190380e-01 1.13112746e-03 1.34769162e+00] [-2.15446000e-02 1.64743309e-04 9.99767875e-01 -1.74288514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.96592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:76.79, Y:1.35, Z:-1.74 [[ 9.97982144e-01 -5.97373215e-02 2.15195778e-02 7.67942135e+01] [ 5.97285323e-02 9.98214104e-01 1.05151570e-03 1.35152465e+00] [-2.15439608e-02 2.35938906e-04 9.99767874e-01 -1.74248369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.99592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.82, Y:1.36, Z:-1.75 [[ 9.98049605e-01 -5.85997708e-02 2.15186492e-02 7.68240860e+01] [ 5.85903230e-02 9.98281538e-01 1.06979961e-03 1.35676697e+00] [-2.15443602e-02 1.93071523e-04 9.99767875e-01 -1.74745526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.02592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:76.86, Y:1.36, Z:-1.74 [[ 9.98130801e-01 -5.72005379e-02 2.15175109e-02 7.68578031e+01] [ 5.71902805e-02 9.98362699e-01 1.09227120e-03 1.36046794e+00] [-2.15447588e-02 1.40362962e-04 9.99767875e-01 -1.74457292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.05592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.89, Y:1.36, Z:-1.74 [[ 9.98158320e-01 -5.67162193e-02 2.15229813e-02 7.68900175e+01] [ 5.67081927e-02 9.98390311e-01 9.83575519e-04 1.36476784e+00] [-2.15441207e-02 2.38765285e-04 9.99767870e-01 -1.74495433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.08592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.92, Y:1.37, Z:-1.75 [[ 9.98149631e-01 -5.68692695e-02 2.15220772e-02 7.69220711e+01] [ 5.68608902e-02 9.98381608e-01 1.00158429e-03 1.36973975e+00] [-2.15442054e-02 2.24033475e-04 9.99767872e-01 -1.74666970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.11592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.95, Y:1.37, Z:-1.76 [[ 9.98069520e-01 -5.82580564e-02 2.15228298e-02 7.69527064e+01] [ 5.82503250e-02 9.98301521e-01 9.86506935e-04 1.37185744e+00] [-2.15437457e-02 2.69109328e-04 9.99767870e-01 -1.75930533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.14591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.98, Y:1.38, Z:-1.75 [[ 9.97930147e-01 -6.06001008e-02 2.15185879e-02 7.69847089e+01] [ 6.05910772e-02 9.98162097e-01 1.07168274e-03 1.37522353e+00] [-2.15439829e-02 2.34369909e-04 9.99767874e-01 -1.74650873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.17591999999999 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:77.02, Y:1.38, Z:-1.75 [[ 9.97827793e-01 -6.22613022e-02 2.15226964e-02 7.70171676e+01] [ 6.22544564e-02 9.98059821e-01 9.88594713e-04 1.37889523e+00] [-2.15424897e-02 3.53436485e-04 9.99767871e-01 -1.74571228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.20591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.05, Y:1.38, Z:-1.75 [[ 9.97699143e-01 -6.42893894e-02 2.15242798e-02 7.70479122e+01] [ 6.42837062e-02 9.97931205e-01 9.56562937e-04 1.38136550e+00] [-2.15412473e-02 4.29298455e-04 9.99767868e-01 -1.74727008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.23592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.08, Y:1.38, Z:-1.75 [[ 9.97559524e-01 -6.64217563e-02 2.15208307e-02 7.70800003e+01] [ 6.64150662e-02 9.97791554e-01 1.02624741e-03 1.38098464e+00] [-2.15414683e-02 4.05564517e-04 9.99767873e-01 -1.74973451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.26592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.11, Y:1.38, Z:-1.75 [[ 9.97537414e-01 -6.67530909e-02 2.15205223e-02 7.71125586e+01] [ 6.67463431e-02 9.97769442e-01 1.03249319e-03 1.38218999e+00] [-2.15414417e-02 4.06465579e-04 9.99767874e-01 -1.74934837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.29592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.14, Y:1.39, Z:-1.75 [[ 9.97432195e-01 -6.83070829e-02 2.15211442e-02 7.71446523e+01] [ 6.83009704e-02 9.97664241e-01 1.01979892e-03 1.38685763e+00] [-2.15405354e-02 4.52734759e-04 9.99767873e-01 -1.75060047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.32592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.18, Y:1.39, Z:-1.76 [[ 9.97409604e-01 -6.86367335e-02 2.15193032e-02 7.71769403e+01] [ 6.86298815e-02 9.97641629e-01 1.05764393e-03 1.38986002e+00] [-2.15411459e-02 4.21963011e-04 9.99767874e-01 -1.76317531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.35592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.21, Y:1.39, Z:-1.75 [[ 9.97348227e-01 -6.95225986e-02 2.15202777e-02 7.72085949e+01] [ 6.95163886e-02 9.97580270e-01 1.03742954e-03 1.38980852e+00] [-2.15403292e-02 4.61333477e-04 9.99767874e-01 -1.75228611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.38592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.24, Y:1.39, Z:-1.75 [[ 9.97232476e-01 -7.11645776e-02 2.15172612e-02 7.72406647e+01] [ 7.11573959e-02 9.97464493e-01 1.10019722e-03 1.38692804e+00] [-2.15409991e-02 4.33959874e-04 9.99767872e-01 -1.75300572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.41592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.27, Y:1.39, Z:-1.75 [[ 9.97350398e-01 -6.94920595e-02 2.15183007e-02 7.72727786e+01] [ 6.94849596e-02 9.97582416e-01 1.07836172e-03 1.38735850e+00] [-2.15412160e-02 4.19693767e-04 9.99767873e-01 -1.75378737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.44592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.30, Y:1.39, Z:-1.77 [[ 9.97292084e-01 -7.03225945e-02 2.15228406e-02 7.73037987e+01] [ 7.03177575e-02 9.97524159e-01 9.82400256e-04 1.38791786e+00] [-2.15386384e-02 5.33697885e-04 9.99767874e-01 -1.76602752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.47592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.34, Y:1.39, Z:-1.77 [[ 9.97325148e-01 -6.98525476e-02 2.15214221e-02 7.73364266e+01] [ 6.98469510e-02 9.97557205e-01 1.01254937e-03 1.38879955e+00] [-2.15395788e-02 4.93364765e-04 9.99767875e-01 -1.76641829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.50592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:77.37, Y:1.39, Z:-1.76 [[ 9.97470270e-01 -6.77485596e-02 2.15219296e-02 7.73682304e+01] [ 6.77427086e-02 9.97702321e-01 1.00164549e-03 1.38934763e+00] [-2.15403391e-02 4.58842205e-04 9.99767875e-01 -1.75569888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.53591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.40, Y:1.39, Z:-1.77 [[ 9.97512246e-01 -6.71268124e-02 2.15246333e-02 7.73989786e+01] [ 6.71220728e-02 9.97744325e-01 9.43408658e-04 1.38854536e+00] [-2.15394088e-02 5.03716317e-04 9.99767873e-01 -1.76956355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.56591999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:77.43, Y:1.39, Z:-1.77 [[ 9.97720704e-01 -6.39546754e-02 2.15220142e-02 7.74323531e+01] [ 6.39479820e-02 9.97952732e-01 9.99790284e-04 1.38868820e+00] [-2.15418942e-02 3.78777912e-04 9.99767875e-01 -1.76944681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.59591999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:77.47, Y:1.39, Z:-1.76 [[ 9.98025005e-01 -5.90158526e-02 2.15225243e-02 7.74651412e+01] [ 5.90082503e-02 9.98257005e-01 9.88685967e-04 1.38573462e+00] [-2.15433588e-02 2.83273185e-04 9.99767875e-01 -1.75766329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.62592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.50, Y:1.39, Z:-1.77 [[ 9.98127098e-01 -5.72622278e-02 2.15251782e-02 7.74964855e+01] [ 5.72554664e-02 9.98359126e-01 9.30777342e-04 1.38592326e+00] [-2.15431565e-02 3.03400031e-04 9.99767873e-01 -1.77112538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.65592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.53, Y:1.39, Z:-1.76 [[ 9.98238830e-01 -5.52811074e-02 2.15229586e-02 7.75278281e+01] [ 5.52728340e-02 9.98470808e-01 9.79549171e-04 1.38548578e+00] [-2.15441964e-02 2.11810898e-04 9.99767874e-01 -1.76108688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.68592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:77.56, Y:1.38, Z:-1.76 [[ 9.98520749e-01 -4.99312253e-02 2.15217628e-02 7.75612862e+01] [ 4.99211401e-02 9.98752656e-01 1.00594642e-03 1.38339126e+00] [-2.15451459e-02 6.99325580e-05 9.99767874e-01 -1.76097320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.71592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:77.59, Y:1.38, Z:-1.77 [[ 9.98640228e-01 -4.74787780e-02 2.15281588e-02 7.75928128e+01] [ 4.74711996e-02 9.98872234e-01 8.63217187e-04 1.38227931e+00] [-2.15448646e-02 1.59924117e-04 9.99767870e-01 -1.76507709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.74592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.63, Y:1.38, Z:-1.76 [[ 9.98758721e-01 -4.49182520e-02 2.15259930e-02 7.76253601e+01] [ 4.49090310e-02 9.98990664e-01 9.11831052e-04 1.38261409e+00] [-2.15452239e-02 5.60122718e-05 9.99767873e-01 -1.76106902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.77592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.66, Y:1.38, Z:-1.78 [[ 9.98858509e-01 -4.26411242e-02 2.15270525e-02 7.76563530e+01] [ 4.26318906e-02 9.99090453e-01 8.87882253e-04 1.38266286e+00] [-2.15453329e-02 3.08702013e-05 9.99767872e-01 -1.77555217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.80592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.69, Y:1.38, Z:-1.77 [[ 9.99052334e-01 -3.78302471e-02 2.15245545e-02 7.76890299e+01] [ 3.78186704e-02 9.99284172e-01 9.44791452e-04 1.38144468e+00] [-2.15448883e-02 -1.29866072e-04 9.99767874e-01 -1.76659247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.83592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.72, Y:1.38, Z:-1.77 [[ 9.99102200e-01 -3.64849930e-02 2.15322800e-02 7.77206059e+01] [ 3.64768991e-02 9.99334201e-01 7.68668737e-04 1.38122192e+00] [-2.15459887e-02 1.74521789e-05 9.99767858e-01 -1.76525272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.86592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.75, Y:1.38, Z:-1.78 [[ 9.99149353e-01 -3.51683150e-02 2.15351074e-02 7.77501768e+01] [ 3.51612970e-02 9.99381402e-01 7.04560695e-04 1.38001238e+00] [-2.15465640e-02 5.32409444e-05 9.99767844e-01 -1.77653877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.89591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.78, Y:1.38, Z:-1.78 [[ 9.99217656e-01 -3.31779932e-02 2.15243089e-02 7.77827357e+01] [ 3.31652380e-02 9.99449431e-01 9.49393986e-04 1.38092040e+00] [-2.15439573e-02 -2.34792405e-04 9.99767874e-01 -1.77763318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.92591999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:77.82, Y:1.38, Z:-1.77 [[ 9.99333357e-01 -2.94877639e-02 2.15247377e-02 7.78167464e+01] [ 2.94743644e-02 9.99565095e-01 9.39570362e-04 1.38266744e+00] [-2.15430823e-02 -3.04516039e-04 9.99767874e-01 -1.76502146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.95591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.85, Y:1.39, Z:-1.78 [[ 9.99380487e-01 -2.78364213e-02 2.15354374e-02 7.78459775e+01] [ 2.78279515e-02 9.99612487e-01 6.92930901e-04 1.38514068e+00] [-2.15463808e-02 -9.32145153e-05 9.99767845e-01 -1.77882940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.98592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:77.88, Y:1.39, Z:-1.77 [[ 9.99486004e-01 -2.37572181e-02 2.15249472e-02 7.78803249e+01] [ 2.37425980e-02 9.99717668e-01 9.34556456e-04 1.38917081e+00] [-2.15410725e-02 -4.23017926e-04 9.99767875e-01 -1.76513519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.01592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.91, Y:1.39, Z:-1.77 [[ 9.99516606e-01 -2.24200067e-02 2.15382811e-02 7.79125729e+01] [ 2.24117264e-02 9.99748630e-01 6.25784514e-04 1.39184158e+00] [-2.15468972e-02 -1.42771950e-04 9.99767828e-01 -1.76682897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.04592 meters Centerline goodness : 0.957451 Centerline is valid? [True, True] Translation: X:77.91, Y:1.34, Z:-1.79 [[ 9.91294392e-01 -1.29890256e-01 2.15395185e-02 7.79052690e+01] [ 1.29907610e-01 9.91525923e-01 5.97518812e-04 1.34393191e+00] [-2.14346028e-02 2.20583032e-03 9.99767819e-01 -1.78568951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.07592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.96, Y:1.39, Z:-1.78 [[ 9.99480681e-01 -2.41031699e-02 2.13870173e-02 7.79627171e+01] [ 2.40278213e-02 9.99704170e-01 3.77314376e-03 1.39140836e+00] [-2.14716351e-02 -3.25730087e-03 9.99764152e-01 -1.78202923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.10592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.00, Y:1.40, Z:-1.78 [[ 9.99427650e-01 -2.61111389e-02 2.15076895e-02 7.79954605e+01] [ 2.60977313e-02 9.99658988e-01 9.03879210e-04 1.39699460e+00] [-2.15239564e-02 -3.42059974e-04 9.99768274e-01 -1.78238911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.13592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.03, Y:1.40, Z:-1.78 [[ 9.99269882e-01 -3.15769471e-02 2.15081449e-02 7.80276645e+01] [ 3.15650411e-02 9.99501301e-01 8.92907560e-04 1.39803847e+00] [-2.15256141e-02 -2.13350153e-04 9.99768274e-01 -1.78380967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.16592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.06, Y:1.40, Z:-1.77 [[ 9.99178689e-01 -3.43413745e-02 2.15085442e-02 7.80610219e+01] [ 3.43303181e-02 9.99410151e-01 8.83184166e-04 1.39916470e+00] [-2.15261872e-02 -1.44063632e-04 9.99768274e-01 -1.77001979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.19592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.09, Y:1.40, Z:-1.78 [[ 9.99021656e-01 -3.86366114e-02 2.15161107e-02 7.80909698e+01] [ 3.86305412e-02 9.99253318e-01 6.97841306e-04 1.39923437e+00] [-2.15270072e-02 1.34020425e-04 9.99768258e-01 -1.77623641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.22592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.12, Y:1.40, Z:-1.79 [[ 9.98755322e-01 -4.50007229e-02 2.15114377e-02 7.81214460e+01] [ 4.49936629e-02 9.98986942e-01 8.12322716e-04 1.39556686e+00] [-2.15262005e-02 1.56566740e-04 9.99768272e-01 -1.78829097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.25592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:78.15, Y:1.40, Z:-1.78 [[ 9.98701605e-01 -4.61787579e-02 2.15087717e-02 7.81539019e+01] [ 4.61705639e-02 9.98933185e-01 8.77659824e-04 1.39617728e+00] [-2.15263550e-02 1.16551843e-04 9.99768274e-01 -1.77594284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.28591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.19, Y:1.40, Z:-1.79 [[ 9.98669225e-01 -4.68722988e-02 2.15119940e-02 7.81850208e+01] [ 4.68659834e-02 9.98900867e-01 7.97910406e-04 1.39884557e+00] [-2.15257494e-02 2.11332188e-04 9.99768272e-01 -1.78917357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.31591999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:78.22, Y:1.40, Z:-1.78 [[ 9.98800620e-01 -4.39849691e-02 2.15091652e-02 7.82184109e+01] [ 4.39764744e-02 9.99032190e-01 8.68010709e-04 1.39951065e+00] [-2.15265278e-02 7.89276155e-05 9.99768274e-01 -1.77693160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.34591999999999 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:78.25, Y:1.40, Z:-1.78 [[ 9.98901282e-01 -4.16327407e-02 2.15161434e-02 7.82518683e+01] [ 4.16274412e-02 9.99132961e-01 6.94323558e-04 1.40011444e+00] [-2.15263946e-02 2.02101301e-04 9.99768260e-01 -1.77672551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.37592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:78.28, Y:1.40, Z:-1.79 [[ 9.99014716e-01 -3.88149614e-02 2.15173248e-02 7.82817363e+01] [ 3.88096424e-02 9.99246401e-01 6.64887048e-04 1.39917060e+00] [-2.15269169e-02 1.70847734e-04 9.99768254e-01 -1.79088511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.40592 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:78.31, Y:1.40, Z:-1.78 [[ 9.99101260e-01 -3.65241181e-02 2.15095508e-02 7.83139978e+01] [ 3.65140782e-02 9.99332769e-01 8.59455226e-04 1.40107484e+00] [-2.15265898e-02 -7.32813782e-05 9.99768273e-01 -1.77762233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.43592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.34, Y:1.40, Z:-1.79 [[ 9.99119333e-01 -3.60242949e-02 2.15129640e-02 7.83448408e+01] [ 3.60159951e-02 9.99350914e-01 7.73259713e-04 1.40287756e+00] [-2.15268563e-02 2.23207443e-06 9.99768270e-01 -1.79439384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.46592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.38, Y:1.40, Z:-1.78 [[ 9.99215202e-01 -3.32611354e-02 2.15099059e-02 7.83789865e+01] [ 3.32505303e-02 9.99446686e-01 8.50592828e-04 1.40341402e+00] [-2.15262959e-02 -1.34709505e-04 9.99768273e-01 -1.77994211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.49592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:78.41, Y:1.40, Z:-1.78 [[ 9.99183112e-01 -3.42052045e-02 2.15200672e-02 7.84106295e+01] [ 3.42003755e-02 9.99414820e-01 5.92499265e-04 1.40474247e+00] [-2.15277407e-02 1.43979120e-04 9.99768241e-01 -1.77960565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.52592 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:78.44, Y:1.41, Z:-1.78 [[ 9.99209861e-01 -3.34163399e-02 2.15174976e-02 7.84428346e+01] [ 3.34099189e-02 9.99441516e-01 6.57929537e-04 1.40894549e+00] [-2.15274660e-02 6.14881686e-05 9.99768255e-01 -1.78007918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.55592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.47, Y:1.41, Z:-1.79 [[ 9.99189906e-01 -3.40077426e-02 2.15175569e-02 7.84723579e+01] [ 3.40014915e-02 9.99421567e-01 6.56409523e-04 1.41169397e+00] [-2.15274334e-02 7.57512579e-05 9.99768255e-01 -1.79367627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.58592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.51, Y:1.41, Z:-1.78 [[ 9.99287696e-01 -3.10064507e-02 2.15104867e-02 7.85068940e+01] [ 3.09955961e-02 9.99519170e-01 8.37920950e-04 1.41438920e+00] [-2.15261247e-02 -1.70593739e-04 9.99768272e-01 -1.78319579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.61592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:78.54, Y:1.42, Z:-1.78 [[ 9.99301778e-01 -3.05430669e-02 2.15192299e-02 7.85374856e+01] [ 3.05369783e-02 9.99533451e-01 6.11562379e-04 1.41576546e+00] [-2.15278691e-02 4.59968854e-05 9.99768248e-01 -1.78401354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.64591999999999 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:78.57, Y:1.42, Z:-1.78 [[ 9.99334543e-01 -2.94523769e-02 2.15181180e-02 7.85699821e+01] [ 2.94454156e-02 9.99566185e-01 6.40348571e-04 1.41932244e+00] [-2.15276429e-02 -6.31252101e-06 9.99768253e-01 -1.78185118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.67591999999999 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:78.60, Y:1.42, Z:-1.78 [[ 9.99338239e-01 -2.93266049e-02 2.15182448e-02 7.86030451e+01] [ 2.93196853e-02 9.99569883e-01 6.37057455e-04 1.42130838e+00] [-2.15276722e-02 -5.72770897e-06 9.99768253e-01 -1.78316687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.70591999999999 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:78.63, Y:1.42, Z:-1.78 [[ 9.99340227e-01 -2.92575321e-02 2.15199199e-02 7.86346795e+01] [ 2.92515339e-02 9.99571906e-01 5.93522248e-04 1.42269058e+00] [-2.15280723e-02 3.63600079e-05 9.99768244e-01 -1.78385273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.73592 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:78.66, Y:1.42, Z:-1.79 [[ 9.99291761e-01 -3.08686235e-02 2.15198419e-02 7.86649859e+01] [ 3.08629553e-02 9.99523448e-01 5.95547755e-04 1.42386167e+00] [-2.15279704e-02 6.90399544e-05 9.99768244e-01 -1.78800503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.76592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:78.70, Y:1.42, Z:-1.79 [[ 9.99193279e-01 -3.39086976e-02 2.15172520e-02 7.86972575e+01] [ 3.39022970e-02 9.99424932e-01 6.62286145e-04 1.42320018e+00] [-2.15273354e-02 6.77324039e-05 9.99768258e-01 -1.79166561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.79592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:78.73, Y:1.42, Z:-1.79 [[ 9.99115641e-01 -3.61243360e-02 2.15167019e-02 7.87279081e+01] [ 3.61181441e-02 9.99347298e-01 6.76446246e-04 1.42387517e+00] [-2.15270941e-02 1.01295315e-04 9.99768260e-01 -1.78726063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.82592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:78.76, Y:1.42, Z:-1.79 [[ 9.98944392e-01 -4.05850559e-02 2.15164067e-02 7.87586972e+01] [ 4.05797354e-02 9.99176069e-01 6.84014759e-04 1.42458959e+00] [-2.15264394e-02 1.89837381e-04 9.99768261e-01 -1.79360098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.85592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:78.79, Y:1.43, Z:-1.80 [[ 9.98866090e-01 -4.24702605e-02 2.15130548e-02 7.87908490e+01] [ 4.24635317e-02 9.99097721e-01 7.69699923e-04 1.42543044e+00] [-2.15263334e-02 1.44693133e-04 9.99768271e-01 -1.79574837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.88592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:78.82, Y:1.42, Z:-1.79 [[ 9.98867943e-01 -4.24277070e-02 2.15109969e-02 7.88230619e+01] [ 4.24198242e-02 9.99099535e-01 8.22824144e-04 1.42489465e+00] [-2.15265375e-02 9.06000466e-05 9.99768273e-01 -1.78819990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.91592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.85, Y:1.42, Z:-1.80 [[ 9.98841820e-01 -4.30358829e-02 2.15158352e-02 7.88533648e+01] [ 4.30308290e-02 9.99073501e-01 6.98027990e-04 1.42353545e+00] [-2.15259410e-02 2.28624676e-04 9.99768264e-01 -1.80111545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.94592 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:78.89, Y:1.42, Z:-1.79 [[ 9.98955386e-01 -4.03166908e-02 2.15104953e-02 7.88868515e+01] [ 4.03080455e-02 9.99186951e-01 8.35509914e-04 1.42491629e+00] [-2.15266912e-02 3.24088955e-05 9.99768273e-01 -1.79119408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.97592 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:78.92, Y:1.43, Z:-1.79 [[ 9.98991072e-01 -3.94204190e-02 2.15143728e-02 7.89171793e+01] [ 3.94137315e-02 9.99222707e-01 7.34945721e-04 1.42578412e+00] [-2.15266217e-02 1.13757501e-04 9.99768269e-01 -1.79360219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.00592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.95, Y:1.43, Z:-1.80 [[ 9.99056309e-01 -3.77320176e-02 2.15124887e-02 7.89480380e+01] [ 3.77238828e-02 9.99287893e-01 7.83977740e-04 1.42582769e+00] [-2.15267506e-02 2.82966959e-05 9.99768272e-01 -1.80292951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.03591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.98, Y:1.43, Z:-1.80 [[ 9.99173411e-01 -3.44930401e-02 2.15110448e-02 7.89812576e+01] [ 3.44833408e-02 9.99404935e-01 8.21775478e-04 1.42536294e+00] [-2.15265898e-02 -7.93235197e-05 9.99768273e-01 -1.80213049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.06591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.01, Y:1.43, Z:-1.80 [[ 9.99237988e-01 -3.25683994e-02 2.15114749e-02 7.90143987e+01] [ 3.25584999e-02 9.99469503e-01 8.10357248e-04 1.42639028e+00] [-2.15264552e-02 -1.09358392e-04 9.99768273e-01 -1.80312008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.09591999999999 meters Centerline goodness : 0.999402 Centerline is valid? [True, True] Translation: X:79.05, Y:1.43, Z:-1.79 [[ 9.99295689e-01 -3.07467814e-02 2.15118994e-02 7.90473075e+01] [ 3.07367060e-02 9.99527197e-01 7.98928217e-04 1.42748642e+00] [-2.15262929e-02 -1.37160596e-04 9.99768273e-01 -1.79134388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.12592 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:79.08, Y:1.43, Z:-1.80 [[ 9.99300793e-01 -3.05781886e-02 2.15151061e-02 7.90787055e+01] [ 3.05699537e-02 9.99532376e-01 7.11619965e-04 1.42793739e+00] [-2.15268052e-02 -5.34065962e-05 9.99768270e-01 -1.80490652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.15592 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:79.11, Y:1.43, Z:-1.79 [[ 9.99320433e-01 -2.99314745e-02 2.15122861e-02 7.91114170e+01] [ 2.99214335e-02 9.99551943e-01 7.88553325e-04 1.42930596e+00] [-2.15262500e-02 -1.44339010e-04 9.99768273e-01 -1.79329970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.18592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.14, Y:1.43, Z:-1.81 [[ 9.99277982e-01 -3.13145345e-02 2.15154637e-02 7.91422971e+01] [ 3.13067014e-02 9.99509579e-01 7.00883496e-04 1.42930114e+00] [-2.15268599e-02 -2.67992492e-05 9.99768270e-01 -1.80636431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.21592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:79.17, Y:1.43, Z:-1.79 [[ 9.99245081e-01 -3.23492365e-02 2.15126723e-02 7.91730002e+01] [ 3.23399815e-02 9.99476623e-01 7.78064753e-04 1.42869529e+00] [-2.15265828e-02 -8.17579537e-05 9.99768273e-01 -1.79496580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.24592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:79.20, Y:1.43, Z:-1.80 [[ 9.99215515e-01 -3.32499988e-02 2.15125972e-02 7.92043679e+01] [ 3.32409078e-02 9.99447064e-01 7.80142705e-04 1.42701454e+00] [-2.15266419e-02 -6.44324335e-05 9.99768273e-01 -1.79546719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.27592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:79.24, Y:1.43, Z:-1.80 [[ 9.99201127e-01 -3.36787167e-02 2.15139972e-02 7.92350698e+01] [ 3.36705644e-02 9.99432711e-01 7.41156072e-04 1.42710256e+00] [-2.15267537e-02 -1.61755540e-05 9.99768272e-01 -1.79751250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.30592 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:79.27, Y:1.43, Z:-1.79 [[ 9.99215238e-01 -3.32581378e-02 2.15128817e-02 7.92674341e+01] [ 3.32492163e-02 9.99446794e-01 7.72355549e-04 1.42663632e+00] [-2.15266677e-02 -5.64629764e-05 9.99768273e-01 -1.79465542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.33592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:79.30, Y:1.42, Z:-1.80 [[ 9.99234802e-01 -3.26625137e-02 2.15167549e-02 7.92987062e+01] [ 3.26558018e-02 9.99466437e-01 6.63323340e-04 1.42447737e+00] [-2.15269402e-02 3.98311180e-05 9.99768268e-01 -1.79885944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.36592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:79.33, Y:1.42, Z:-1.81 [[ 9.99196914e-01 -3.38020776e-02 2.15162168e-02 7.93291998e+01] [ 3.37953043e-02 9.99428545e-01 6.78438054e-04 1.42469538e+00] [-2.15268539e-02 4.92538854e-05 9.99768269e-01 -1.81232499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.39591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.36, Y:1.43, Z:-1.80 [[ 9.99274740e-01 -3.14193914e-02 2.15131542e-02 7.93614272e+01] [ 3.14102106e-02 9.99506285e-01 7.64609006e-04 1.42549814e+00] [-2.15265564e-02 -8.83217610e-05 9.99768273e-01 -1.80000625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.42591999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:79.39, Y:1.43, Z:-1.80 [[ 9.99314360e-01 -3.01304711e-02 2.15166266e-02 7.93943086e+01] [ 3.01231090e-02 9.99545974e-01 6.66260660e-04 1.42554384e+00] [-2.15269323e-02 -1.76561551e-05 9.99768269e-01 -1.80158774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.45591999999999 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:79.42, Y:1.42, Z:-1.81 [[ 9.99325639e-01 -2.97531449e-02 2.15178277e-02 7.94227891e+01] [ 2.97464326e-02 9.99557277e-01 6.32019359e-04 1.42255502e+00] [-2.15271058e-02 8.48546114e-06 9.99768265e-01 -1.80513221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.48592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:79.46, Y:1.42, Z:-1.81 [[ 9.99380433e-01 -2.78594933e-02 2.15081196e-02 7.94552419e+01] [ 2.78464031e-02 9.99611801e-01 9.07931780e-04 1.42282430e+00] [-2.15250647e-02 -3.08445489e-04 9.99768261e-01 -1.81423483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.51592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:79.49, Y:1.43, Z:-1.82 [[ 9.99421803e-01 -2.63290512e-02 2.15137279e-02 7.94875614e+01] [ 2.63190861e-02 9.99653314e-01 7.46258361e-04 1.42510270e+00] [-2.15259177e-02 -1.79605220e-04 9.99768274e-01 -1.81513783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.54592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:79.52, Y:1.43, Z:-1.81 [[ 9.99460050e-01 -2.48345030e-02 2.15140739e-02 7.95206166e+01] [ 2.48244094e-02 9.99691556e-01 7.36145786e-04 1.42849434e+00] [-2.15257198e-02 -2.01674125e-04 9.99768275e-01 -1.81404377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.57592 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:79.55, Y:1.43, Z:-1.82 [[ 9.99462886e-01 -2.47197865e-02 2.15144613e-02 7.95538553e+01] [ 2.47099139e-02 9.99694401e-01 7.24643858e-04 1.43036384e+00] [-2.15257996e-02 -1.92634154e-04 9.99768275e-01 -1.81541654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.60592 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:79.58, Y:1.43, Z:-1.82 [[ 9.99452940e-01 -2.51183562e-02 2.15148455e-02 7.95848279e+01] [ 2.51088254e-02 9.99684469e-01 7.13052982e-04 1.43174775e+00] [-2.15259676e-02 -1.72450400e-04 9.99768275e-01 -1.81576111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.63592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:79.62, Y:1.43, Z:-1.82 [[ 9.99452098e-01 -2.51544142e-02 2.15118608e-02 7.96172158e+01] [ 2.51429390e-02 9.99683543e-01 8.03781337e-04 1.43327477e+00] [-2.15252719e-02 -2.62469539e-04 9.99768270e-01 -1.81720511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.66592 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:79.64, Y:1.43, Z:-1.80 [[ 9.99291795e-01 -3.08738134e-02 2.15108358e-02 7.96436551e+01] [ 3.08629804e-02 9.99523276e-01 8.35483006e-04 1.43354315e+00] [-2.15263756e-02 -1.71002809e-04 9.99768266e-01 -1.80127846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.69592 meters Centerline goodness : 0.998754 Centerline is valid? [True, True] Translation: X:79.68, Y:1.44, Z:-1.82 [[ 9.99435308e-01 -2.58267368e-02 2.14952130e-02 7.96805185e+01] [ 2.58041353e-02 9.99666135e-01 1.32821184e-03 1.43662422e+00] [-2.15223399e-02 -7.72796423e-04 9.99768069e-01 -1.81696720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.72592 meters Centerline goodness : 0.998855 Centerline is valid? [True, True] Translation: X:79.71, Y:1.44, Z:-1.82 [[ 9.99390052e-01 -2.75063319e-02 2.15157081e-02 7.97134582e+01] [ 2.74986936e-02 9.99621628e-01 6.50844997e-04 1.44048641e+00] [-2.15254695e-02 -5.87941496e-05 9.99768299e-01 -1.81679886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.75592 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:79.75, Y:1.44, Z:-1.82 [[ 9.99390835e-01 -2.74775902e-02 2.15160556e-02 7.97465513e+01] [ 2.74701971e-02 9.99622419e-01 6.39146737e-04 1.44326300e+00] [-2.15254938e-02 -4.77071015e-05 9.99768299e-01 -1.81793327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.78591999999999 meters Centerline goodness : 0.998347 Centerline is valid? [True, True] Translation: X:79.77, Y:1.45, Z:-1.81 [[ 9.99324721e-01 -2.97850048e-02 2.15163981e-02 7.97742618e+01] [ 2.97783993e-02 9.99556328e-01 6.27401951e-04 1.44508926e+00] [-2.15255391e-02 1.37456151e-05 9.99768299e-01 -1.80663169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.81591999999999 meters Centerline goodness : 0.998655 Centerline is valid? [True, True] Translation: X:79.81, Y:1.45, Z:-1.82 [[ 9.99391338e-01 -2.74665464e-02 2.15067902e-02 7.98082043e+01] [ 2.74522716e-02 9.99622656e-01 9.58751686e-04 1.44789883e+00] [-2.15250084e-02 -3.67757884e-04 9.99768243e-01 -1.82000923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.84591999999999 meters Centerline goodness : 0.998704 Centerline is valid? [True, True] Translation: X:79.84, Y:1.45, Z:-1.81 [[ 9.99305338e-01 -3.04281347e-02 2.15167508e-02 7.98358035e+01] [ 3.04221838e-02 9.99536956e-01 6.03923157e-04 1.44971297e+00] [-2.15251638e-02 5.10829134e-05 9.99768306e-01 -1.80874653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.87592 meters Centerline goodness : 0.998453 Centerline is valid? [True, True] Translation: X:79.87, Y:1.45, Z:-1.82 [[ 9.99329745e-01 -2.96234223e-02 2.15061192e-02 7.98679374e+01] [ 2.96094450e-02 9.99561075e-01 9.68126337e-04 1.45229532e+00] [-2.15253589e-02 -3.30693190e-04 9.99768248e-01 -1.81672292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.90592 meters Centerline goodness : 0.998754 Centerline is valid? [True, True] Translation: X:79.90, Y:1.46, Z:-1.82 [[ 9.99370353e-01 -2.82165730e-02 2.15109716e-02 7.99010846e+01] [ 2.82059294e-02 9.99601815e-01 7.98100139e-04 1.45562422e+00] [-2.15249259e-02 -1.90860671e-04 9.99768294e-01 -1.81726862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.93592 meters Centerline goodness : 0.998904 Centerline is valid? [True, True] Translation: X:79.93, Y:1.46, Z:-1.81 [[ 9.99394006e-01 -2.73655885e-02 2.15115372e-02 7.99303139e+01] [ 2.73551893e-02 9.99625474e-01 7.77592633e-04 1.45886599e+00] [-2.15247599e-02 -1.88669244e-04 9.99768298e-01 -1.80981490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.96592 meters Centerline goodness : 0.998303 Centerline is valid? [True, True] Translation: X:79.96, Y:1.46, Z:-1.81 [[ 9.99471915e-01 -2.43568513e-02 2.15089705e-02 7.99625830e+01] [ 2.43435918e-02 9.99703265e-01 8.78122608e-04 1.46464110e+00] [-2.15239764e-02 -3.54053285e-04 9.99768270e-01 -1.81211466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.99592 meters Centerline goodness : 0.998657 Centerline is valid? [True, True] Translation: X:79.99, Y:1.47, Z:-1.81 [[ 9.99470118e-01 -2.44275177e-02 2.15123266e-02 7.99938050e+01] [ 2.44170343e-02 9.99701579e-01 7.49888539e-04 1.46649935e+00] [-2.15242247e-02 -2.24223971e-04 9.99768302e-01 -1.81379459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.02592 meters Centerline goodness : 0.998103 Centerline is valid? [True, True] Translation: X:80.02, Y:1.47, Z:-1.81 [[ 9.99521951e-01 -2.22040163e-02 2.15139936e-02 8.00245362e+01] [ 2.21944074e-02 9.99753439e-01 6.85336205e-04 1.46808433e+00] [-2.15239063e-02 -2.07518242e-04 9.99768312e-01 -1.81315096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.05592 meters Centerline goodness : 0.990995 Centerline is valid? [True, True] Translation: X:80.10, Y:1.48, Z:-1.82 [[ 9.99537400e-01 2.14959438e-02 2.15153744e-02 8.00995248e+01] [-2.15144811e-02 9.99768338e-01 6.30458287e-04 1.48415350e+00] [-2.14968378e-02 -1.09305875e-03 9.99768319e-01 -1.81985348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.08592 meters Centerline goodness : 0.997757 Centerline is valid? [True, True] Translation: X:80.08, Y:1.47, Z:-1.81 [[ 9.99543320e-01 -2.11333851e-02 2.15993200e-02 8.00774239e+01] [ 2.12454521e-02 9.99761926e-01 -4.97218908e-03 1.47252699e+00] [-2.14890986e-02 5.42880570e-03 9.99754343e-01 -1.80640615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.11592 meters Centerline goodness : 0.998802 Centerline is valid? [True, True] Translation: X:80.11, Y:1.47, Z:-1.82 [[ 9.99587253e-01 -1.90968940e-02 2.14623620e-02 8.01067945e+01] [ 1.90895614e-02 9.99817628e-01 5.46492889e-04 1.46961637e+00] [-2.14688842e-02 -1.36560248e-04 9.99769508e-01 -1.81701963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.14591999999999 meters Centerline goodness : 0.998854 Centerline is valid? [True, True] Translation: X:80.14, Y:1.47, Z:-1.83 [[ 9.99644953e-01 -1.57934337e-02 2.14600737e-02 8.01382465e+01] [ 1.57833563e-02 9.99875231e-01 6.38894216e-04 1.47217559e+00] [-2.14674865e-02 -2.99955388e-04 9.99769502e-01 -1.82608708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.17591999999999 meters Centerline goodness : 0.985440 Centerline is valid? [True, True] Translation: X:80.13, Y:1.46, Z:-1.83 [[ 9.99682534e-01 -1.31975232e-02 2.14629085e-02 8.01321149e+01] [ 1.31893475e-02 9.99912880e-01 5.22441097e-04 1.45907061e+00] [-2.14679336e-02 -2.39193482e-04 9.99769509e-01 -1.83436959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.20591999999999 meters Centerline goodness : 0.998306 Centerline is valid? [True, True] Translation: X:80.19, Y:1.48, Z:-1.81 [[ 9.99769883e-01 1.38914700e-03 2.14068194e-02 8.01945791e+01] [-1.46551406e-03 9.99992617e-01 3.55214251e-03 1.47973050e+00] [-2.14017270e-02 -3.58269709e-03 9.99764537e-01 -1.81375796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.23592 meters Centerline goodness : 0.998553 Centerline is valid? [True, True] Translation: X:80.23, Y:1.49, Z:-1.82 [[ 9.99764276e-01 3.38073463e-03 2.14467266e-02 8.02257416e+01] [-3.38220085e-03 9.99994280e-01 3.20932756e-05 1.48572686e+00] [-2.14464954e-02 -1.04622847e-04 9.99769992e-01 -1.81714119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.26592 meters Centerline goodness : 0.998104 Centerline is valid? [True, True] Translation: X:80.26, Y:1.49, Z:-1.82 [[ 9.99764029e-01 3.45442482e-03 2.14465297e-02 8.02570957e+01] [-3.45627328e-03 9.99994026e-01 4.91227125e-05 1.48784025e+00] [-2.14462319e-02 -1.23236189e-04 9.99769996e-01 -1.81587717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.29592 meters Centerline goodness : 0.998408 Centerline is valid? [True, True] Translation: X:80.28, Y:1.49, Z:-1.83 [[ 9.99768914e-01 1.46826827e-03 2.14467529e-02 8.02846400e+01] [-1.46924228e-03 9.99998920e-01 2.96581454e-05 1.48972627e+00] [-2.14466862e-02 -6.11617680e-05 9.99769992e-01 -1.82816945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.32592 meters Centerline goodness : 0.998556 Centerline is valid? [True, True] Translation: X:80.32, Y:1.49, Z:-1.82 [[ 9.99769810e-01 -6.90390424e-04 2.14441173e-02 8.03172329e+01] [ 6.85121497e-04 9.99999733e-01 2.53050814e-04 1.49495682e+00] [-2.14442863e-02 -2.38300738e-04 9.99770016e-01 -1.81984001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.35592 meters Centerline goodness : 0.998704 Centerline is valid? [True, True] Translation: X:80.35, Y:1.50, Z:-1.83 [[ 9.99765875e-01 -2.87905437e-03 2.14454394e-02 8.03465465e+01] [ 2.87673438e-03 9.99995853e-01 1.39030390e-04 1.49741671e+00] [-2.14457508e-02 -7.73050068e-05 9.99770010e-01 -1.82991878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.38592 meters Centerline goodness : 0.998453 Centerline is valid? [True, True] Translation: X:80.38, Y:1.50, Z:-1.82 [[ 9.99758803e-01 -4.74174469e-03 2.14441421e-02 8.03778220e+01] [ 4.73746819e-03 9.99988747e-01 2.50222395e-04 1.50269360e+00] [-2.14450873e-02 -1.48571101e-04 9.99770017e-01 -1.82102711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.41592 meters Centerline goodness : 0.998505 Centerline is valid? [True, True] Translation: X:80.41, Y:1.51, Z:-1.83 [[ 9.99745727e-01 -6.97001118e-03 2.14452913e-02 8.04072972e+01] [ 6.96838633e-03 9.99975709e-01 1.50495642e-04 1.50587557e+00] [-2.14458194e-02 -1.01830013e-06 9.99770012e-01 -1.83062992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.44592 meters Centerline goodness : 0.998404 Centerline is valid? [True, True] Translation: X:80.44, Y:1.51, Z:-1.82 [[ 9.99707989e-01 -1.11393193e-02 2.14441851e-02 8.04396982e+01] [ 1.11365905e-02 9.99937956e-01 2.46671480e-04 1.51017106e+00] [-2.14456024e-02 -7.78434090e-06 9.99770017e-01 -1.82238122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.47592 meters Centerline goodness : 0.998454 Centerline is valid? [True, True] Translation: X:80.47, Y:1.51, Z:-1.82 [[ 9.99661146e-01 -1.47540318e-02 2.14455673e-02 8.04715780e+01] [ 1.47547540e-02 9.99891135e-01 1.24560148e-04 1.51074632e+00] [-2.14450704e-02 1.91906131e-04 9.99770010e-01 -1.82429390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.50591999999999 meters Centerline goodness : 0.998008 Centerline is valid? [True, True] Translation: X:80.50, Y:1.51, Z:-1.83 [[ 9.99611910e-01 -1.77798241e-02 2.14454323e-02 8.05036572e+01] [ 1.77809848e-02 9.99841896e-01 1.36573394e-04 1.51133883e+00] [-2.14444700e-02 2.44800514e-04 9.99770011e-01 -1.82550656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.53591999999999 meters Centerline goodness : 0.998108 Centerline is valid? [True, True] Translation: X:80.54, Y:1.51, Z:-1.82 [[ 9.99499993e-01 -2.32347392e-02 2.14455411e-02 8.05355455e+01] [ 2.32373661e-02 9.99729968e-01 1.26731385e-04 1.51173465e+00] [-2.14426947e-02 3.71669871e-04 9.99770010e-01 -1.82175130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.56591999999999 meters Centerline goodness : 0.997608 Centerline is valid? [True, True] Translation: X:80.57, Y:1.51, Z:-1.83 [[ 9.99375415e-01 -2.80865228e-02 2.14459023e-02 8.05657930e+01] [ 2.80909749e-02 9.99605366e-01 9.36868349e-05 1.51108779e+00] [-2.14400703e-02 5.08807982e-04 9.99770006e-01 -1.82509473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.59591999999999 meters Centerline goodness : 0.998256 Centerline is valid? [True, True] Translation: X:80.60, Y:1.51, Z:-1.84 [[ 9.99272402e-01 -3.15400391e-02 2.14450936e-02 8.05958533e+01] [ 3.15437151e-02 9.99502359e-01 1.66920223e-04 1.51145274e+00] [-2.14396864e-02 5.09659151e-04 9.99770014e-01 -1.83717576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.62592 meters Centerline goodness : 0.998256 Centerline is valid? [True, True] Translation: X:80.63, Y:1.51, Z:-1.84 [[ 9.99288587e-01 -3.10235474e-02 2.14443154e-02 8.06293215e+01] [ 3.10255955e-02 9.99518562e-01 2.37265786e-04 1.51204929e+00] [-2.14413521e-02 4.28225662e-04 9.99770016e-01 -1.83788903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.65592 meters Centerline goodness : 0.997758 Centerline is valid? [True, True] Translation: X:80.66, Y:1.51, Z:-1.83 [[ 9.99297705e-01 -3.07283646e-02 2.14444326e-02 8.06610430e+01] [ 3.07305832e-02 9.99527679e-01 2.26147013e-04 1.51290591e+00] [-2.14412531e-02 4.33011731e-04 9.99770016e-01 -1.82772218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.68592 meters Centerline goodness : 0.997910 Centerline is valid? [True, True] Translation: X:80.69, Y:1.51, Z:-1.83 [[ 9.99299773e-01 -3.06603441e-02 2.14454432e-02 8.06936699e+01] [ 3.06646369e-02 9.99529721e-01 1.28724548e-04 1.51374226e+00] [-2.14393046e-02 5.28982317e-04 9.99770012e-01 -1.82811331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.71592 meters Centerline goodness : 0.998407 Centerline is valid? [True, True] Translation: X:80.72, Y:1.51, Z:-1.84 [[ 9.99227913e-01 -3.29188972e-02 2.14458473e-02 8.07245703e+01] [ 3.29245548e-02 9.99457836e-01 8.93186788e-05 1.51262571e+00] [-2.14371604e-02 6.16845258e-04 9.99770007e-01 -1.84067915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.74592 meters Centerline goodness : 0.998110 Centerline is valid? [True, True] Translation: X:80.76, Y:1.51, Z:-1.84 [[ 9.99183716e-01 -3.42349939e-02 2.14444974e-02 8.07571976e+01] [ 3.42381392e-02 9.99413679e-01 2.20574045e-04 1.50991769e+00] [-2.14394754e-02 5.13825693e-04 9.99770016e-01 -1.84101029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.77592 meters Centerline goodness : 0.998011 Centerline is valid? [True, True] Translation: X:80.79, Y:1.51, Z:-1.83 [[ 9.99218213e-01 -3.32128182e-02 2.14446037e-02 8.07897138e+01] [ 3.32159612e-02 9.99448176e-01 2.09709367e-04 1.50936261e+00] [-2.14397350e-02 5.02757705e-04 9.99770016e-01 -1.83036929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.80592 meters Centerline goodness : 0.997662 Centerline is valid? [True, True] Translation: X:80.82, Y:1.51, Z:-1.83 [[ 9.99208864e-01 -3.34924395e-02 2.14453398e-02 8.08230269e+01] [ 3.34973175e-02 9.99438799e-01 1.31820748e-04 1.50889228e+00] [-2.14377196e-02 5.86644896e-04 9.99770014e-01 -1.82903896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.83592 meters Centerline goodness : 0.998207 Centerline is valid? [True, True] Translation: X:80.86, Y:1.50, Z:-1.83 [[ 9.99145460e-01 -3.53332026e-02 2.14456131e-02 8.08559384e+01] [ 3.53391447e-02 9.99375372e-01 1.01955286e-04 1.50474165e+00] [-2.14358200e-02 6.56001462e-04 9.99770011e-01 -1.83305298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.86592 meters Centerline goodness : 0.998159 Centerline is valid? [True, True] Translation: X:80.89, Y:1.50, Z:-1.83 [[ 9.99100148e-01 -3.65918401e-02 2.14460002e-02 8.08867411e+01] [ 3.65989954e-02 9.99330031e-01 5.88881618e-05 1.50184599e+00] [-2.14337869e-02 7.26066893e-04 9.99770006e-01 -1.83218166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.89591999999999 meters Centerline goodness : 0.998307 Centerline is valid? [True, True] Translation: X:80.92, Y:1.50, Z:-1.83 [[ 9.99107871e-01 -3.63808181e-02 2.14452570e-02 8.09197201e+01] [ 3.63861443e-02 9.99337795e-01 1.41913144e-04 1.49618024e+00] [-2.14362188e-02 6.38523678e-04 9.99770014e-01 -1.83267463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.92591999999999 meters Centerline goodness : 0.998457 Centerline is valid? [True, True] Translation: X:80.95, Y:1.50, Z:-1.83 [[ 9.99156399e-01 -3.50222365e-02 2.14460329e-02 8.09508896e+01] [ 3.50291560e-02 9.99386289e-01 5.30472734e-05 1.49566628e+00] [-2.14347291e-02 6.98233910e-04 9.99770006e-01 -1.83396930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.95591999999999 meters Centerline goodness : 0.998105 Centerline is valid? [True, True] Translation: X:80.98, Y:1.49, Z:-1.83 [[ 9.99317855e-01 -3.00652233e-02 2.14454312e-02 8.09831962e+01] [ 3.00695300e-02 9.99547802e-01 1.21684503e-04 1.49443192e+00] [-2.14393921e-02 5.23252541e-04 9.99770013e-01 -1.83387348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.98592 meters Centerline goodness : 0.998307 Centerline is valid? [True, True] Translation: X:81.02, Y:1.49, Z:-1.84 [[ 9.99421368e-01 -2.64014933e-02 2.14450734e-02 8.10166765e+01] [ 2.64040495e-02 9.99651339e-01 1.63995380e-04 1.49407045e+00] [-2.14419261e-02 4.02336293e-04 9.99770015e-01 -1.83720676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.01592 meters Centerline goodness : 0.979335 Centerline is valid? [True, True] Translation: X:81.08, Y:1.51, Z:-1.86 [[ 9.99401646e-01 -2.71374210e-02 2.14454993e-02 8.10824904e+01] [ 2.71412902e-02 9.99631601e-01 1.10673822e-04 1.50737922e+00] [-2.14406022e-02 4.71450920e-04 9.99770013e-01 -1.85753569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.04592 meters Centerline goodness : 0.998554 Centerline is valid? [True, True] Translation: X:81.07, Y:1.48, Z:-1.83 [[ 9.99398509e-01 -2.72179529e-02 2.14896118e-02 8.10720575e+01] [ 2.73193206e-02 9.99616908e-01 -4.43760534e-03 1.48473887e+00] [-2.13605968e-02 5.02201775e-03 9.99759223e-01 -1.83463819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.07592 meters Centerline goodness : 0.998356 Centerline is valid? [True, True] Translation: X:81.10, Y:1.48, Z:-1.84 [[ 9.99434462e-01 -2.59373675e-02 2.14011638e-02 8.11031333e+01] [ 2.59371117e-02 9.99663535e-01 2.89573102e-04 1.47877251e+00] [-2.14014738e-02 2.65675039e-04 9.99770927e-01 -1.83709884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.10592 meters Centerline goodness : 0.998159 Centerline is valid? [True, True] Translation: X:81.13, Y:1.48, Z:-1.85 [[ 9.99513348e-01 -2.26948443e-02 2.14011965e-02 8.11330816e+01] [ 2.26938825e-02 9.99742419e-01 2.87840088e-04 1.47675312e+00] [-2.14022165e-02 1.97976228e-04 9.99770927e-01 -1.84922611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.13592 meters Centerline goodness : 0.998505 Centerline is valid? [True, True] Translation: X:81.17, Y:1.48, Z:-1.85 [[ 9.99573377e-01 -1.98782381e-02 2.13990781e-02 8.11660730e+01] [ 1.98742099e-02 9.99802408e-01 4.00918530e-04 1.47640751e+00] [-2.14028194e-02 2.45422810e-05 9.99770933e-01 -1.85036158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.16592 meters Centerline goodness : 0.998556 Centerline is valid? [True, True] Translation: X:81.20, Y:1.48, Z:-1.85 [[ 9.99665731e-01 -1.45085390e-02 2.13992873e-02 8.11994841e+01] [ 1.45035266e-02 9.99894742e-01 3.89419513e-04 1.47689623e+00] [-2.14026848e-02 -7.89242079e-05 9.99770933e-01 -1.85222197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.19592 meters Centerline goodness : 0.998349 Centerline is valid? [True, True] Translation: X:81.23, Y:1.48, Z:-1.84 [[ 9.99714554e-01 -1.06241636e-02 2.13994916e-02 8.12324959e+01] [ 1.06185090e-02 9.99943551e-01 3.77850195e-04 1.47723495e+00] [-2.14022980e-02 -1.50511644e-04 9.99770933e-01 -1.83859823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.22592 meters Centerline goodness : 0.874366 Centerline is valid? [True, False] Translation: X:81.23, Y:1.48, Z:-1.84 [[ 9.99720803e-01 -1.04703811e-02 2.11822607e-02 8.12331724e+01] [ 1.04547985e-02 9.99944989e-01 8.46252626e-04 1.47502428e+00] [-2.11899560e-02 -6.24560087e-04 9.99775273e-01 -1.83774706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.25591999999999 meters Centerline goodness : 0.998059 Centerline is valid? [False, True] Translation: X:81.23, Y:1.47, Z:-1.84 [[ 9.99725467e-01 -1.04426230e-02 2.09747961e-02 8.12337876e+01] [ 1.04269486e-02 9.99945271e-01 8.56526059e-04 1.47471129e+00] [-2.09825926e-02 -6.37587794e-04 9.99779638e-01 -1.83762543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.28591999999999 meters Centerline goodness : 0.998706 Centerline is valid? [True, True] Translation: X:81.26, Y:1.48, Z:-1.85 [[ 9.99737521e-01 -9.18852283e-03 2.09871362e-02 8.12629084e+01] [ 9.18268214e-03 9.99957768e-01 3.74653053e-04 1.47553269e+00] [-2.09896923e-02 -1.81836514e-04 9.99779676e-01 -1.85275588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.31591999999999 meters Centerline goodness : 0.998655 Centerline is valid? [True, True] Translation: X:81.30, Y:1.48, Z:-1.84 [[ 9.99771582e-01 -4.06184461e-03 2.09829796e-02 8.12951893e+01] [ 4.05146699e-03 9.99991649e-01 5.37060050e-04 1.47967223e+00] [-2.09849858e-02 -4.51925527e-04 9.99779689e-01 -1.83753342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.34591999999999 meters Centerline goodness : 0.997510 Centerline is valid? [True, True] Translation: X:81.33, Y:1.48, Z:-1.84 [[ 9.99775527e-01 -2.90463569e-03 2.09871284e-02 8.13267288e+01] [ 2.89743704e-03 9.99995733e-01 3.73402639e-04 1.48252496e+00] [-2.09881235e-02 -3.12509936e-04 9.99779676e-01 -1.83866325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.37592 meters Centerline goodness : 0.997857 Centerline is valid? [True, True] Translation: X:81.36, Y:1.48, Z:-1.84 [[ 9.99778792e-01 -1.37244993e-03 2.09877093e-02 8.13581545e+01] [ 1.36539447e-03 9.99999006e-01 3.50497018e-04 1.48437695e+00] [-2.09881695e-02 -3.21762983e-04 9.99779672e-01 -1.83954202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.40592 meters Centerline goodness : 0.998406 Centerline is valid? [True, True] Translation: X:81.39, Y:1.49, Z:-1.84 [[ 9.99779280e-01 -9.92598041e-04 2.09858302e-02 8.13898967e+01] [ 9.83914219e-04 9.99999426e-01 4.24115757e-04 1.48654633e+00] [-2.09862392e-02 -4.03373890e-04 9.99779683e-01 -1.84007861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.43592 meters Centerline goodness : 0.998704 Centerline is valid? [True, True] Translation: X:81.42, Y:1.49, Z:-1.84 [[ 9.99779443e-01 -8.06065076e-04 2.09861037e-02 8.14227397e+01] [ 7.97565237e-04 9.99999596e-01 4.13388914e-04 1.48972553e+00] [-2.09864284e-02 -3.96559952e-04 9.99779682e-01 -1.84115616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.46592 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:81.45, Y:1.50, Z:-1.84 [[ 9.99779722e-01 -2.39877080e-04 2.09868900e-02 8.14546077e+01] [ 2.31903024e-04 9.99999900e-01 3.82387045e-04 1.49792136e+00] [-2.09869796e-02 -3.77435890e-04 9.99779678e-01 -1.84428717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.49592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:81.49, Y:1.50, Z:-1.85 [[ 9.99778293e-01 -1.67879644e-03 2.09891882e-02 8.14868865e+01] [ 1.67304195e-03 9.99998558e-01 2.91721245e-04 1.50096946e+00] [-2.09896477e-02 -2.56540776e-04 9.99779660e-01 -1.84626215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.52592 meters Centerline goodness : 0.980728 Centerline is valid? [True, True] Translation: X:81.50, Y:1.47, Z:-1.86 [[ 9.95965728e-01 -8.72454288e-02 2.09881909e-02 8.15021988e+01] [ 8.72577326e-02 9.96185715e-01 3.30601590e-04 1.46647074e+00] [-2.09369794e-02 1.50211410e-03 9.99779669e-01 -1.86067639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.55592 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:81.55, Y:1.51, Z:-1.85 [[ 9.99771791e-01 -4.20503523e-03 2.09447551e-02 8.15458047e+01] [ 4.16676698e-03 9.99989570e-01 1.87041026e-03 1.50611199e+00] [-2.09524018e-02 -1.78271150e-03 9.99778885e-01 -1.84821088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.58592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.58, Y:1.51, Z:-1.86 [[ 9.99744191e-01 -8.43871963e-03 2.09843169e-02 8.15751434e+01] [ 8.43352464e-03 9.99964381e-01 3.36050336e-04 1.51423231e+00] [-2.09864053e-02 -1.58992617e-04 9.99779749e-01 -1.86059554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.61592 meters Centerline goodness : 0.841349 Centerline is valid? [True, False] Translation: X:81.58, Y:1.52, Z:-1.86 [[ 9.99774457e-01 -6.45124708e-03 2.02340299e-02 8.15797243e+01] [ 6.41054731e-03 9.99977298e-01 2.07566978e-03 1.51537742e+00] [-2.02469612e-02 -1.94549042e-03 9.99793116e-01 -1.86482139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.64591999999999 meters Centerline goodness : 0.999950 Centerline is valid? [False, True] Translation: X:81.58, Y:1.51, Z:-1.86 [[ 9.99794611e-01 -2.47979443e-03 2.01143542e-02 8.15800671e+01] [ 2.34814242e-03 9.99975686e-01 6.56615700e-03 1.51403532e+00] [-2.01301478e-02 -6.51757701e-03 9.99776124e-01 -1.86469422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.67591999999999 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:81.61, Y:1.52, Z:-1.87 [[ 9.99770394e-01 -7.11785216e-03 2.02112551e-02 8.16101142e+01] [ 7.11388210e-03 9.99974660e-01 2.68320122e-04 1.52294823e+00] [-2.02126528e-02 -1.24478028e-04 9.99795696e-01 -1.86733169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.70591999999999 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:81.64, Y:1.52, Z:-1.87 [[ 9.99749010e-01 -9.66843498e-03 2.02098703e-02 8.16425888e+01] [ 9.66314866e-03 9.99953246e-01 3.59212810e-04 1.52375853e+00] [-2.02123985e-02 -1.63831669e-04 9.99795695e-01 -1.86807592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.73592 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:81.67, Y:1.53, Z:-1.87 [[ 9.99693936e-01 -1.42678181e-02 2.02105069e-02 8.16743212e+01] [ 1.42643344e-02 9.99898209e-01 3.16527452e-04 1.52558925e+00] [-2.02129658e-02 -2.81411455e-05 9.99795697e-01 -1.86688557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.76592 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:81.71, Y:1.53, Z:-1.87 [[ 9.99674030e-01 -1.56010288e-02 2.02099218e-02 8.17075669e+01] [ 1.55969944e-02 9.99878296e-01 3.57246460e-04 1.52762989e+00] [-2.02130356e-02 -4.19159718e-05 9.99795695e-01 -1.86790333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.79592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:81.74, Y:1.53, Z:-1.87 [[ 9.99609721e-01 -1.92851682e-02 2.02111074e-02 8.17391954e+01] [ 1.92836213e-02 9.99814017e-01 2.71444498e-04 1.52884088e+00] [-2.02125833e-02 1.18404783e-04 9.99795698e-01 -1.87100497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.82592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:81.77, Y:1.53, Z:-1.87 [[ 9.99594205e-01 -2.00736740e-02 2.02106973e-02 8.17727477e+01] [ 2.00716720e-02 9.99798498e-01 3.01923821e-04 1.52809249e+00] [-2.02126855e-02 1.03861185e-04 9.99795697e-01 -1.87085696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.85592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.80, Y:1.53, Z:-1.88 [[ 9.99506901e-01 -2.40300365e-02 2.02116934e-02 8.18034169e+01] [ 2.40304040e-02 9.99711203e-01 2.24723367e-04 1.52591984e+00] [-2.02112565e-02 2.61082603e-04 9.99795698e-01 -1.88186784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.88592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.84, Y:1.53, Z:-1.88 [[ 9.99484956e-01 -2.49264096e-02 2.02112961e-02 8.18366428e+01] [ 2.49263262e-02 9.99689258e-01 2.56086401e-04 1.52605277e+00] [-2.02113989e-02 2.47838853e-04 9.99795698e-01 -1.88224621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.91592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:81.87, Y:1.53, Z:-1.88 [[ 9.99481086e-01 -2.50810062e-02 2.02114244e-02 8.18680313e+01] [ 2.50811680e-02 9.99685388e-01 2.45523998e-04 1.52645479e+00] [-2.02112236e-02 2.61529537e-04 9.99795698e-01 -1.87963281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.94592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:81.90, Y:1.53, Z:-1.88 [[ 9.99503793e-01 -2.41591516e-02 2.02114406e-02 8.18980229e+01] [ 2.41591522e-02 9.99708095e-01 2.44179661e-04 1.52546359e+00] [-2.02114400e-02 2.44232771e-04 9.99795698e-01 -1.88433285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.97592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:81.93, Y:1.52, Z:-1.88 [[ 9.99532723e-01 -2.29310414e-02 2.02114486e-02 8.19307231e+01] [ 2.29308044e-02 9.99737025e-01 2.43514567e-04 1.52489712e+00] [-2.02117176e-02 2.20063996e-04 9.99795698e-01 -1.88499815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.00591999999999 meters Centerline goodness : 0.978938 Centerline is valid? [True, True] Translation: X:81.93, Y:1.54, Z:-1.89 [[ 9.99475842e-01 2.52890023e-02 2.02115705e-02 8.19300790e+01] [-2.52988760e-02 9.99679905e-01 2.32937632e-04 1.54308118e+00] [-2.01992101e-02 -7.44145553e-04 9.99795698e-01 -1.88847324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.03591999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:81.99, Y:1.52, Z:-1.89 [[ 9.99661408e-01 -1.64265317e-02 2.01801614e-02 8.19892133e+01] [ 1.63728754e-02 9.99861975e-01 2.82122463e-03 1.52235577e+00] [-2.02237190e-02 -2.48986212e-03 9.99792379e-01 -1.88531730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.06591999999999 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:82.02, Y:1.53, Z:-1.88 [[ 9.99660087e-01 -1.64856718e-02 2.01973655e-02 8.20198014e+01] [ 1.64864398e-02 9.99864081e-01 1.28493371e-04 1.52512747e+00] [-2.01967386e-02 2.04532956e-04 9.99796004e-01 -1.87666196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.09591999999999 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:82.05, Y:1.53, Z:-1.88 [[ 9.99679836e-01 -1.52418362e-02 2.01968376e-02 8.20525794e+01] [ 1.52406263e-02 9.99883832e-01 2.13836130e-04 1.52527946e+00] [-2.01977506e-02 9.40447875e-05 9.99796000e-01 -1.87760029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.12592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.08, Y:1.53, Z:-1.89 [[ 9.99726633e-01 -1.17784736e-02 2.01971742e-02 8.20848797e+01] [ 1.17777218e-02 9.99930628e-01 1.56180186e-04 1.52673745e+00] [-2.01976126e-02 8.17392061e-05 9.99796004e-01 -1.88949464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.15592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.12, Y:1.53, Z:-1.89 [[ 9.99743695e-01 -1.02278714e-02 2.01974201e-02 8.21180094e+01] [ 1.02277010e-02 9.99947689e-01 1.11733001e-04 1.52818026e+00] [-2.01975063e-02 9.48688111e-05 9.99796005e-01 -1.89005371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.18592 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:82.15, Y:1.53, Z:-1.88 [[ 9.99747024e-01 -9.89702045e-03 2.01974737e-02 8.21490279e+01] [ 9.89699919e-03 9.99951018e-01 1.01012536e-04 1.52936597e+00] [-2.01974841e-02 9.89073983e-05 9.99796005e-01 -1.87828234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.21592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.18, Y:1.53, Z:-1.89 [[ 9.99743248e-01 -1.02717487e-02 2.01972507e-02 8.21795615e+01] [ 1.02708453e-02 9.99947242e-01 1.48463803e-04 1.52842754e+00] [-2.01977102e-02 5.90171535e-05 9.99796004e-01 -1.89246908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.24592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.21, Y:1.53, Z:-1.89 [[ 9.99754061e-01 -9.15854888e-03 2.01975085e-02 8.22126600e+01] [ 9.15856588e-03 9.99958055e-01 9.16598041e-05 1.52967496e+00] [-2.01975008e-02 9.33429514e-05 9.99796005e-01 -1.89272473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.27592 meters Centerline goodness : 0.995029 Centerline is valid? [True, True] Translation: X:82.28, Y:1.54, Z:-1.90 [[ 9.99691894e-01 -1.44283349e-02 2.01975513e-02 8.22759499e+01] [ 1.44296427e-02 9.99895884e-01 8.09884405e-05 1.54222365e+00] [-2.01966170e-02 2.10479963e-04 9.99796005e-01 -1.89796754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.30592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:82.27, Y:1.53, Z:-1.88 [[ 9.99636294e-01 -1.78581907e-02 2.02080526e-02 8.22688691e+01] [ 1.79365762e-02 9.99832265e-01 -3.70433190e-03 1.52818946e+00] [-2.01385103e-02 4.06544789e-03 9.99788934e-01 -1.88275955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.33592 meters Centerline goodness : 0.853588 Centerline is valid? [True, False] Translation: X:82.29, Y:1.53, Z:-1.88 [[ 9.99918572e-01 -1.26922486e-02 1.32500958e-03 8.22916876e+01] [ 1.27004499e-02 9.99899015e-01 -6.37644709e-03 1.53020341e+00] [-1.24394432e-03 6.39275609e-03 9.99978792e-01 -1.88217590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.36592 meters Centerline goodness : 0.999900 Centerline is valid? [False, True] Translation: X:82.29, Y:1.53, Z:-1.88 [[ 9.99962697e-01 -8.53465692e-03 1.32816583e-03 8.22916009e+01] [ 8.53650731e-03 9.99962592e-01 -1.39381506e-03 1.52712443e+00] [-1.31622041e-03 1.40510097e-03 9.99998147e-01 -1.88239964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.39591999999999 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:82.32, Y:1.53, Z:-1.87 [[ 9.99963898e-01 -8.39290748e-03 1.32757206e-03 8.23214860e+01] [ 8.39291412e-03 9.99964779e-01 5.66550201e-07 1.52754262e+00] [-1.32753006e-03 1.05756685e-05 9.99999119e-01 -1.86922267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.42591999999999 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:82.35, Y:1.55, Z:-1.88 [[ 9.99447002e-01 3.32254049e-02 1.32757087e-03 8.23538634e+01] [-3.32254436e-02 9.99447883e-01 7.06090995e-06 1.54819149e+00] [-1.32660329e-03 -5.11661361e-05 9.99999119e-01 -1.87787090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.45591999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:82.38, Y:1.53, Z:-1.88 [[ 9.99979331e-01 -6.29090129e-03 1.32757800e-03 8.23831139e+01] [ 6.29093175e-03 9.99980212e-01 -1.87717580e-05 1.53119157e+00] [-1.32743364e-03 2.71230726e-05 9.99999119e-01 -1.88107513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.48592 meters Centerline goodness : 0.938616 Centerline is valid? [True, False] Translation: X:82.39, Y:1.53, Z:-1.89 [[ 9.99990413e-01 -4.34203505e-03 5.66727649e-04 8.23877991e+01] [ 4.34094387e-03 9.99988749e-01 1.91264689e-03 1.53079630e+00] [-5.75026052e-04 -1.91016842e-03 9.99998010e-01 -1.88504036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.51592 meters Centerline goodness : 0.938616 Centerline is valid? [False, False] Translation: X:82.39, Y:1.53, Z:-1.89 [[ 9.99999817e-01 -4.44143063e-04 4.11664728e-04 8.23882389e+01] [ 4.41460984e-04 9.99978826e-01 6.49255437e-03 1.52813253e+00] [-4.14539634e-04 -6.49237145e-03 9.99978838e-01 -1.88516732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.54592 meters Centerline goodness : 0.999950 Centerline is valid? [False, True] Translation: X:82.39, Y:1.52, Z:-1.89 [[ 9.99993333e-01 3.63399237e-03 3.56899049e-04 8.23883629e+01] [-3.63783931e-03 9.99927885e-01 1.14451191e-02 1.52467829e+00] [-3.15281836e-04 -1.14463412e-02 9.99934439e-01 -1.88512665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.57592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.42, Y:1.53, Z:-1.90 [[ 9.99996799e-01 2.51880313e-03 2.39474506e-04 8.24191607e+01] [-2.51879553e-03 9.99996827e-01 -3.20445323e-05 1.53491174e+00] [-2.39554460e-04 3.14412424e-05 9.99999971e-01 -1.90115054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.60592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.45, Y:1.54, Z:-1.90 [[ 9.99999498e-01 9.72613362e-04 2.39783701e-04 8.24495802e+01] [-9.72612788e-04 9.99999527e-01 -2.51030295e-06 1.53559211e+00] [-2.39786029e-04 2.27708500e-06 9.99999971e-01 -1.90273252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.63592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:82.48, Y:1.54, Z:-1.90 [[ 9.99999007e-01 -1.38870062e-03 2.39783701e-04 8.24803638e+01] [ 1.38870126e-03 9.99999036e-01 -2.51030295e-06 1.53660557e+00] [-2.39779984e-04 2.84328838e-06 9.99999971e-01 -1.90246054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.66592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:82.51, Y:1.54, Z:-1.90 [[ 9.99998607e-01 -1.65153015e-03 2.39783701e-04 8.25110108e+01] [ 1.65153080e-03 9.99998636e-01 -2.51030295e-06 1.53591861e+00] [-2.39779228e-04 2.90630962e-06 9.99999971e-01 -1.90246088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.69592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.54, Y:1.53, Z:-1.90 [[ 9.99997025e-01 -2.42738290e-03 2.39783701e-04 8.25415337e+01] [ 2.42738357e-03 9.99997054e-01 -2.51030295e-06 1.53450068e+00] [-2.39776901e-04 3.09234250e-06 9.99999971e-01 -1.90174473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.72592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.57, Y:1.53, Z:-1.90 [[ 9.99996699e-01 -2.55808390e-03 2.39783701e-04 8.25717791e+01] [ 2.55808457e-03 9.99996728e-01 -2.51030295e-06 1.53366594e+00] [-2.39776495e-04 3.12368165e-06 9.99999971e-01 -1.90183773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.75591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.60, Y:1.53, Z:-1.90 [[ 9.99995228e-01 -3.07989510e-03 2.39783701e-04 8.26024965e+01] [ 3.07989579e-03 9.99995257e-01 -2.51030295e-06 1.53352951e+00] [-2.39774832e-04 3.24879978e-06 9.99999971e-01 -1.90130844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.78591999999999 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:82.63, Y:1.53, Z:-1.89 [[ 9.99993599e-01 -3.57005067e-03 2.39783701e-04 8.26321159e+01] [ 3.57005137e-03 9.99993627e-01 -2.51030295e-06 1.53231797e+00] [-2.39773211e-04 3.36632701e-06 9.99999971e-01 -1.88686976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.81591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.66, Y:1.53, Z:-1.89 [[ 9.99994293e-01 -3.36999533e-03 2.39792910e-04 8.26621039e+01] [ 3.36999582e-03 9.99994322e-01 -1.63849744e-06 1.53093405e+00] [-2.39786027e-04 2.44658919e-06 9.99999971e-01 -1.88650842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.84591999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:82.69, Y:1.53, Z:-1.89 [[ 9.99997985e-01 -1.99287327e-03 2.39792471e-04 8.26920353e+01] [ 1.99287373e-03 9.99998014e-01 -1.67971856e-06 1.52874037e+00] [-2.39788647e-04 2.15759129e-06 9.99999971e-01 -1.88857727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.87592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:82.72, Y:1.53, Z:-1.89 [[ 9.99999914e-01 3.38475181e-04 2.39795276e-04 8.27224969e+01] [-3.38474850e-04 9.99999943e-01 -1.42179969e-06 1.52737564e+00] [-2.39795744e-04 1.34063489e-06 9.99999971e-01 -1.88701961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.90592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:82.75, Y:1.53, Z:-1.88 [[ 9.99990763e-01 4.29132355e-03 2.39783257e-04 8.27527086e+01] [-4.29132307e-03 9.99990792e-01 -2.53584506e-06 1.52591945e+00] [-2.39791931e-04 1.50683422e-06 9.99999971e-01 -1.88480817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.93592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.78, Y:1.53, Z:-1.90 [[ 9.99974398e-01 7.15167885e-03 2.39785946e-04 8.27838071e+01] [-7.15167851e-03 9.99974426e-01 -2.28103329e-06 1.52628639e+00] [-2.39796127e-04 5.66102888e-07 9.99999971e-01 -1.89951940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.96592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.81, Y:1.53, Z:-1.90 [[ 9.99946155e-01 1.03744557e-02 2.39783122e-04 8.28148408e+01] [-1.03744554e-02 9.99946184e-01 -2.54694644e-06 1.52727618e+00] [-2.39796641e-04 5.91899890e-08 9.99999971e-01 -1.89990477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.99592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:82.85, Y:1.53, Z:-1.89 [[ 9.99886165e-01 1.50864249e-02 2.39782951e-04 8.28460174e+01] [-1.50864247e-02 9.99886193e-01 -2.56292960e-06 1.53005170e+00] [-2.39794327e-04 -1.05482959e-06 9.99999971e-01 -1.88768923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.02592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.88, Y:1.53, Z:-1.90 [[ 9.99834950e-01 1.81663459e-02 2.39783316e-04 8.28765084e+01] [-1.81663458e-02 9.99834978e-01 -2.52903917e-06 1.52986163e+00] [-2.39789690e-04 -1.82736489e-06 9.99999971e-01 -1.90160214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.05592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:82.91, Y:1.53, Z:-1.90 [[ 9.99837932e-01 1.80014382e-02 2.39782785e-04 8.29075997e+01] [-1.80014381e-02 9.99837961e-01 -2.57845476e-06 1.52936207e+00] [-2.39790346e-04 -1.73839808e-06 9.99999971e-01 -1.90105190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.08592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.94, Y:1.53, Z:-1.90 [[ 9.99857850e-01 1.68589084e-02 2.39782614e-04 8.29384634e+01] [-1.68589082e-02 9.99857879e-01 -2.59417307e-06 1.52910447e+00] [-2.39792271e-04 -1.44866879e-06 9.99999971e-01 -1.90159339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.11592 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:82.96, Y:1.50, Z:-1.90 [[ 9.99009926e-01 -4.44872005e-02 2.39782444e-04 8.29593586e+01] [ 4.44872024e-02 9.99009954e-01 -2.60985210e-06 1.50326437e+00] [-2.39428943e-04 1.32745183e-05 9.99999971e-01 -1.90480687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.14591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.00, Y:1.53, Z:-1.90 [[ 9.99932266e-01 1.16363643e-02 2.39904008e-04 8.29987278e+01] [-1.16363668e-02 9.99932295e-01 9.01038060e-06 1.52872546e+00] [-2.39782917e-04 -1.18013813e-05 9.99999971e-01 -1.90426527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.17591999999999 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:83.03, Y:1.53, Z:-1.89 [[ 9.99969795e-01 7.76857888e-03 2.39758894e-04 8.30301893e+01] [-7.76857840e-03 9.99969824e-01 -2.91701644e-06 1.53029908e+00] [-2.39774320e-04 1.05434257e-06 9.99999971e-01 -1.89262904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.20591999999999 meters Centerline goodness : 0.903898 Centerline is valid? [True, False] Translation: X:83.03, Y:1.52, Z:-1.89 [[ 9.99984836e-01 -3.87039524e-04 -5.49336855e-03 8.30317793e+01] [ 4.53136180e-04 9.99927463e-01 1.20359411e-02 1.51902824e+00] [ 5.48831169e-03 -1.20382478e-02 9.99912476e-01 -1.89046253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.23592 meters Centerline goodness : 0.999950 Centerline is valid? [False, True] Translation: X:83.03, Y:1.51, Z:-1.89 [[ 9.99979152e-01 3.65565351e-03 -5.32280938e-03 8.30313756e+01] [-3.56135609e-03 9.99838436e-01 1.76187121e-02 1.51256196e+00] [ 5.38635731e-03 -1.75993884e-02 9.99830610e-01 -1.88930160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.26592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.06, Y:1.53, Z:-1.88 [[ 9.99982303e-01 2.10977191e-03 -5.56254753e-03 8.30617426e+01] [-2.10938320e-03 9.99997772e-01 7.57449635e-05 1.52678774e+00] [ 5.56269494e-03 -6.40100788e-05 9.99984526e-01 -1.87737626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.29592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.09, Y:1.52, Z:-1.89 [[ 9.99984223e-01 7.82141997e-04 -5.56255723e-03 8.30918470e+01] [-7.81736730e-04 9.99999692e-01 7.50301058e-05 1.52490793e+00] [ 5.56261420e-03 -7.06804668e-05 9.99984526e-01 -1.89074082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.32592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:83.12, Y:1.52, Z:-1.88 [[ 9.99984527e-01 -6.16173466e-05 -5.56255187e-03 8.31216779e+01] [ 6.20378662e-05 9.99999995e-01 7.54258021e-05 1.51973489e+00] [ 5.56254719e-03 -7.57697239e-05 9.99984526e-01 -1.87765673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.35592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:83.15, Y:1.52, Z:-1.89 [[ 9.99980271e-01 -2.91892287e-03 -5.56223354e-03 8.31505070e+01] [ 2.91951916e-03 9.99995733e-01 9.90860360e-05 1.51577668e+00] [ 5.56192058e-03 -1.15323128e-04 9.99984526e-01 -1.89196882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.38592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:83.18, Y:1.51, Z:-1.88 [[ 9.99973107e-01 -4.77951163e-03 -5.56256260e-03 8.31805799e+01] [ 4.78000012e-03 9.99988573e-01 7.45248626e-05 1.50983748e+00] [ 5.56214284e-03 -1.01111908e-04 9.99984526e-01 -1.87959873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.41592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.21, Y:1.51, Z:-1.89 [[ 9.99963545e-01 -6.47824897e-03 -5.56243175e-03 8.32104433e+01] [ 6.47881767e-03 9.99979009e-01 8.42274747e-05 1.50959821e+00] [ 5.56176934e-03 -1.20262385e-04 9.99984526e-01 -1.88947553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.44592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:83.25, Y:1.51, Z:-1.88 [[ 9.99898513e-01 1.31156740e-02 -5.56257115e-03 8.32455601e+01] [-1.31154670e-02 9.99913986e-01 7.37068243e-05 1.51491167e+00] [ 5.56305941e-03 -7.43625876e-07 9.99984526e-01 -1.88429639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.47592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:83.27, Y:1.50, Z:-1.87 [[ 9.99956939e-01 -7.42977202e-03 -5.56038128e-03 8.32695591e+01] [ 7.43121573e-03 9.99972360e-01 2.39027670e-04 1.50315366e+00] [ 5.55845166e-03 -2.80337771e-04 9.99984512e-01 -1.87352172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.50591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.30, Y:1.50, Z:-1.89 [[ 9.99962154e-01 -6.68916918e-03 -5.56281313e-03 8.33005344e+01] [ 6.68949405e-03 9.99977624e-01 3.97950596e-05 1.49947073e+00] [ 5.56242247e-03 -7.70059588e-05 9.99984527e-01 -1.89104290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.53591999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:83.33, Y:1.49, Z:-1.88 [[ 9.99970718e-01 -5.25574342e-03 -5.56247916e-03 8.33284268e+01] [ 5.25619946e-03 9.99986184e-01 6.73697733e-05 1.49429876e+00] [ 5.56204823e-03 -9.66053005e-05 9.99984527e-01 -1.87673915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.56591999999999 meters Centerline goodness : 0.929757 Centerline is valid? [True, False] Translation: X:83.31, Y:1.48, Z:-1.88 [[ 9.99981372e-01 -3.41259213e-03 -5.06068647e-03 8.33065880e+01] [ 3.49199421e-03 9.99869626e-01 1.57650434e-02 1.48039118e+00] [ 5.00622702e-03 -1.57824217e-02 9.99862917e-01 -1.87576800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.59591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [False, True] Translation: X:83.31, Y:1.47, Z:-1.88 [[ 9.99986423e-01 6.52427200e-04 -5.16993171e-03 8.33068081e+01] [-5.39312990e-04 9.99761104e-01 2.18505148e-02 1.47218354e+00] [ 5.18295251e-03 -2.18474300e-02 9.99747882e-01 -1.87518442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.62592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.34, Y:1.49, Z:-1.88 [[ 9.99984442e-01 7.64961200e-04 -5.52551463e-03 8.33362296e+01] [-7.64475800e-04 9.99999704e-01 8.99584193e-05 1.49138901e+00] [ 5.52558180e-03 -8.57328975e-05 9.99984730e-01 -1.87837349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.65592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.36, Y:1.49, Z:-1.86 [[ 9.99976783e-01 3.98773613e-03 -5.52552621e-03 8.33645034e+01] [-3.98730388e-03 9.99992047e-01 8.92411992e-05 1.49125850e+00] [ 5.52583813e-03 -6.72071751e-05 9.99984730e-01 -1.86483630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.68592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:83.40, Y:1.49, Z:-1.88 [[ 9.99970518e-01 5.33160588e-03 -5.52603548e-03 8.33950605e+01] [-5.33137180e-03 9.99985787e-01 5.70908216e-05 1.48984441e+00] [ 5.52626132e-03 -2.76277888e-05 9.99984730e-01 -1.87752996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.71592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.42, Y:1.49, Z:-1.88 [[ 9.99949332e-01 8.41433718e-03 -5.52556896e-03 8.34232025e+01] [-8.41398605e-03 9.99964598e-01 8.67914683e-05 1.48623657e+00] [ 5.52610364e-03 -4.02950106e-05 9.99984730e-01 -1.87667980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.74592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.45, Y:1.48, Z:-1.88 [[ 9.99940594e-01 9.39552797e-03 -5.52561392e-03 8.34516007e+01] [-9.39520819e-03 9.99955861e-01 8.38277373e-05 1.48497091e+00] [ 5.52615763e-03 -3.19084642e-05 9.99984730e-01 -1.87577071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.77592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:83.49, Y:1.49, Z:-1.87 [[ 9.99356055e-01 3.54533726e-02 -5.52565708e-03 8.34850621e+01] [-3.54534672e-02 9.99371325e-01 8.08793405e-05 1.49431566e+00] [ 5.52505068e-03 1.15076443e-04 9.99984730e-01 -1.87133390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.80592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:83.51, Y:1.48, Z:-1.86 [[ 9.99921897e-01 1.12109328e-02 -5.52404772e-03 8.35130286e+01] [-1.12100676e-02 9.99937148e-01 1.87569350e-04 1.48381985e+00] [ 5.52580335e-03 -1.25629753e-04 9.99984725e-01 -1.86121680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.83592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:83.54, Y:1.48, Z:-1.86 [[ 9.99926777e-01 1.07661095e-02 -5.52559301e-03 8.35414946e+01] [-1.07658113e-02 9.99942043e-01 8.37091960e-05 1.48267886e+00] [ 5.52617399e-03 -2.42155747e-05 9.99984730e-01 -1.86128711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.86592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.57, Y:1.48, Z:-1.87 [[ 9.99937557e-01 9.71345137e-03 -5.52550467e-03 8.35706662e+01] [-9.71310357e-03 9.99952823e-01 8.97762609e-05 1.48095537e+00] [ 5.52611603e-03 -3.61008559e-05 9.99984730e-01 -1.87461035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.89591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.60, Y:1.48, Z:-1.86 [[ 9.99939313e-01 9.53085993e-03 -5.52566066e-03 8.36011076e+01] [-9.53056975e-03 9.99954580e-01 7.88446291e-05 1.48032160e+00] [ 5.52616114e-03 -2.61771500e-05 9.99984730e-01 -1.86147124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.92591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.63, Y:1.48, Z:-1.86 [[ 9.99959455e-01 7.11044274e-03 -5.52533452e-03 8.36299513e+01] [-7.10998910e-03 9.99974719e-01 1.01740859e-04 1.47960623e+00] [ 5.52591825e-03 -6.24516660e-05 9.99984730e-01 -1.86218732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.95591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.66, Y:1.48, Z:-1.86 [[ 9.99968697e-01 5.66337807e-03 -5.52544637e-03 8.36584820e+01] [-5.66294704e-03 9.99983961e-01 9.36507446e-05 1.47853928e+00] [ 5.52588813e-03 -6.23575029e-05 9.99984730e-01 -1.85955049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.98592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.69, Y:1.48, Z:-1.86 [[ 9.99975760e-01 4.23647958e-03 -5.52554229e-03 8.36869126e+01] [-4.23606635e-03 9.99991024e-01 8.64873242e-05 1.47741008e+00] [ 5.52585909e-03 -6.30786640e-05 9.99984730e-01 -1.86093381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.01592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.72, Y:1.48, Z:-1.86 [[ 9.99981731e-01 2.45061523e-03 -5.52554632e-03 8.37160892e+01] [-2.45017645e-03 9.99996995e-01 8.61781884e-05 1.47607434e+00] [ 5.52574090e-03 -7.26380506e-05 9.99984730e-01 -1.86136207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.04592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:83.74, Y:1.47, Z:-1.87 [[ 9.99984496e-01 -6.91772186e-04 -5.52539666e-03 8.37440517e+01] [ 6.92324420e-04 9.99999756e-01 9.80326557e-05 1.47340743e+00] [ 5.52532749e-03 -1.01856503e-04 9.99984730e-01 -1.87348225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.07592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.77, Y:1.47, Z:-1.86 [[ 9.99984644e-01 -4.21147323e-04 -5.52576861e-03 8.37738561e+01] [ 4.21527593e-04 9.99999909e-01 6.76530407e-05 1.47265312e+00] [ 5.52573961e-03 -6.99812658e-05 9.99984731e-01 -1.85866244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.10592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.80, Y:1.47, Z:-1.87 [[ 9.99980051e-01 -3.06046323e-03 -5.52556625e-03 8.38033265e+01] [ 3.06097574e-03 9.99995312e-01 8.42981227e-05 1.47127421e+00] [ 5.52528235e-03 -1.01210065e-04 9.99984730e-01 -1.87379977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.13592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.83, Y:1.47, Z:-1.86 [[ 9.99981730e-01 -2.45060869e-03 -5.52578099e-03 8.38324608e+01] [ 2.45101323e-03 9.99996994e-01 6.64372861e-05 1.46892680e+00] [ 5.52560157e-03 -7.99798346e-05 9.99984731e-01 -1.86046178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.16592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:83.86, Y:1.47, Z:-1.86 [[ 9.99980562e-01 -2.88837516e-03 -5.52571904e-03 8.38623769e+01] [ 2.88881534e-03 9.99995825e-01 7.16794588e-05 1.46515948e+00] [ 5.52548893e-03 -8.76408474e-05 9.99984731e-01 -1.86133954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.19592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.89, Y:1.46, Z:-1.87 [[ 9.99978260e-01 -3.59800162e-03 -5.52570298e-03 8.38912324e+01] [ 3.59846018e-03 9.99993523e-01 7.30469070e-05 1.46350300e+00] [ 5.52540436e-03 -9.29293412e-05 9.99984731e-01 -1.87229115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.22592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.92, Y:1.46, Z:-1.86 [[ 9.99981722e-01 -2.45376214e-03 -5.52581661e-03 8.39201375e+01] [ 2.45414825e-03 9.99996987e-01 6.30945513e-05 1.46250491e+00] [ 5.52564514e-03 -7.66545712e-05 9.99984731e-01 -1.85980333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.25591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.95, Y:1.46, Z:-1.86 [[ 9.99984692e-01 2.83400224e-04 -5.52580391e-03 8.39491716e+01] [-2.83049642e-04 9.99999958e-01 6.42264589e-05 1.46227078e+00] [ 5.52582188e-03 -6.26613990e-05 9.99984731e-01 -1.85699802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.28591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.98, Y:1.46, Z:-1.87 [[ 9.99981848e-01 2.40204668e-03 -5.52577307e-03 8.39787058e+01] [-2.40171297e-03 9.99997114e-01 6.70254256e-05 1.46188160e+00] [ 5.52591812e-03 -5.37528880e-05 9.99984731e-01 -1.87037667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.31591999999999 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:84.01, Y:1.46, Z:-1.86 [[ 9.99953228e-01 7.93769443e-03 -5.52585581e-03 8.40090984e+01] [-7.93748783e-03 9.99968496e-01 5.93176706e-05 1.46180181e+00] [ 5.52615257e-03 -1.54534829e-05 9.99984731e-01 -1.85625593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.34591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.04, Y:1.46, Z:-1.87 [[ 9.99945584e-01 8.84857068e-03 -5.52560815e-03 8.40378788e+01] [-8.84824799e-03 9.99960850e-01 8.28435952e-05 1.46098834e+00] [ 5.52612487e-03 -3.39471360e-05 9.99984730e-01 -1.87203400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.37592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:84.07, Y:1.46, Z:-1.86 [[ 9.99898655e-01 1.31204157e-02 -5.52587994e-03 8.40700214e+01] [-1.31203064e-02 9.99913924e-01 5.60478052e-05 1.46234404e+00] [ 5.52613966e-03 1.64591126e-05 9.99984731e-01 -1.85687502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.40592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:84.10, Y:1.46, Z:-1.86 [[ 9.99917841e-01 1.15663866e-02 -5.52530322e-03 8.40984723e+01] [-1.15659346e-02 9.99933106e-01 1.13748997e-04 1.46197338e+00] [ 5.52624927e-03 -4.98343559e-05 9.99984729e-01 -1.86127019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.43592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:84.13, Y:1.46, Z:-1.86 [[ 9.99921070e-01 1.12836027e-02 -5.52568258e-03 8.41268317e+01] [-1.12833634e-02 9.99936338e-01 7.44751930e-05 1.46163202e+00] [ 5.52617115e-03 -1.21210300e-05 9.99984731e-01 -1.86111821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.46592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.16, Y:1.46, Z:-1.86 [[ 9.99934995e-01 9.97354772e-03 -5.52569554e-03 8.41558397e+01] [-9.97329609e-03 9.99950263e-01 7.30917297e-05 1.46151976e+00] [ 5.52614970e-03 -1.79775807e-05 9.99984731e-01 -1.85903299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.49592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.18, Y:1.46, Z:-1.86 [[ 9.99935724e-01 9.90016470e-03 -5.52579440e-03 8.41845055e+01] [-9.89997278e-03 9.99950992e-01 6.20830442e-05 1.46190782e+00] [ 5.52613823e-03 -7.37383955e-06 9.99984731e-01 -1.85859763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.52592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.21, Y:1.46, Z:-1.86 [[ 9.99942292e-01 9.21291651e-03 -5.52575901e-03 8.42136385e+01] [-9.21269157e-03 9.99957560e-01 6.61615923e-05 1.46202875e+00] [ 5.52613404e-03 -1.52506609e-05 9.99984731e-01 -1.85818387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.55592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.24, Y:1.46, Z:-1.86 [[ 9.99933340e-01 1.01381118e-02 -5.52579161e-03 8.42447701e+01] [-1.01379233e-02 9.99948608e-01 6.21319205e-05 1.46229415e+00] [ 5.52613753e-03 -6.10772732e-06 9.99984731e-01 -1.85973937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.58592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.27, Y:1.46, Z:-1.87 [[ 9.99931908e-01 1.02784344e-02 -5.52565363e-03 8.42738980e+01] [-1.02781527e-02 9.99947175e-01 7.93800120e-05 1.46257273e+00] [ 5.52617764e-03 -2.25810951e-05 9.99984730e-01 -1.87235516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.61592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.30, Y:1.46, Z:-1.87 [[ 9.99926464e-01 1.07949194e-02 -5.52593825e-03 8.43023903e+01] [-1.07948561e-02 9.99941733e-01 4.12678062e-05 1.46262583e+00] [ 5.52606176e-03 1.83869369e-05 9.99984731e-01 -1.87318720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.64591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.33, Y:1.46, Z:-1.87 [[ 9.99918421e-01 1.15158404e-02 -5.52595852e-03 8.43308712e+01] [-1.15158043e-02 9.99933690e-01 3.83476483e-05 1.46222991e+00] [ 5.52603370e-03 2.52913371e-05 9.99984731e-01 -1.87435224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.67591999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:84.36, Y:1.46, Z:-1.86 [[ 9.99881084e-01 1.43973050e-02 -5.52597493e-03 8.43616670e+01] [-1.43973269e-02 9.99896352e-01 3.58152600e-05 1.46313945e+00] [ 5.52591782e-03 4.37482667e-05 9.99984731e-01 -1.85555242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.70591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.39, Y:1.46, Z:-1.86 [[ 9.99856377e-01 1.60215386e-02 -5.52583461e-03 8.43923274e+01] [-1.60214644e-02 9.99871646e-01 5.76879124e-05 1.46428904e+00] [ 5.52604960e-03 3.08523355e-05 9.99984731e-01 -1.85630469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.73592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:84.42, Y:1.47, Z:-1.86 [[ 9.99835787e-01 1.72587864e-02 -5.52572420e-03 8.44215989e+01] [-1.72586319e-02 9.99851056e-01 7.56600105e-05 1.46657526e+00] [ 5.52620697e-03 1.97188535e-05 9.99984730e-01 -1.85563811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.76592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:84.45, Y:1.47, Z:-1.86 [[ 9.99822846e-01 1.79928414e-02 -5.52576231e-03 8.44513719e+01] [-1.79927347e-02 9.99838115e-01 6.90310254e-05 1.46614866e+00] [ 5.52610983e-03 3.04047789e-05 9.99984730e-01 -1.85514761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.79592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.48, Y:1.46, Z:-1.86 [[ 9.99869123e-01 1.52053844e-02 -5.52565962e-03 8.44801406e+01] [-1.52051256e-02 9.99884391e-01 8.88410078e-05 1.46405432e+00] [ 5.52637167e-03 -4.81103209e-06 9.99984729e-01 -1.85663029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.82592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.51, Y:1.46, Z:-1.87 [[ 9.99897157e-01 1.32340863e-02 -5.52574265e-03 8.45084754e+01] [-1.32338933e-02 9.99912426e-01 7.14878358e-05 1.46289774e+00] [ 5.52620481e-03 1.64660510e-06 9.99984730e-01 -1.87056115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.85592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.54, Y:1.46, Z:-1.87 [[ 9.99917765e-01 1.15726456e-02 -5.52594944e-03 8.45374300e+01] [-1.15726890e-02 9.99933034e-01 2.41267355e-05 1.46315089e+00] [ 5.52585860e-03 3.98253429e-05 9.99984732e-01 -1.87091820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.88592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:84.57, Y:1.46, Z:-1.86 [[ 9.99920409e-01 1.13419458e-02 -5.52595940e-03 8.45679884e+01] [-1.13419997e-02 9.99935677e-01 2.15752120e-05 1.46361596e+00] [ 5.52584866e-03 4.11019351e-05 9.99984732e-01 -1.85580756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.91592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.60, Y:1.47, Z:-1.85 [[ 9.99912545e-01 1.20152844e-02 -5.52582208e-03 8.45968897e+01] [-1.20151481e-02 9.99927814e-01 5.78670468e-05 1.46541605e+00] [ 5.52611848e-03 8.53158440e-06 9.99984731e-01 -1.85483007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.94592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.63, Y:1.47, Z:-1.87 [[ 9.99926293e-01 1.08108371e-02 -5.52583986e-03 8.46255011e+01] [-1.08107142e-02 9.99941561e-01 5.21168221e-05 1.46595419e+00] [ 5.52608037e-03 7.62529450e-06 9.99984731e-01 -1.87040263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.97592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:84.66, Y:1.47, Z:-1.85 [[ 9.99930472e-01 1.04170889e-02 -5.52593612e-03 8.46553653e+01] [-1.04171710e-02 9.99945740e-01 1.39283905e-05 1.46605577e+00] [ 5.52578138e-03 4.36371992e-05 9.99984732e-01 -1.85499750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.00591999999999 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:84.68, Y:1.46, Z:-1.85 [[ 9.99943514e-01 9.07924865e-03 -5.52590933e-03 8.46844317e+01] [-9.07924477e-03 9.99958782e-01 2.57875566e-05 1.46489686e+00] [ 5.52591569e-03 2.43849833e-05 9.99984732e-01 -1.85417900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.03591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.71, Y:1.47, Z:-1.87 [[ 9.99954865e-01 7.72864038e-03 -5.52592267e-03 8.47147526e+01] [-7.72865636e-03 9.99970133e-01 1.84620750e-05 1.46532935e+00] [ 5.52590032e-03 2.42467157e-05 9.99984732e-01 -1.86995197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.06591999999999 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:84.74, Y:1.47, Z:-1.86 [[ 9.99966648e-01 6.01387899e-03 -5.52593806e-03 8.47436304e+01] [-6.01392225e-03 9.99981916e-01 8.78808234e-06 1.46638475e+00] [ 5.52589098e-03 2.44447726e-05 9.99984732e-01 -1.85616847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.09591999999999 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:84.77, Y:1.47, Z:-1.86 [[ 9.99970784e-01 5.28168347e-03 -5.52593315e-03 8.47721544e+01] [-5.28169640e-03 9.99986052e-01 1.22535013e-05 1.46617925e+00] [ 5.52592079e-03 1.69331579e-05 9.99984732e-01 -1.85596606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.12592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.80, Y:1.47, Z:-1.87 [[ 9.99977834e-01 3.71420327e-03 -5.52592395e-03 8.48016671e+01] [-3.71414206e-03 9.99993102e-01 2.13378743e-05 1.46545031e+00] [ 5.52596508e-03 -8.13334787e-07 9.99984732e-01 -1.86921163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.15592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:84.83, Y:1.47, Z:-1.85 [[ 9.99981674e-01 2.47291820e-03 -5.52593777e-03 8.48315881e+01] [-2.47293083e-03 9.99996942e-01 4.54819221e-06 1.46634891e+00] [ 5.52593212e-03 9.11715299e-06 9.99984732e-01 -1.85441951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.18592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:84.86, Y:1.47, Z:-1.85 [[ 9.99983468e-01 1.58966504e-03 -5.52593622e-03 8.48606876e+01] [-1.58965251e-03 9.99998736e-01 6.65984109e-06 1.46577674e+00] [ 5.52593982e-03 2.12458740e-06 9.99984732e-01 -1.85415605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.21592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.89, Y:1.46, Z:-1.86 [[ 9.99983025e-01 1.84750916e-03 -5.52594013e-03 8.48902926e+01] [-1.84755325e-03 9.99998293e-01 -2.87402217e-06 1.46459080e+00] [ 5.52592539e-03 1.30834420e-05 9.99984732e-01 -1.85533891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.24592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:84.92, Y:1.46, Z:-1.85 [[ 9.99979141e-01 3.34385029e-03 -5.52593920e-03 8.49190969e+01] [-3.34389930e-03 9.99994409e-01 3.71636029e-07 1.46396860e+00] [ 5.52590955e-03 1.81065559e-05 9.99984732e-01 -1.85387371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.27592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:84.95, Y:1.46, Z:-1.85 [[ 9.99970717e-01 5.29426100e-03 -5.52593904e-03 8.49501119e+01] [-5.29432639e-03 9.99985985e-01 2.79361875e-06 1.46394096e+00] [ 5.52587638e-03 2.64625879e-05 9.99984732e-01 -1.85483944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.30592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.98, Y:1.47, Z:-1.86 [[ 9.99960452e-01 6.96839460e-03 -5.52594094e-03 8.49802319e+01] [-6.96842705e-03 9.99975720e-01 1.33825422e-05 1.46513724e+00] [ 5.52590002e-03 2.51251033e-05 9.99984732e-01 -1.85501360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.33592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:85.01, Y:1.47, Z:-1.86 [[ 9.99956042e-01 7.57489279e-03 -5.52593781e-03 8.50096114e+01] [-7.57496705e-03 9.99971309e-01 7.49047414e-06 1.46549659e+00] [ 5.52583601e-03 3.43686520e-05 9.99984732e-01 -1.85540969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.36592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:85.04, Y:1.47, Z:-1.86 [[ 9.99958814e-01 7.19963337e-03 -5.52594765e-03 8.50379297e+01] [-7.19964694e-03 9.99974082e-01 1.74373786e-05 1.46634641e+00] [ 5.52592997e-03 2.23482117e-05 9.99984732e-01 -1.85560578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.39591999999999 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:85.07, Y:1.47, Z:-1.86 [[ 9.99964578e-01 6.34882531e-03 -5.52593300e-03 8.50658828e+01] [-6.34888108e-03 9.99979846e-01 7.44915694e-06 1.46683558e+00] [ 5.52586892e-03 2.76345984e-05 9.99984732e-01 -1.85609994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.42591999999999 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:85.09, Y:1.47, Z:-1.86 [[ 9.99966702e-01 6.00498158e-03 -5.52588709e-03 8.50948170e+01] [-6.00516285e-03 9.99981969e-01 -1.62114657e-05 1.46695131e+00] [ 5.52569011e-03 4.93947777e-05 9.99984732e-01 -1.85710222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.45591999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:85.12, Y:1.47, Z:-1.86 [[ 9.99976662e-01 4.01752651e-03 -5.52590716e-03 8.51237654e+01] [-4.01762872e-03 9.99991929e-01 -7.39546200e-06 1.46634317e+00] [ 5.52583286e-03 2.95963327e-05 9.99984732e-01 -1.85778375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.48592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.15, Y:1.47, Z:-1.86 [[ 9.99977763e-01 3.73328380e-03 -5.52591384e-03 8.51529401e+01] [-3.73336710e-03 9.99993031e-01 -4.75928265e-06 1.46840392e+00] [ 5.52585756e-03 2.53894417e-05 9.99984732e-01 -1.85646098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.51592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.18, Y:1.47, Z:-1.87 [[ 9.99984478e-01 7.12547566e-04 -5.52587677e-03 8.51829597e+01] [-7.12659018e-04 9.99999746e-01 -1.82001906e-05 1.47079742e+00] [ 5.52586240e-03 2.21379740e-05 9.99984732e-01 -1.87094104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.54592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:85.21, Y:1.47, Z:-1.86 [[ 9.99976853e-01 -3.96962803e-03 -5.52588396e-03 8.52131316e+01] [ 3.96960208e-03 9.99992121e-01 -1.56631654e-05 1.47208781e+00] [ 5.52590260e-03 -6.27275762e-06 9.99984732e-01 -1.85571058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.57592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.24, Y:1.47, Z:-1.87 [[ 9.99963910e-01 -6.45311696e-03 -5.52591690e-03 8.52425173e+01] [ 6.45319553e-03 9.99979178e-01 -3.61178530e-06 1.47134970e+00] [ 5.52582515e-03 -3.20481673e-05 9.99984732e-01 -1.86969331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.60592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.27, Y:1.47, Z:-1.87 [[ 9.99947518e-01 -8.62704987e-03 -5.52587918e-03 8.52709455e+01] [ 8.62709121e-03 9.99962786e-01 -1.63563899e-05 1.47138432e+00] [ 5.52581465e-03 -3.13167322e-05 9.99984732e-01 -1.86813730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.63592 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:85.30, Y:1.47, Z:-1.86 [[ 9.99915950e-01 -1.17285264e-02 -5.52587569e-03 8.53009746e+01] [ 1.17286090e-02 9.99931217e-01 -1.74595202e-05 1.47159791e+00] [ 5.52570038e-03 -4.73527824e-05 9.99984732e-01 -1.85512280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.66592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.33, Y:1.47, Z:-1.86 [[ 9.99865848e-01 -1.54191712e-02 -5.52584226e-03 8.53296649e+01] [ 1.54192549e-02 9.99881116e-01 -2.74533710e-05 1.47153895e+00] [ 5.52560863e-03 -5.77546822e-05 9.99984732e-01 -1.85812798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.69592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:85.36, Y:1.47, Z:-1.86 [[ 9.99855243e-01 -1.60921741e-02 -5.52578229e-03 8.53584667e+01] [ 1.60921689e-02 9.99870512e-01 -4.54107491e-05 1.47139922e+00] [ 5.52579753e-03 -4.35176465e-05 9.99984732e-01 -1.85590315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.72592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:85.39, Y:1.47, Z:-1.86 [[ 9.99843552e-01 -1.68028831e-02 -5.52581224e-03 8.53870514e+01] [ 1.68029365e-02 9.99858820e-01 -3.67676288e-05 1.47108375e+00] [ 5.52564991e-03 -5.60879955e-05 9.99984732e-01 -1.85513991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.75591999999999 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:85.42, Y:1.47, Z:-1.87 [[ 9.99826508e-01 -1.77881801e-02 -5.52576358e-03 8.54167896e+01] [ 1.77881759e-02 9.99841777e-01 -4.99047089e-05 1.46946146e+00] [ 5.52577699e-03 -4.83972038e-05 9.99984732e-01 -1.86949449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.78591999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:85.45, Y:1.47, Z:-1.87 [[ 9.99799923e-01 -1.92244233e-02 -5.52587098e-03 8.54461081e+01] [ 1.92246088e-02 9.99815190e-01 -1.95547459e-05 1.46794271e+00] [ 5.52522568e-03 -8.66818744e-05 9.99984732e-01 -1.86940676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.81591999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:85.47, Y:1.47, Z:-1.87 [[ 9.99778874e-01 -2.02896224e-02 -5.52586834e-03 8.54746664e+01] [ 2.02898202e-02 9.99794140e-01 -2.02748978e-05 1.46640925e+00] [ 5.52514216e-03 -9.18484606e-05 9.99984732e-01 -1.86941192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.84591999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:85.50, Y:1.46, Z:-1.87 [[ 9.99742468e-01 -2.20105285e-02 -5.52586562e-03 8.55031623e+01] [ 2.20107485e-02 9.99757734e-01 -2.09909348e-05 1.46291127e+00] [ 5.52498891e-03 -1.00642910e-04 9.99984732e-01 -1.86886210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.87592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:85.53, Y:1.46, Z:-1.86 [[ 9.99681135e-01 -2.46392410e-02 -5.52586279e-03 8.55309009e+01] [ 2.46394973e-02 9.99696401e-01 -2.17117728e-05 1.45922767e+00] [ 5.52472011e-03 -1.14449631e-04 9.99984732e-01 -1.85548187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.90592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:85.56, Y:1.46, Z:-1.86 [[ 9.99666814e-01 -2.52136323e-02 -5.52574675e-03 8.55595447e+01] [ 2.52137423e-02 9.99682082e-01 -4.97574298e-05 1.45821492e+00] [ 5.52524458e-03 -8.95839035e-05 9.99984732e-01 -1.85565629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.93592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:85.59, Y:1.46, Z:-1.86 [[ 9.99658033e-01 -2.55594099e-02 -5.52577115e-03 8.55888036e+01] [ 2.55595571e-02 9.99673300e-01 -4.39841344e-05 1.45745737e+00] [ 5.52509009e-03 -9.72671702e-05 9.99984732e-01 -1.85530783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.96592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:85.62, Y:1.45, Z:-1.86 [[ 9.99649109e-01 -2.59060628e-02 -5.52584327e-03 8.56176886e+01] [ 2.59063055e-02 9.99664375e-01 -2.76788900e-05 1.45487816e+00] [ 5.52470571e-03 -1.15485006e-04 9.99984732e-01 -1.85770977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.99592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.65, Y:1.45, Z:-1.87 [[ 9.99653367e-01 -2.57412320e-02 -5.52586729e-03 8.56473608e+01] [ 2.57415004e-02 9.99668632e-01 -2.25428701e-05 1.45305952e+00] [ 5.52461647e-03 -1.19709059e-04 9.99984732e-01 -1.86908712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.02592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:85.68, Y:1.45, Z:-1.87 [[ 9.99706035e-01 -2.36073965e-02 -5.52585175e-03 8.56766168e+01] [ 2.36076141e-02 9.99721301e-01 -2.58628244e-05 1.45160446e+00] [ 5.52492225e-03 -1.04596954e-04 9.99984732e-01 -1.86783657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.05592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:85.71, Y:1.45, Z:-1.87 [[ 9.99729347e-01 -2.25986235e-02 -5.52584920e-03 8.57056417e+01] [ 2.25988227e-02 9.99744614e-01 -2.63970787e-05 1.45199527e+00] [ 5.52503451e-03 -9.84877522e-05 9.99984732e-01 -1.86826420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.08592 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:85.73, Y:1.45, Z:-1.85 [[ 9.99812627e-01 -1.85519807e-02 -5.52584564e-03 8.57345029e+01] [ 1.85521141e-02 9.99827894e-01 -2.71219492e-05 1.45019032e+00] [ 5.52539777e-03 -7.53992516e-05 9.99984732e-01 -1.85432223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.11592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:85.76, Y:1.45, Z:-1.87 [[ 9.99813141e-01 -1.85242590e-02 -5.52585980e-03 8.57641885e+01] [ 1.85244074e-02 9.99828408e-01 -2.43218074e-05 1.44804629e+00] [ 5.52536215e-03 -7.80460158e-05 9.99984732e-01 -1.86807720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.14591999999999 meters Centerline goodness : 0.999402 Centerline is valid? [True, True] Translation: X:85.80, Y:1.45, Z:-1.85 [[ 9.99847280e-01 -1.65795870e-02 -5.52584101e-03 8.57954116e+01] [ 1.65796853e-02 9.99862547e-01 -2.80275192e-05 1.44568670e+00] [ 5.52554615e-03 -6.35934660e-05 9.99984732e-01 -1.85160764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.17591999999999 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:85.82, Y:1.45, Z:-1.85 [[ 9.99836116e-01 -1.72396291e-02 -5.52599682e-03 8.58249925e+01] [ 1.72399079e-02 9.99851382e-01 2.82280220e-06 1.44623903e+00] [ 5.52512689e-03 -9.80900157e-05 9.99984732e-01 -1.85469257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.20591999999999 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:85.85, Y:1.45, Z:-1.86 [[ 9.99843035e-01 -1.68335756e-02 -5.52599609e-03 8.58532378e+01] [ 1.68338474e-02 9.99858301e-01 2.68680739e-06 1.44753405e+00] [ 5.52516783e-03 -9.57101608e-05 9.99984732e-01 -1.85584032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.23592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.88, Y:1.45, Z:-1.86 [[ 9.99824566e-01 -1.78969284e-02 -5.52598995e-03 8.58830703e+01] [ 1.78972104e-02 9.99839832e-01 1.59368719e-06 1.44655984e+00] [ 5.52507634e-03 -1.00493212e-04 9.99984732e-01 -1.86451465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.26592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.91, Y:1.44, Z:-1.87 [[ 9.99789854e-01 -1.97411116e-02 -5.52588967e-03 8.59124070e+01] [ 1.97413283e-02 9.99805121e-01 -1.53215077e-05 1.44483571e+00] [ 5.52511525e-03 -9.37701144e-05 9.99984732e-01 -1.86854524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.29592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.94, Y:1.44, Z:-1.87 [[ 9.99772429e-01 -2.06047463e-02 -5.52577872e-03 8.59411654e+01] [ 2.06048754e-02 9.99787696e-01 -3.35796407e-05 1.44457223e+00] [ 5.52529747e-03 -8.02859829e-05 9.99984732e-01 -1.86890951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.32592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.97, Y:1.44, Z:-1.87 [[ 9.99768344e-01 -2.08020163e-02 -5.52577421e-03 8.59696756e+01] [ 2.08021443e-02 9.99783611e-01 -3.43058956e-05 1.44470437e+00] [ 5.52529212e-03 -8.06500041e-05 9.99984732e-01 -1.86875206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.35592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:86.00, Y:1.44, Z:-1.85 [[ 9.99778246e-01 -2.03205418e-02 -5.52576722e-03 8.60002831e+01] [ 2.03206565e-02 9.99793514e-01 -3.53962082e-05 1.44430234e+00] [ 5.52534550e-03 -7.68988586e-05 9.99984732e-01 -1.84987696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.38592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:86.03, Y:1.44, Z:-1.86 [[ 9.99730925e-01 -2.25286615e-02 -5.52594609e-03 8.60319193e+01] [ 2.25289608e-02 9.99746191e-01 -8.09331255e-06 1.44313306e+00] [ 5.52472588e-03 -1.16402688e-04 9.99984732e-01 -1.85515173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.41592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.06, Y:1.44, Z:-1.87 [[ 9.99570473e-01 -2.87807322e-02 -5.52622866e-03 8.60591367e+01] [ 2.87813446e-02 9.99585731e-01 3.13073621e-05 1.43969435e+00] [ 5.52303826e-03 -1.90346206e-04 9.99984730e-01 -1.86800426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.44592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:86.09, Y:1.44, Z:-1.85 [[ 9.99569061e-01 -2.88298179e-02 -5.52567648e-03 8.60898930e+01] [ 2.88300273e-02 9.99584327e-01 -4.17594830e-05 1.43775465e+00] [ 5.52458352e-03 -1.17563917e-04 9.99984732e-01 -1.85145631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.47592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.12, Y:1.44, Z:-1.87 [[ 9.99457249e-01 -3.24757152e-02 -5.52589030e-03 8.61191001e+01] [ 3.24761334e-02 9.99472511e-01 -1.40619547e-05 1.43691667e+00] [ 5.52343213e-03 -1.65405228e-04 9.99984732e-01 -1.86609890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.50591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.15, Y:1.43, Z:-1.86 [[ 9.99377570e-01 -3.48416472e-02 -5.52564793e-03 8.61479024e+01] [ 3.48419344e-02 9.99392834e-01 -4.42963637e-05 1.43388104e+00] [ 5.52383631e-03 -1.48255471e-04 9.99984733e-01 -1.86498396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.53591999999999 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:86.18, Y:1.43, Z:-1.85 [[ 9.99464475e-01 -3.22526067e-02 -5.52564212e-03 8.61806366e+01] [ 3.22528505e-02 9.99479740e-01 -4.50100601e-05 1.43153577e+00] [ 5.52421904e-03 -1.33231753e-04 9.99984733e-01 -1.85234753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.56591999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:86.21, Y:1.43, Z:-1.85 [[ 9.99406823e-01 -3.39921106e-02 -5.52618491e-03 8.62098305e+01] [ 3.39927552e-02 9.99422079e-01 2.27191212e-05 1.42659496e+00] [ 5.52221894e-03 -2.10555895e-04 9.99984730e-01 -1.85349307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.59591999999999 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:86.24, Y:1.43, Z:-1.85 [[ 9.99396088e-01 -3.43063177e-02 -5.52599025e-03 8.62390085e+01] [ 3.43068406e-02 9.99411347e-01 -1.66447494e-07 1.42524525e+00] [ 5.52274307e-03 -1.89412919e-04 9.99984732e-01 -1.85241853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.62592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:86.27, Y:1.42, Z:-1.86 [[ 9.99477459e-01 -3.18476571e-02 -5.52583400e-03 8.62692769e+01] [ 3.18480449e-02 9.99492722e-01 -1.78068950e-05 1.42176028e+00] [ 5.52359797e-03 -1.58189419e-04 9.99984732e-01 -1.86050125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.65592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:86.30, Y:1.42, Z:-1.85 [[ 9.99565042e-01 -2.89688256e-02 -5.52574765e-03 8.62988690e+01] [ 2.89691183e-02 9.99580307e-01 -2.70885388e-05 1.41910637e+00] [ 5.52421325e-03 -1.32999281e-04 9.99984733e-01 -1.85069755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.68592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.33, Y:1.42, Z:-1.86 [[ 9.99663030e-01 -2.53632284e-02 -5.52575004e-03 8.63295342e+01] [ 2.53634673e-02 9.99678295e-01 -2.68380883e-05 1.41551320e+00] [ 5.52465308e-03 -1.13323136e-04 9.99984733e-01 -1.86063567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.71592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:86.36, Y:1.41, Z:-1.85 [[ 9.99745508e-01 -2.18720390e-02 -5.52572485e-03 8.63583933e+01] [ 2.18722103e-02 9.99760774e-01 -2.94448510e-05 1.41464579e+00] [ 5.52504697e-03 -9.14224582e-05 9.99984733e-01 -1.85036186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.74592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:86.39, Y:1.41, Z:-1.85 [[ 9.99810702e-01 -1.86555276e-02 -5.52558081e-03 8.63886369e+01] [ 1.86555702e-02 9.99825969e-01 -4.38424498e-05 1.41490150e+00] [ 5.52543709e-03 -5.92487102e-05 9.99984733e-01 -1.85205818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.77592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:86.42, Y:1.41, Z:-1.86 [[ 9.99885307e-01 -1.41010170e-02 -5.52584579e-03 8.64183349e+01] [ 1.41011310e-02 9.99900574e-01 -1.83258846e-05 1.41252178e+00] [ 5.52555479e-03 -5.95968928e-05 9.99984732e-01 -1.86055612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.80592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:86.45, Y:1.41, Z:-1.86 [[ 9.99916635e-01 -1.16699887e-02 -5.52574982e-03 8.64466124e+01] [ 1.16700169e-02 9.99931903e-01 -2.71361899e-05 1.41163144e+00] [ 5.52569021e-03 -3.73516661e-05 9.99984733e-01 -1.85938910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.83592 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:86.48, Y:1.41, Z:-1.85 [[ 9.99923216e-01 -1.10918985e-02 -5.52564511e-03 8.64766849e+01] [ 1.10918677e-02 9.99938483e-01 -3.62182973e-05 1.41267224e+00] [ 5.52570692e-03 -2.50742083e-05 9.99984733e-01 -1.84817142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.86592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:86.51, Y:1.41, Z:-1.85 [[ 9.99926015e-01 -1.08366147e-02 -5.52569106e-03 8.65060318e+01] [ 1.08366014e-02 9.99941282e-01 -3.23576556e-05 1.41410474e+00] [ 5.52571725e-03 -2.75244499e-05 9.99984733e-01 -1.84795457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.89591999999999 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:86.54, Y:1.42, Z:-1.85 [[ 9.99957139e-01 -7.42878839e-03 -5.52567434e-03 8.65380583e+01] [ 7.42871540e-03 9.99972406e-01 -3.37336918e-05 1.41732711e+00] [ 5.52577246e-03 -7.31641613e-06 9.99984733e-01 -1.84925948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.92591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.57, Y:1.42, Z:-1.86 [[ 9.99956209e-01 -7.55257237e-03 -5.52627052e-03 8.65658938e+01] [ 7.55275845e-03 9.99971477e-01 1.28040881e-05 1.41878963e+00] [ 5.52601619e-03 -5.45421138e-05 9.99984730e-01 -1.85931481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.95591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.60, Y:1.42, Z:-1.85 [[ 9.99964615e-01 -6.34337190e-03 -5.52540354e-03 8.65960545e+01] [ 6.34318024e-03 9.99979880e-01 -5.22113609e-05 1.42020898e+00] [ 5.52562357e-03 1.71608829e-05 9.99984733e-01 -1.85052718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.98592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:86.63, Y:1.42, Z:-1.85 [[ 9.99962800e-01 -6.62299853e-03 -5.52574271e-03 8.66260256e+01] [ 6.62294681e-03 9.99978068e-01 -2.76577222e-05 1.42232950e+00] [ 5.52580470e-03 -8.94000674e-06 9.99984733e-01 -1.84869666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.01592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:86.66, Y:1.43, Z:-1.85 [[ 9.99974236e-01 -4.58191031e-03 -5.52574025e-03 8.66553552e+01] [ 4.58182646e-03 9.99989503e-01 -2.78334314e-05 1.42738603e+00] [ 5.52580978e-03 2.51473139e-06 9.99984733e-01 -1.84738492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.04592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:86.69, Y:1.43, Z:-1.85 [[ 9.99975134e-01 -4.38132059e-03 -5.52588434e-03 8.66856859e+01] [ 4.38128857e-03 9.99990402e-01 -1.79008294e-05 1.42809377e+00] [ 5.52590973e-03 -6.31010961e-06 9.99984732e-01 -1.84681251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.07592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.71, Y:1.43, Z:-1.85 [[ 9.99970755e-01 -5.28690565e-03 -5.52614523e-03 8.67144413e+01] [ 5.28698333e-03 9.99986024e-01 -5.50903442e-07 1.42903407e+00] [ 5.52607091e-03 -2.86657504e-05 9.99984731e-01 -1.84616538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.10592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.74, Y:1.43, Z:-1.86 [[ 9.99956951e-01 -7.45370625e-03 -5.52619444e-03 8.67423058e+01] [ 7.45383412e-03 9.99972220e-01 2.54355399e-06 1.43074631e+00] [ 5.52602196e-03 -4.37347812e-05 9.99984730e-01 -1.85618483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.13592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.77, Y:1.43, Z:-1.85 [[ 9.99952552e-01 -8.02275513e-03 -5.52540102e-03 8.67733896e+01] [ 8.02262483e-03 9.99967817e-01 -4.57448774e-05 1.43203220e+00] [ 5.52559019e-03 1.41448745e-06 9.99984734e-01 -1.84984806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.16592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.80, Y:1.43, Z:-1.86 [[ 9.99918713e-01 -1.14902876e-02 -5.52633103e-03 8.67984480e+01] [ 1.14905135e-02 9.99933982e-01 9.13111211e-06 1.43080309e+00] [ 5.52586127e-03 -7.26307513e-05 9.99984730e-01 -1.86196954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.19592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.83, Y:1.43, Z:-1.85 [[ 9.99935371e-01 -9.93647495e-03 -5.52445586e-03 8.68298013e+01] [ 9.93608892e-03 9.99950631e-01 -9.73183316e-05 1.43240783e+00] [ 5.52515012e-03 4.24205574e-05 9.99984735e-01 -1.84594366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.22592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:86.86, Y:1.44, Z:-1.85 [[ 9.99941994e-01 -9.24507382e-03 -5.52598633e-03 8.68589929e+01] [ 9.24514866e-03 9.99957263e-01 -1.20019189e-05 1.43816823e+00] [ 5.52586113e-03 -3.90873424e-05 9.99984732e-01 -1.84749981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.25591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.89, Y:1.44, Z:-1.86 [[ 9.99928481e-01 -1.06063631e-02 -5.52613209e-03 8.68851385e+01] [ 1.06065031e-02 9.99943749e-01 -3.97340472e-06 1.43861858e+00] [ 5.52586339e-03 -5.46398168e-05 9.99984731e-01 -1.85968260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.28591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.91, Y:1.44, Z:-1.86 [[ 9.99921347e-01 -1.12597513e-02 -5.52424827e-03 8.69142807e+01] [ 1.12593485e-02 9.99936606e-01 -1.04020134e-04 1.43829323e+00] [ 5.52506930e-03 4.18125165e-05 9.99984736e-01 -1.85964335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.31591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.94, Y:1.44, Z:-1.85 [[ 9.99925027e-01 -1.09280841e-02 -5.52423457e-03 8.69447367e+01] [ 1.09276722e-02 9.99940286e-01 -1.04742426e-04 1.43988239e+00] [ 5.52504933e-03 4.43675486e-05 9.99984736e-01 -1.84750438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.34591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.97, Y:1.45, Z:-1.85 [[ 9.99924965e-01 -1.09335321e-02 -5.52475992e-03 8.69733668e+01] [ 1.09332718e-02 9.99940227e-01 -7.73184490e-05 1.44597850e+00] [ 5.52527506e-03 1.69089455e-05 9.99984735e-01 -1.84738415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.37592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:87.00, Y:1.45, Z:-1.84 [[ 9.99932932e-01 -1.01789061e-02 -5.52466655e-03 8.70048524e+01] [ 1.01786076e-02 9.99948193e-01 -8.21592310e-05 1.44795596e+00] [ 5.52521663e-03 2.59203080e-05 9.99984736e-01 -1.84289808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.40592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.03, Y:1.45, Z:-1.85 [[ 9.99922779e-01 -1.11312857e-02 -5.52549644e-03 8.70324397e+01] [ 1.11312290e-02 9.99938045e-01 -4.10057189e-05 1.44955523e+00] [ 5.52561055e-03 -2.05030141e-05 9.99984733e-01 -1.85369827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.43592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:87.06, Y:1.45, Z:-1.84 [[ 9.99904548e-01 -1.26638979e-02 -5.52453978e-03 8.70627169e+01] [ 1.26636100e-02 9.99919809e-01 -8.70884283e-05 1.45144243e+00] [ 5.52519964e-03 1.71194981e-05 9.99984736e-01 -1.84103017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.46592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.09, Y:1.45, Z:-1.86 [[ 9.99871592e-01 -1.50424307e-02 -5.52495442e-03 8.70910339e+01] [ 1.50422870e-02 9.99886856e-01 -6.75719338e-05 1.45353025e+00] [ 5.52534575e-03 -1.55446930e-05 9.99984735e-01 -1.85578197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.49592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.12, Y:1.45, Z:-1.86 [[ 9.99863272e-01 -1.55859394e-02 -5.52409573e-03 8.71202982e+01] [ 1.55855830e-02 9.99878532e-01 -1.07562822e-04 1.45416588e+00] [ 5.52510119e-03 2.14518629e-05 9.99984736e-01 -1.85583525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.52592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.15, Y:1.45, Z:-1.86 [[ 9.99814725e-01 -1.84390556e-02 -5.52413599e-03 8.71482405e+01] [ 1.84387530e-02 9.99829986e-01 -1.05709290e-04 1.45453402e+00] [ 5.52514599e-03 3.83152628e-06 9.99984736e-01 -1.85621637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.55592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:87.18, Y:1.46, Z:-1.84 [[ 9.99737433e-01 -2.22385224e-02 -5.52384447e-03 8.71772006e+01] [ 2.22382049e-02 9.99752693e-01 -1.18903572e-04 1.45747231e+00] [ 5.52512263e-03 -3.96803375e-06 9.99984736e-01 -1.84365351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.58592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.21, Y:1.46, Z:-1.86 [[ 9.99685541e-01 -2.44601969e-02 -5.52422477e-03 8.72051663e+01] [ 2.44600074e-02 9.99700804e-01 -1.01864303e-04 1.45810579e+00] [ 5.52506357e-03 -3.32903082e-05 9.99984736e-01 -1.85552627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.61592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.23, Y:1.45, Z:-1.85 [[ 9.99635832e-01 -2.64138868e-02 -5.52361331e-03 8.72337062e+01] [ 2.64135789e-02 9.99651092e-01 -1.28702410e-04 1.45491358e+00] [ 5.52508561e-03 -1.72428553e-05 9.99984736e-01 -1.84543158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.64591999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:87.26, Y:1.45, Z:-1.85 [[ 9.99603020e-01 -2.76277458e-02 -5.52360894e-03 8.72626466e+01] [ 2.76274554e-02 9.99618281e-01 -1.28892926e-04 1.45491327e+00] [ 5.52506149e-03 -2.37615011e-05 9.99984736e-01 -1.84667629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.67591999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:87.29, Y:1.46, Z:-1.85 [[ 9.99618579e-01 -2.70589984e-02 -5.52336888e-03 8.72924412e+01] [ 2.70586421e-02 9.99633838e-01 -1.39249784e-04 1.45916827e+00] [ 5.52511439e-03 -1.02581907e-05 9.99984736e-01 -1.84914399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.70591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.32, Y:1.46, Z:-1.85 [[ 9.99664797e-01 -2.52939856e-02 -5.52346178e-03 8.73219133e+01] [ 2.52936243e-02 9.99680056e-01 -1.35255614e-04 1.46008125e+00] [ 5.52511574e-03 -4.49809179e-06 9.99984736e-01 -1.84603523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.73592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:87.35, Y:1.46, Z:-1.85 [[ 9.99701463e-01 -2.38007133e-02 -5.52362274e-03 8.73503419e+01] [ 2.38003672e-02 9.99716723e-01 -1.28391276e-04 1.45711854e+00] [ 5.52511383e-03 -3.11130240e-06 9.99984736e-01 -1.84501275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.76592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:87.38, Y:1.46, Z:-1.84 [[ 9.99692042e-01 -2.41932301e-02 -5.52348203e-03 8.73795228e+01] [ 2.41928569e-02 9.99707301e-01 -1.34379636e-04 1.45696723e+00] [ 5.52511639e-03 7.09441870e-07 9.99984736e-01 -1.84111723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.79592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:87.41, Y:1.46, Z:-1.85 [[ 9.99719694e-01 -2.30222471e-02 -5.52355559e-03 8.74095606e+01] [ 2.30218732e-02 9.99734953e-01 -1.31272496e-04 1.45951965e+00] [ 5.52511378e-03 4.07310245e-06 9.99984736e-01 -1.84520243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.82592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.44, Y:1.46, Z:-1.86 [[ 9.99732652e-01 -2.24524919e-02 -5.52367898e-03 8.74396635e+01] [ 2.24521379e-02 9.99747911e-01 -1.26093029e-04 1.46056102e+00] [ 5.52511763e-03 2.04091598e-06 9.99984736e-01 -1.85851883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.85592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.47, Y:1.46, Z:-1.85 [[ 9.99746622e-01 -2.18215887e-02 -5.52355604e-03 8.74698086e+01] [ 2.18211965e-02 9.99761881e-01 -1.31266449e-04 1.46185893e+00] [ 5.52510522e-03 1.07025873e-05 9.99984736e-01 -1.84521261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.88592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.50, Y:1.46, Z:-1.85 [[ 9.99790823e-01 -1.96926795e-02 -5.52351711e-03 8.74990128e+01] [ 1.96922458e-02 9.99806080e-01 -1.32901651e-04 1.46365521e+00] [ 5.52506318e-03 2.41033941e-05 9.99984736e-01 -1.84528725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.91592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.53, Y:1.47, Z:-1.84 [[ 9.99823577e-01 -1.79528166e-02 -5.52365464e-03 8.75284573e+01] [ 1.79523878e-02 9.99838835e-01 -1.27192678e-04 1.46543989e+00] [ 5.52504789e-03 2.80074476e-05 9.99984736e-01 -1.84399110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.94592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:87.56, Y:1.47, Z:-1.84 [[ 9.99805518e-01 -1.89317265e-02 -5.52412759e-03 8.75562766e+01] [ 1.89314197e-02 9.99820779e-01 -1.07821038e-04 1.46620075e+00] [ 5.52517878e-03 3.22049117e-06 9.99984736e-01 -1.84236077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.97592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:87.59, Y:1.47, Z:-1.84 [[ 9.99792075e-01 -1.96289248e-02 -5.52380745e-03 8.75851347e+01] [ 1.96285575e-02 9.99807334e-01 -1.20709085e-04 1.46703738e+00] [ 5.52511259e-03 1.22596145e-05 9.99984736e-01 -1.84194392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.00591999999999 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:87.61, Y:1.47, Z:-1.84 [[ 9.99779531e-01 -2.02578308e-02 -5.52357994e-03 8.76136338e+01] [ 2.02574233e-02 9.99794789e-01 -1.29725521e-04 1.46916022e+00] [ 5.52507439e-03 1.78034233e-05 9.99984737e-01 -1.84262941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.03591999999999 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:87.64, Y:1.46, Z:-1.85 [[ 9.99172728e-01 -4.02907832e-02 -5.52386702e-03 8.76429102e+01] [ 4.02907441e-02 9.99187991e-01 -1.18395182e-04 1.46181723e+00] [ 5.52415183e-03 -1.04263475e-04 9.99984736e-01 -1.85098324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.06591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.67, Y:1.47, Z:-1.84 [[ 9.99728601e-01 -2.26321013e-02 -5.52371896e-03 8.76711389e+01] [ 2.26317606e-02 9.99743861e-01 -1.24199869e-04 1.47229356e+00] [ 5.52511503e-03 -8.45323378e-07 9.99984736e-01 -1.84404733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.09591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.70, Y:1.47, Z:-1.84 [[ 9.99709455e-01 -2.34626747e-02 -5.52349167e-03 8.76993929e+01] [ 2.34622981e-02 9.99724714e-01 -1.32974306e-04 1.47347319e+00] [ 5.52509106e-03 3.34186294e-06 9.99984737e-01 -1.84411113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.12592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.73, Y:1.47, Z:-1.84 [[ 9.99627319e-01 -2.67342342e-02 -5.52302664e-03 8.77286519e+01] [ 2.67338091e-02 9.99642576e-01 -1.50794913e-04 1.47452999e+00] [ 5.52508397e-03 3.08717464e-06 9.99984737e-01 -1.84205042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.15592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.76, Y:1.48, Z:-1.84 [[ 9.99577673e-01 -2.85301610e-02 -5.52319288e-03 8.77593742e+01] [ 2.85297981e-02 9.99592932e-01 -1.44490111e-04 1.47504777e+00] [ 5.52506689e-03 -1.31464884e-05 9.99984737e-01 -1.84160984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.18592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.79, Y:1.48, Z:-1.86 [[ 9.99431644e-01 -3.32547456e-02 -5.52367024e-03 8.77890477e+01] [ 3.32545547e-02 9.99446906e-01 -1.26426659e-04 1.47540786e+00] [ 5.52481942e-03 -5.73323905e-05 9.99984736e-01 -1.85685588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.21592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.82, Y:1.48, Z:-1.84 [[ 9.99436272e-01 -3.31154613e-02 -5.52313894e-03 8.78192536e+01] [ 3.31151575e-02 9.99451532e-01 -1.46462194e-04 1.47702596e+00] [ 5.52495984e-03 -3.65199871e-05 9.99984737e-01 -1.84345682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.24592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.85, Y:1.48, Z:-1.84 [[ 9.99429615e-01 -3.33157262e-02 -5.52327457e-03 8.78475976e+01] [ 3.33154537e-02 9.99444876e-01 -1.41375643e-04 1.47770620e+00] [ 5.52491850e-03 -4.27153928e-05 9.99984737e-01 -1.84329955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.27592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.88, Y:1.48, Z:-1.84 [[ 9.99369302e-01 -3.50783600e-02 -5.52324226e-03 8.78760133e+01] [ 3.50781077e-02 9.99384564e-01 -1.42577963e-04 1.47952306e+00] [ 5.52484445e-03 -5.12568474e-05 9.99984737e-01 -1.84455102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.30592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.91, Y:1.48, Z:-1.86 [[ 9.99377530e-01 -3.48432294e-02 -5.52294123e-03 8.79051928e+01] [ 3.48429123e-02 9.99392790e-01 -1.53648309e-04 1.48072430e+00] [ 5.52494125e-03 -3.88826893e-05 9.99984737e-01 -1.85958057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.33592 meters Centerline goodness : 0.986128 Centerline is valid? [True, True] Translation: X:87.96, Y:1.46, Z:-1.86 [[ 9.96580182e-01 -8.24465663e-02 -5.52301666e-03 8.79643201e+01] [ 8.24469923e-02 9.96595440e-01 -1.50887510e-04 1.46077955e+00] [ 5.51665337e-03 -3.04984609e-04 9.99984737e-01 -1.85625996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.36592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.96, Y:1.48, Z:-1.86 [[ 9.99403183e-01 -3.40966212e-02 -5.54057968e-03 8.79613297e+01] [ 3.41009203e-02 9.99418161e-01 6.83297457e-04 1.47887605e+00] [ 5.51405782e-03 -8.71828519e-04 9.99984417e-01 -1.85922452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.39591999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:87.99, Y:1.48, Z:-1.84 [[ 9.99498521e-01 -3.11810071e-02 -5.51823427e-03 8.79913696e+01] [ 3.11806636e-02 9.99513754e-01 -1.48291686e-04 1.48039491e+00] [ 5.52017493e-03 -2.38448863e-05 9.99984763e-01 -1.84441756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.42591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.02, Y:1.48, Z:-1.86 [[ 9.99449676e-01 -3.27091372e-02 -5.51891925e-03 8.80206477e+01] [ 3.27089567e-02 9.99464911e-01 -1.22987458e-04 1.48143693e+00] [ 5.51998896e-03 -5.75983162e-05 9.99984763e-01 -1.85898974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.45591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.05, Y:1.48, Z:-1.86 [[ 9.99535309e-01 -2.99785969e-02 -5.51814532e-03 8.80488164e+01] [ 2.99782188e-02 9.99550541e-01 -1.51227596e-04 1.48400566e+00] [ 5.52019873e-03 -1.42668464e-05 9.99984763e-01 -1.85838275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.48592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:88.08, Y:1.49, Z:-1.84 [[ 9.99575297e-01 -2.86142604e-02 -5.51811496e-03 8.80786845e+01] [ 2.86138555e-02 9.99590528e-01 -1.52327243e-04 1.48574598e+00] [ 5.52021418e-03 -5.63199457e-06 9.99984763e-01 -1.84317174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.51592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.11, Y:1.49, Z:-1.86 [[ 9.99580325e-01 -2.84379460e-02 -5.51878031e-03 8.81080096e+01] [ 2.84376702e-02 9.99595559e-01 -1.28460472e-04 1.48832037e+00] [ 5.52020144e-03 -2.85346942e-05 9.99984763e-01 -1.85719118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.54592 meters Centerline goodness : 0.932715 Centerline is valid? [True, False] Translation: X:88.10, Y:1.50, Z:-1.86 [[ 9.99904597e-01 -1.28538548e-02 5.05719318e-03 8.80998620e+01] [ 1.28650378e-02 9.99914855e-01 -2.18502727e-03 1.49678866e+00] [-5.02867656e-03 2.24987979e-03 9.99984825e-01 -1.85799148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.57592 meters Centerline goodness : 1.000000 Centerline is valid? [False, True] Translation: X:88.10, Y:1.49, Z:-1.86 [[ 9.99949867e-01 -8.66992369e-03 5.00953231e-03 8.80999134e+01] [ 8.65721779e-03 9.99959268e-01 2.55248625e-03 1.49486376e+00] [-5.03145813e-03 -2.50898967e-03 9.99984195e-01 -1.85825273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.60592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.13, Y:1.50, Z:-1.87 [[ 9.99936408e-01 -1.00875257e-02 5.04195028e-03 8.81306150e+01] [ 1.00876220e-02 9.99949119e-01 6.32556328e-06 1.49974587e+00] [-5.04175755e-03 4.45361275e-05 9.99987289e-01 -1.87451700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.63592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.16, Y:1.50, Z:-1.87 [[ 9.99931121e-01 -1.05990451e-02 5.04120626e-03 8.81634083e+01] [ 1.05988547e-02 9.99943828e-01 6.44881438e-05 1.50218776e+00] [-5.04160661e-03 -1.10526893e-05 9.99987291e-01 -1.87328047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.66592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.20, Y:1.51, Z:-1.87 [[ 9.99913314e-01 -1.21635015e-02 5.04123875e-03 8.81963692e+01] [ 1.21633444e-02 9.99926022e-01 6.18401690e-05 1.50856843e+00] [-5.04161800e-03 -5.16485456e-07 9.99987291e-01 -1.87276922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.69592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.23, Y:1.51, Z:-1.87 [[ 9.99905240e-01 -1.28100361e-02 5.04127022e-03 8.82291493e+01] [ 1.28099007e-02 9.99917948e-01 5.91580669e-05 1.51194244e+00] [-5.04161439e-03 5.42570961e-06 9.99987291e-01 -1.87346777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.72592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.26, Y:1.51, Z:-1.86 [[ 9.99881802e-01 -1.45247278e-02 5.04130021e-03 8.82612385e+01] [ 1.45246277e-02 9.99894510e-01 5.64815067e-05 1.51453342e+00] [-5.04158878e-03 1.67481778e-05 9.99987291e-01 -1.86178189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.75591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.29, Y:1.51, Z:-1.87 [[ 9.99849740e-01 -1.65855742e-02 5.04151605e-03 8.82923198e+01] [ 1.65856007e-02 9.99862449e-01 3.65521742e-05 1.51482302e+00] [-5.04142883e-03 4.70698903e-05 9.99987291e-01 -1.87400140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.78591999999999 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:88.32, Y:1.51, Z:-1.86 [[ 9.99818399e-01 -1.83781103e-02 5.04132398e-03 8.83236123e+01] [ 1.83780698e-02 9.99831108e-01 5.43636626e-05 1.51461793e+00] [-5.04147164e-03 3.82960137e-05 9.99987291e-01 -1.86140335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.81591999999999 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:88.36, Y:1.51, Z:-1.86 [[ 9.99834260e-01 -1.74939098e-02 5.04141558e-03 8.83571006e+01] [ 1.74939017e-02 9.99846969e-01 4.57103768e-05 1.51459891e+00] [-5.04144374e-03 4.24912276e-05 9.99987291e-01 -1.86138924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.84591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.39, Y:1.51, Z:-1.87 [[ 9.99795049e-01 -1.96071826e-02 5.04161587e-03 8.83865093e+01] [ 1.96073004e-02 9.99807758e-01 2.60721898e-05 1.51403037e+00] [-5.04115787e-03 7.27856308e-05 9.99987291e-01 -1.87487066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.87592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:88.42, Y:1.51, Z:-1.86 [[ 9.99789707e-01 -1.98777869e-02 5.04136191e-03 8.84177346e+01] [ 1.98777819e-02 9.99802416e-01 5.11183005e-05 1.51384271e+00] [-5.04138194e-03 4.91035417e-05 9.99987291e-01 -1.86480155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.90592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.45, Y:1.51, Z:-1.86 [[ 9.99789908e-01 -1.98676765e-02 5.04137896e-03 8.84488356e+01] [ 1.98676797e-02 9.99802617e-01 4.94406345e-05 1.51391734e+00] [-5.04136615e-03 5.07302551e-05 9.99987291e-01 -1.86190194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.93592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:88.48, Y:1.51, Z:-1.88 [[ 9.99787521e-01 -1.99874804e-02 5.04127009e-03 8.84802235e+01] [ 1.99874292e-02 9.99800230e-01 6.05441788e-05 1.51188785e+00] [-5.04147312e-03 4.02307148e-05 9.99987291e-01 -1.87597706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.96592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.51, Y:1.51, Z:-1.87 [[ 9.99784252e-01 -2.01502913e-02 5.04138741e-03 8.85114157e+01] [ 2.01503039e-02 9.99796961e-01 4.82984493e-05 1.50934366e+00] [-5.04133704e-03 5.32974593e-05 9.99987291e-01 -1.86551322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.99592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.54, Y:1.51, Z:-1.86 [[ 9.99810785e-01 -1.87877671e-02 5.04129913e-03 8.85423242e+01] [ 1.87877144e-02 9.99823494e-01 5.78256732e-05 1.50770978e+00] [-5.04149573e-03 3.68997565e-05 9.99987291e-01 -1.86254131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.02592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:88.57, Y:1.50, Z:-1.86 [[ 9.99785067e-01 -2.01097891e-02 5.04135307e-03 8.85746868e+01] [ 2.01097837e-02 9.99797777e-01 5.17678668e-05 1.50168081e+00] [-5.04137463e-03 4.96237794e-05 9.99987291e-01 -1.85990892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.05592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.61, Y:1.50, Z:-1.87 [[ 9.99775913e-01 -2.05598932e-02 5.04134849e-03 8.86059952e+01] [ 2.05598908e-02 9.99788622e-01 5.22968069e-05 1.49906505e+00] [-5.04135807e-03 5.13644866e-05 9.99987291e-01 -1.87446458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.08592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.64, Y:1.50, Z:-1.87 [[ 9.99763209e-01 -2.11686203e-02 5.04142722e-03 8.86378175e+01] [ 2.11686721e-02 9.99775918e-01 4.30839265e-05 1.49778788e+00] [-5.04120955e-03 6.36465951e-05 9.99987291e-01 -1.87498472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.11592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.67, Y:1.49, Z:-1.86 [[ 9.99799103e-01 -1.93994290e-02 5.04144606e-03 8.86689126e+01] [ 1.93994701e-02 9.99811812e-01 4.07536049e-05 1.49371513e+00] [-5.04128791e-03 5.70559644e-05 9.99987291e-01 -1.86399829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.14591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.70, Y:1.49, Z:-1.86 [[ 9.99849446e-01 -1.66032874e-02 5.04150214e-03 8.86999842e+01] [ 1.66033290e-02 9.99862155e-01 3.36045712e-05 1.48613889e+00] [-5.04136514e-03 5.01062068e-05 9.99987291e-01 -1.86226669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.17591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.73, Y:1.48, Z:-1.86 [[ 9.99886640e-01 -1.41876700e-02 5.04150073e-03 8.87316027e+01] [ 1.41876800e-02 9.99899349e-01 3.37839494e-05 1.48479986e+00] [-5.04147262e-03 3.77470796e-05 9.99987291e-01 -1.86143427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.20591999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:88.76, Y:1.49, Z:-1.86 [[ 9.99937811e-01 -9.94774906e-03 5.04144010e-03 8.87643237e+01] [ 9.94766459e-03 9.99950520e-01 4.18324501e-05 1.48527212e+00] [-5.04160678e-03 8.32070654e-06 9.99987291e-01 -1.86153548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.23592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:88.80, Y:1.48, Z:-1.86 [[ 9.99981873e-01 -3.29194310e-03 5.04156250e-03 8.87964139e+01] [ 3.29186234e-03 9.99994582e-01 2.43169084e-05 1.48486653e+00] [-5.04161523e-03 -7.72033788e-06 9.99987291e-01 -1.86466100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.26592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:88.83, Y:1.48, Z:-1.86 [[ 9.99987015e-01 -7.43194671e-04 5.04158781e-03 8.88286025e+01] [ 7.43099818e-04 9.99999724e-01 2.06872752e-05 1.48378784e+00] [-5.04160179e-03 -1.69406036e-05 9.99987291e-01 -1.86416192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.29592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.86, Y:1.48, Z:-1.88 [[ 9.99986663e-01 1.12073939e-03 5.04162247e-03 8.88588088e+01] [-1.12083347e-03 9.99999372e-01 1.58356489e-05 1.48161527e+00] [-5.04160155e-03 -2.14862570e-05 9.99987291e-01 -1.87644347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.32592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.89, Y:1.48, Z:-1.86 [[ 9.99986780e-01 1.01148299e-03 5.04148076e-03 8.88898147e+01] [-1.01167630e-03 9.99999488e-01 3.57947255e-05 1.48288753e+00] [-5.04144197e-03 -4.08945989e-05 9.99987291e-01 -1.86426094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.35592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.92, Y:1.48, Z:-1.88 [[ 9.99985432e-01 1.92873334e-03 5.04145320e-03 8.89214050e+01] [-1.92895781e-03 9.99998139e-01 3.96632505e-05 1.48274081e+00] [-5.04136732e-03 -4.93874232e-05 9.99987291e-01 -1.87641258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.38592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.95, Y:1.48, Z:-1.88 [[ 9.99982827e-01 2.98800719e-03 5.04148365e-03 8.89531298e+01] [-2.98822321e-03 9.99995535e-01 3.53160233e-05 1.48281396e+00] [-5.04135562e-03 -5.03804953e-05 9.99987291e-01 -1.87506923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.41592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.99, Y:1.49, Z:-1.88 [[ 9.99978903e-01 4.09597577e-03 5.04148818e-03 8.89856397e+01] [-4.09620255e-03 9.99991610e-01 3.46577479e-05 1.48533241e+00] [-5.04130392e-03 -5.53079735e-05 9.99987291e-01 -1.87563353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.44592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.02, Y:1.49, Z:-1.86 [[ 9.99979906e-01 3.84324157e-03 5.04149259e-03 8.90156093e+01] [-3.84346184e-03 9.99992613e-01 3.40032344e-05 1.48764728e+00] [-5.04132467e-03 -5.33793356e-05 9.99987291e-01 -1.86423910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.47592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:89.05, Y:1.49, Z:-1.87 [[ 9.99965915e-01 6.53859976e-03 5.04136011e-03 8.90470152e+01] [-6.53895446e-03 9.99978619e-01 5.38790072e-05 1.49094667e+00] [-5.04090003e-03 -8.68423949e-05 9.99987291e-01 -1.87243677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.50591999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:89.08, Y:1.49, Z:-1.86 [[ 9.99967758e-01 6.25045944e-03 5.04138912e-03 8.90768475e+01] [-6.25078808e-03 9.99980462e-01 4.94350534e-05 1.49162253e+00] [-5.04098163e-03 -8.09461145e-05 9.99987291e-01 -1.86494150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.53591999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:89.11, Y:1.49, Z:-1.86 [[ 9.99971361e-01 5.64471053e-03 5.04132811e-03 8.91075489e+01] [-5.64507924e-03 9.99984065e-01 5.89107276e-05 1.49308581e+00] [-5.04091524e-03 -8.73677370e-05 9.99987291e-01 -1.85900622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.56591999999999 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:89.14, Y:1.50, Z:-1.86 [[ 9.99969058e-01 6.03877365e-03 5.04136947e-03 8.91403711e+01] [-6.03911421e-03 9.99981763e-01 5.23319945e-05 1.49544620e+00] [-5.04096151e-03 -8.27757813e-05 9.99987291e-01 -1.85998760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.59591999999999 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:89.17, Y:1.50, Z:-1.86 [[ 9.99976454e-01 4.65547803e-03 5.04159477e-03 8.91705884e+01] [-4.65561854e-03 9.99989162e-01 1.61346237e-05 1.49681427e+00] [-5.04146502e-03 -3.96059859e-05 9.99987291e-01 -1.85992225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.62592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:89.20, Y:1.50, Z:-1.86 [[ 9.99975851e-01 4.78345140e-03 5.04152281e-03 8.92023025e+01] [-4.78365042e-03 9.99988558e-01 2.74190901e-05 1.50016432e+00] [-5.04133397e-03 -5.15353107e-05 9.99987291e-01 -1.86020217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.65592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:89.23, Y:1.50, Z:-1.88 [[ 9.99973442e-01 5.26276168e-03 5.04159726e-03 8.92328195e+01] [-5.26290735e-03 9.99986151e-01 1.56260770e-05 1.50246718e+00] [-5.04144520e-03 -4.21591213e-05 9.99987291e-01 -1.87675170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.68592 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:89.26, Y:1.51, Z:-1.86 [[ 9.99979313e-01 3.99464350e-03 5.04149414e-03 8.92642095e+01] [-3.99485516e-03 9.99992020e-01 3.19154832e-05 1.50906740e+00] [-5.04132641e-03 -5.20548618e-05 9.99987291e-01 -1.86280351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.71592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.29, Y:1.51, Z:-1.88 [[ 9.99981118e-01 3.51376302e-03 5.04156473e-03 8.92945742e+01] [-3.51391062e-03 9.99993826e-01 2.04193231e-05 1.51082283e+00] [-5.04146185e-03 -3.81345454e-05 9.99987291e-01 -1.87739385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.74592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:89.33, Y:1.51, Z:-1.86 [[ 9.99984391e-01 2.40854249e-03 5.04150797e-03 8.93268359e+01] [-2.40872418e-03 9.99997099e-01 2.99674763e-05 1.51216807e+00] [-5.04142117e-03 -4.21106106e-05 9.99987291e-01 -1.86146863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.77592 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:89.36, Y:1.51, Z:-1.86 [[ 9.99984795e-01 -2.23394199e-03 5.04168303e-03 8.93580632e+01] [ 2.23396962e-03 9.99997505e-01 1.49625513e-07 1.51379652e+00] [-5.04167078e-03 1.11133435e-05 9.99987291e-01 -1.86075516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.80592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:89.39, Y:1.52, Z:-1.86 [[ 9.99976874e-01 -4.56448187e-03 5.04154495e-03 8.93903472e+01] [ 4.56441733e-03 9.99989583e-01 2.43074561e-05 1.51560669e+00] [-5.04160338e-03 -1.29517878e-06 9.99987291e-01 -1.86117636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.83592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:89.42, Y:1.52, Z:-1.88 [[ 9.99956010e-01 -7.90960954e-03 5.04151591e-03 8.94219089e+01] [ 7.90956067e-03 9.99968718e-01 2.96316350e-05 1.51965118e+00] [-5.04159258e-03 1.02458444e-05 9.99987291e-01 -1.87633173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.86592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:89.45, Y:1.52, Z:-1.88 [[ 9.99938787e-01 -9.84916608e-03 5.04153635e-03 8.94542731e+01] [ 9.84916216e-03 9.99951495e-01 2.56060421e-05 1.52123099e+00] [-5.04154402e-03 2.40504344e-05 9.99987291e-01 -1.87692693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.89591999999999 meters Centerline goodness : 0.999302 Centerline is valid? [True, True] Translation: X:89.48, Y:1.52, Z:-1.86 [[ 9.99875063e-01 -1.49813721e-02 5.04154718e-03 8.94845312e+01] [ 1.49814453e-02 9.99887772e-01 2.32588926e-05 1.52200264e+00] [-5.04132983e-03 5.22736765e-05 9.99987291e-01 -1.86392606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.92591999999999 meters Centerline goodness : 0.999502 Centerline is valid? [True, True] Translation: X:89.52, Y:1.52, Z:-1.86 [[ 9.99856858e-01 -1.61507707e-02 5.04153077e-03 8.95169122e+01] [ 1.61508403e-02 9.99869566e-01 2.69099589e-05 1.52349005e+00] [-5.04130780e-03 5.45188514e-05 9.99987291e-01 -1.86476656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.95591999999999 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:89.55, Y:1.53, Z:-1.88 [[ 9.99803475e-01 -1.91727466e-02 5.04155632e-03 8.95483271e+01] [ 1.91728861e-02 9.99816183e-01 2.06777287e-05 1.52540308e+00] [-5.04102605e-03 7.59875199e-05 9.99987291e-01 -1.87849600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.98592 meters Centerline goodness : 0.999402 Centerline is valid? [True, True] Translation: X:89.58, Y:1.53, Z:-1.87 [[ 9.99821931e-01 -1.81848408e-02 5.04155834e-03 8.95795900e+01] [ 1.81849702e-02 9.99834640e-01 2.01723055e-05 1.52641328e+00] [-5.04109150e-03 7.15118746e-05 9.99987291e-01 -1.86685218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.01592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.61, Y:1.53, Z:-1.88 [[ 9.99810278e-01 -1.88146247e-02 5.04156994e-03 8.96107779e+01] [ 1.88147781e-02 9.99822986e-01 1.70170655e-05 1.52635547e+00] [-5.04099768e-03 7.78421825e-05 9.99987291e-01 -1.87923222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.04592 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:89.64, Y:1.53, Z:-1.86 [[ 9.99833051e-01 -1.75628228e-02 5.04156573e-03 8.96407760e+01] [ 1.75629544e-02 9.99845759e-01 1.81830811e-05 1.52834351e+00] [-5.04110746e-03 7.03647435e-05 9.99987291e-01 -1.86410690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.07592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:89.67, Y:1.53, Z:-1.88 [[ 9.99862540e-01 -1.57950752e-02 5.04152980e-03 8.96728815e+01] [ 1.57951292e-02 9.99875249e-01 2.91109538e-05 1.53017853e+00] [-5.04136068e-03 5.05246624e-05 9.99987291e-01 -1.88115153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.10592 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:89.70, Y:1.53, Z:-1.87 [[ 9.99883403e-01 -1.44139649e-02 5.04157134e-03 8.97030198e+01] [ 1.44140668e-02 9.99896112e-01 1.61179688e-05 1.53106632e+00] [-5.04127991e-03 5.65534565e-05 9.99987291e-01 -1.86577111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.13592 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:89.73, Y:1.53, Z:-1.87 [[ 9.99888839e-01 -1.40318259e-02 5.04151161e-03 8.97346602e+01] [ 1.40318215e-02 9.99901548e-01 3.62425020e-05 1.53131986e+00] [-5.04152382e-03 3.45031179e-05 9.99987291e-01 -1.86592878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.16592 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:89.77, Y:1.53, Z:-1.87 [[ 9.99909018e-01 -1.25115764e-02 5.04151721e-03 8.97676625e+01] [ 1.25115638e-02 9.99921727e-01 3.40468850e-05 1.53178974e+00] [-5.04154857e-03 2.90334767e-05 9.99987291e-01 -1.86848195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.19592 meters Centerline goodness : 0.999452 Centerline is valid? [True, True] Translation: X:89.80, Y:1.53, Z:-1.87 [[ 9.99907217e-01 -1.26546012e-02 5.04157457e-03 8.97984422e+01] [ 1.26547248e-02 9.99919926e-01 7.38605481e-06 1.53228685e+00] [-5.04126434e-03 5.64143691e-05 9.99987291e-01 -1.87009531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.22592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:89.83, Y:1.54, Z:-1.88 [[ 9.99936314e-01 -1.00970975e-02 5.04153378e-03 8.98304643e+01] [ 1.00970778e-02 9.99949023e-01 2.93521872e-05 1.53614047e+00] [-5.04157315e-03 2.15544412e-05 9.99987291e-01 -1.88101288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.25591999999999 meters Centerline goodness : 0.900548 Centerline is valid? [True, False] Translation: X:89.83, Y:1.53, Z:-1.88 [[ 9.99969084e-01 -5.99568879e-03 5.08749443e-03 8.98303027e+01] [ 5.97192744e-03 9.99971249e-01 4.67294927e-03 1.53428518e+00] [-5.11536571e-03 -4.64242265e-03 9.99976140e-01 -1.88104315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.28591999999999 meters Centerline goodness : 0.999551 Centerline is valid? [False, True] Translation: X:89.83, Y:1.53, Z:-1.88 [[ 9.99984774e-01 -1.91773688e-03 5.17436917e-03 8.98300716e+01] [ 1.86716139e-03 9.99950613e-01 9.76142337e-03 1.53066589e+00] [-5.19283347e-03 -9.75161336e-03 9.99938968e-01 -1.87993474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.31591999999999 meters Centerline goodness : 0.812225 Centerline is valid? [True, False] Translation: X:89.83, Y:1.53, Z:-1.88 [[ 9.99984825e-01 2.11465675e-03 5.08703353e-03 8.98303560e+01] [-2.18907736e-03 9.99890013e-01 1.46686630e-02 1.52772862e+00] [-5.05545483e-03 -1.46795763e-02 9.99879469e-01 -1.87959052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.34591999999999 meters Centerline goodness : 0.999353 Centerline is valid? [False, True] Translation: X:89.83, Y:1.53, Z:-1.88 [[ 9.99967827e-01 6.24685142e-03 5.03213638e-03 8.98305692e+01] [-6.34186975e-03 9.99797598e-01 1.90930169e-02 1.52716275e+00] [-4.91184663e-03 -1.91243157e-02 9.99805048e-01 -1.87961885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.37592 meters Centerline goodness : 0.999452 Centerline is valid? [True, True] Translation: X:89.86, Y:1.55, Z:-1.88 [[ 9.99978821e-01 4.47767418e-03 4.72307550e-03 8.98611043e+01] [-4.47723739e-03 9.99989972e-01 -1.03049267e-04 1.54538478e+00] [-4.72348955e-03 8.19007546e-05 9.99988841e-01 -1.88450038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.40592 meters Centerline goodness : 0.870055 Centerline is valid? [True, False] Translation: X:89.84, Y:1.54, Z:-1.88 [[ 9.99984917e-01 2.14491413e-03 5.05616005e-03 8.98393613e+01] [-2.19833475e-03 9.99941575e-01 1.05836797e-02 1.53501203e+00] [-5.03316356e-03 -1.05946352e-02 9.99931208e-01 -1.88490621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.43592 meters Centerline goodness : 0.999701 Centerline is valid? [False, True] Translation: X:89.84, Y:1.53, Z:-1.88 [[ 9.99984515e-01 2.07825127e-03 5.16251695e-03 8.98390602e+01] [-2.13414059e-03 9.99938923e-01 1.08441681e-02 1.53358441e+00] [-5.13966473e-03 -1.08550177e-02 9.99927874e-01 -1.88495098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.46592 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:89.87, Y:1.55, Z:-1.88 [[ 9.99982133e-01 3.30850646e-03 4.97878753e-03 8.98710906e+01] [-3.30853840e-03 9.99994527e-01 -1.82061489e-06 1.54554584e+00] [-4.97876631e-03 -1.46519274e-05 9.99987606e-01 -1.88488676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.49592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.90, Y:1.55, Z:-1.90 [[ 9.99980937e-01 3.65352667e-03 4.97759140e-03 8.99016919e+01] [-3.65321748e-03 9.99993324e-01 -7.12064475e-05 1.54740518e+00] [-4.97781832e-03 5.30208662e-05 9.99987609e-01 -1.89849976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.52592 meters Centerline goodness : 0.999501 Centerline is valid? [True, True] Translation: X:89.93, Y:1.55, Z:-1.89 [[ 9.99978038e-01 4.37595641e-03 4.97732872e-03 8.99315098e+01] [-4.37558082e-03 9.99990423e-01 -8.63481257e-05 1.54650353e+00] [-4.97765890e-03 6.45675253e-05 9.99987609e-01 -1.88699582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.55592 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:89.96, Y:1.55, Z:-1.89 [[ 9.99975718e-01 4.87718782e-03 4.97755324e-03 8.99629424e+01] [-4.87688279e-03 9.99988105e-01 -7.34163999e-05 1.54561734e+00] [-4.97785210e-03 4.91396734e-05 9.99987609e-01 -1.88596351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.58592 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:90.00, Y:1.55, Z:-1.89 [[ 9.99975168e-01 4.98879735e-03 4.97755487e-03 8.99955282e+01] [-4.98849417e-03 9.99987555e-01 -7.33240475e-05 1.54530181e+00] [-4.97785872e-03 4.84917232e-05 9.99987609e-01 -1.88524858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.61592 meters Centerline goodness : 0.999152 Centerline is valid? [True, True] Translation: X:90.03, Y:1.54, Z:-1.89 [[ 9.99970232e-01 5.89568653e-03 4.97753725e-03 9.00267845e+01] [-5.89538966e-03 9.99982619e-01 -7.43123200e-05 1.54423424e+00] [-4.97788886e-03 4.49655862e-05 9.99987609e-01 -1.88635141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.64591999999999 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:90.06, Y:1.54, Z:-1.89 [[ 9.99975564e-01 4.90888116e-03 4.97738162e-03 9.00582103e+01] [-4.90852939e-03 9.99987950e-01 -8.28871844e-05 1.53690848e+00] [-4.97772853e-03 5.84535350e-05 9.99987609e-01 -1.88752770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.67591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.09, Y:1.53, Z:-1.90 [[ 9.99983274e-01 2.94614864e-03 4.97720174e-03 9.00883549e+01] [-2.94572400e-03 9.99995657e-01 -9.26453713e-05 1.53382130e+00] [-4.97745307e-03 7.79823591e-05 9.99987609e-01 -1.89919194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.70591999999999 meters Centerline goodness : 0.999252 Centerline is valid? [True, True] Translation: X:90.12, Y:1.53, Z:-1.89 [[ 9.99974408e-01 5.13915431e-03 4.97719849e-03 9.01192445e+01] [-5.13875596e-03 9.99986792e-01 -9.28196995e-05 1.53284440e+00] [-4.97760976e-03 6.72407157e-05 9.99987609e-01 -1.88610142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.73592 meters Centerline goodness : 0.999501 Centerline is valid? [True, True] Translation: X:90.15, Y:1.53, Z:-1.89 [[ 9.99975408e-01 4.94081675e-03 4.97708686e-03 9.01507070e+01] [-4.94038626e-03 9.99987791e-01 -9.87846026e-05 1.53153524e+00] [-4.97751418e-03 7.41934417e-05 9.99987609e-01 -1.88718859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.76592 meters Centerline goodness : 0.999401 Centerline is valid? [True, True] Translation: X:90.18, Y:1.53, Z:-1.89 [[ 9.99958520e-01 7.62792244e-03 4.97727331e-03 9.01832656e+01] [-7.62757496e-03 9.99970906e-01 -8.87924335e-05 1.52660760e+00] [-4.97780580e-03 5.08242251e-05 9.99987609e-01 -1.88798327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.79592 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:90.22, Y:1.52, Z:-1.89 [[ 9.99942861e-01 9.46063980e-03 4.97698834e-03 9.02156133e+01] [-9.46023943e-03 9.99955246e-01 -1.03979271e-04 1.52333930e+00] [-4.97774931e-03 5.68898281e-05 9.99987609e-01 -1.88679792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.82592 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:90.25, Y:1.52, Z:-1.89 [[ 9.99926549e-01 1.10511176e-02 4.97692218e-03 9.02476463e+01] [-1.10507194e-02 9.99938933e-01 -1.07511989e-04 1.52104628e+00] [-4.97780638e-03 5.25055214e-05 9.99987609e-01 -1.88818585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.85592 meters Centerline goodness : 0.999402 Centerline is valid? [True, True] Translation: X:90.28, Y:1.52, Z:-1.89 [[ 9.99909189e-01 1.25238531e-02 4.97670906e-03 9.02785808e+01] [-1.25234168e-02 9.99921572e-01 -1.18820244e-04 1.51783054e+00] [-4.97780683e-03 5.64840518e-05 9.99987609e-01 -1.88821926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.88592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:90.31, Y:1.52, Z:-1.90 [[ 9.99891874e-01 1.38372235e-02 4.97704865e-03 9.03089050e+01] [-1.38368935e-02 9.99904261e-01 -1.00745613e-04 1.51703123e+00] [-4.97796619e-03 3.18678283e-05 9.99987609e-01 -1.89847336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.91592 meters Centerline goodness : 0.999501 Centerline is valid? [True, True] Translation: X:90.34, Y:1.52, Z:-1.89 [[ 9.99863928e-01 1.57274387e-02 4.97716901e-03 9.03395867e+01] [-1.57271637e-02 9.99876316e-01 -9.43995362e-05 1.51755180e+00] [-4.97803808e-03 1.61099394e-05 9.99987609e-01 -1.88896025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.94592 meters Centerline goodness : 0.999550 Centerline is valid? [True, True] Translation: X:90.37, Y:1.52, Z:-1.89 [[ 9.99817427e-01 1.84483378e-02 4.97711104e-03 9.03715440e+01] [-1.84480812e-02 9.99829815e-01 -9.74708151e-05 1.51793538e+00] [-4.97806218e-03 5.63487110e-06 9.99987609e-01 -1.88896037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.97592 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:90.40, Y:1.52, Z:-1.89 [[ 9.99758127e-01 2.14224329e-02 4.97668080e-03 9.04014737e+01] [-2.14220994e-02 9.99770513e-01 -1.20318019e-04 1.51848141e+00] [-4.97811622e-03 1.36779669e-05 9.99987609e-01 -1.89126515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.00591999999999 meters Centerline goodness : 0.999303 Centerline is valid? [True, True] Translation: X:90.43, Y:1.52, Z:-1.89 [[ 9.99708990e-01 2.36042460e-02 4.97746193e-03 9.04341290e+01] [-2.36041480e-02 9.99721380e-01 -7.84319329e-05 1.51827250e+00] [-4.97792644e-03 -3.90796396e-05 9.99987609e-01 -1.88945481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.03591999999999 meters Centerline goodness : 0.999402 Centerline is valid? [True, True] Translation: X:90.47, Y:1.52, Z:-1.89 [[ 9.99603325e-01 2.77204217e-02 4.97699442e-03 9.04664322e+01] [-2.77202525e-02 9.99615715e-01 -1.02977766e-04 1.52116797e+00] [-4.97793642e-03 -3.50266248e-05 9.99987609e-01 -1.88764046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.06591999999999 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] Translation: X:90.50, Y:1.52, Z:-1.89 [[ 9.99536595e-01 3.00303880e-02 4.97697435e-03 9.04997155e+01] [-3.00302422e-02 9.99548985e-01 -1.04028653e-04 1.52251587e+00] [-4.97785368e-03 -4.54792996e-05 9.99987609e-01 -1.88679604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.09591999999999 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:90.53, Y:1.52, Z:-1.90 [[ 9.99554418e-01 2.94312345e-02 4.97679351e-03 9.05300128e+01] [-2.94310348e-02 9.99566807e-01 -1.13368376e-04 1.52347259e+00] [-4.97797417e-03 -3.31543221e-05 9.99987609e-01 -1.90069898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.12592 meters Centerline goodness : 0.999152 Centerline is valid? [True, True] Translation: X:90.56, Y:1.53, Z:-1.89 [[ 9.99468396e-01 3.22203791e-02 4.97712398e-03 9.05631631e+01] [-3.22202991e-02 9.99480787e-01 -9.62857486e-05 1.52647720e+00] [-4.97764216e-03 -6.41298605e-05 9.99987609e-01 -1.88670770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.15592 meters Centerline goodness : 0.999002 Centerline is valid? [True, True] Translation: X:90.60, Y:1.53, Z:-1.89 [[ 9.99465359e-01 3.23146037e-02 4.97620383e-03 9.05957703e+01] [-3.23142905e-02 9.99477747e-01 -1.43363312e-04 1.52722087e+00] [-4.97823771e-03 -1.75158319e-05 9.99987608e-01 -1.88702680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.18592 meters Centerline goodness : 0.999151 Centerline is valid? [True, True] Translation: X:90.63, Y:1.53, Z:-1.89 [[ 9.99538481e-01 2.99676676e-02 4.97630993e-03 9.06271145e+01] [-2.99673525e-02 9.99550869e-01 -1.37891107e-04 1.52851554e+00] [-4.97820719e-03 -1.12993663e-05 9.99987609e-01 -1.88561839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.21592 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:90.66, Y:1.53, Z:-1.89 [[ 9.99557613e-01 2.93225505e-02 4.97661021e-03 9.06592314e+01] [-2.93223053e-02 9.99570001e-01 -1.22242453e-04 1.52835224e+00] [-4.97805473e-03 -2.37373091e-05 9.99987609e-01 -1.88858244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.24592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:90.69, Y:1.53, Z:-1.90 [[ 9.99620561e-01 2.70918572e-02 4.97651466e-03 9.06897849e+01] [-2.70915595e-02 9.99632948e-01 -1.27235442e-04 1.52999268e+00] [-4.97813507e-03 -7.63437883e-06 9.99987609e-01 -1.90100988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.27592 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:90.72, Y:1.53, Z:-1.89 [[ 9.99626770e-01 2.68616755e-02 4.97713035e-03 9.07224495e+01] [-2.68615355e-02 9.99639159e-01 -9.49680448e-05 1.53173445e+00] [-4.97788540e-03 -3.87607640e-05 9.99987610e-01 -1.88674812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.30592 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:90.75, Y:1.54, Z:-1.89 [[ 9.99622925e-01 2.70044332e-02 4.97671179e-03 9.07548958e+01] [-2.70041857e-02 9.99635314e-01 -1.16932065e-04 1.53607981e+00] [-4.97805454e-03 -1.75040768e-05 9.99987609e-01 -1.88704424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.33592 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:90.79, Y:1.54, Z:-1.89 [[ 9.99634017e-01 2.65907011e-02 4.97669187e-03 9.07868014e+01] [-2.65904433e-02 9.99646405e-01 -1.17983127e-04 1.53817896e+00] [-4.97806939e-03 -1.43924960e-05 9.99987609e-01 -1.88756419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.36592 meters Centerline goodness : 0.999502 Centerline is valid? [True, True] Translation: X:90.82, Y:1.54, Z:-1.89 [[ 9.99630338e-01 2.67286331e-02 4.97666088e-03 9.08193075e+01] [-2.67283688e-02 9.99642726e-01 -1.19623465e-04 1.54260743e+00] [-4.97808022e-03 -1.34387821e-05 9.99987609e-01 -1.88511367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.39591999999999 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:90.85, Y:1.54, Z:-1.89 [[ 9.99663110e-01 2.54735333e-02 4.97660216e-03 9.08514831e+01] [-2.54732379e-02 9.99675497e-01 -1.22755612e-04 1.54424952e+00] [-4.97811425e-03 -4.05591412e-06 9.99987609e-01 -1.88565609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.42591999999999 meters Centerline goodness : 0.999551 Centerline is valid? [True, True] Translation: X:90.88, Y:1.55, Z:-1.89 [[ 9.99758148e-01 2.14214458e-02 4.97669380e-03 9.08826892e+01] [-2.14211244e-02 9.99770534e-01 -1.17885087e-04 1.54603786e+00] [-4.97807709e-03 1.12501997e-05 9.99987609e-01 -1.88949255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.45591999999999 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:90.91, Y:1.55, Z:-1.89 [[ 9.99812837e-01 1.86955409e-02 4.97680084e-03 9.09141339e+01] [-1.86952140e-02 9.99825223e-01 -1.12201445e-04 1.54667341e+00] [-4.97802868e-03 1.91380881e-05 9.99987609e-01 -1.88524634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.48592 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:90.95, Y:1.55, Z:-1.89 [[ 9.99912181e-01 1.22825567e-02 4.97679495e-03 9.09465921e+01] [-1.22821489e-02 9.99924565e-01 -1.12513252e-04 1.54866858e+00] [-4.97780148e-03 5.13776346e-05 9.99987609e-01 -1.88852204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.51592 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:90.98, Y:1.55, Z:-1.89 [[ 9.99937790e-01 9.98228054e-03 4.97705273e-03 9.09771722e+01] [-9.98191208e-03 9.99950175e-01 -9.88674996e-05 1.54972274e+00] [-4.97779167e-03 4.91808462e-05 9.99987610e-01 -1.89219639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.54592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.01, Y:1.55, Z:-1.90 [[ 9.99960079e-01 7.42091931e-03 4.97702133e-03 9.10071979e+01] [-7.42051083e-03 9.99972463e-01 -1.00535997e-04 1.55054821e+00] [-4.97763034e-03 6.35999424e-05 9.99987609e-01 -1.90397284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.57592 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:91.04, Y:1.55, Z:-1.89 [[ 9.99967507e-01 6.34133583e-03 4.97713746e-03 9.10385441e+01] [-6.34094444e-03 9.99979892e-01 -9.44138280e-05 1.55149128e+00] [-4.97763609e-03 6.28510081e-05 9.99987610e-01 -1.88900223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.60592 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:91.07, Y:1.55, Z:-1.89 [[ 9.99968626e-01 6.16256020e-03 4.97702987e-03 9.10698083e+01] [-6.16213815e-03 9.99981009e-01 -1.00130266e-04 1.55194646e+00] [-4.97755241e-03 6.94579788e-05 9.99987609e-01 -1.88686409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.63592 meters Centerline goodness : 0.999551 Centerline is valid? [True, True] Translation: X:91.10, Y:1.55, Z:-1.89 [[ 9.99960235e-01 7.39970452e-03 4.97731732e-03 9.11014850e+01] [-7.39937360e-03 9.99972621e-01 -8.48979043e-05 1.55338067e+00] [-4.97780926e-03 4.80654980e-05 9.99987609e-01 -1.89002778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.66592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.13, Y:1.55, Z:-1.90 [[ 9.99953985e-01 8.20082157e-03 4.97730228e-03 9.11341360e+01] [-8.20049663e-03 9.99966372e-01 -8.56892608e-05 1.55260904e+00] [-4.97783762e-03 4.48689673e-05 9.99987609e-01 -1.90458836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.69592 meters Centerline goodness : 0.998855 Centerline is valid? [True, True] Translation: X:91.17, Y:1.55, Z:-1.89 [[ 9.99946539e-01 9.06356857e-03 4.97710072e-03 9.11655882e+01] [-9.06320238e-03 9.99958924e-01 -9.61252975e-05 1.55230840e+00] [-4.97776752e-03 5.10116875e-05 9.99987610e-01 -1.88834631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.72592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.20, Y:1.56, Z:-1.89 [[ 9.99709543e-01 2.35808393e-02 4.97728407e-03 9.11987189e+01] [-2.35807003e-02 9.99721933e-01 -8.65988371e-05 1.55924443e+00] [-4.97794213e-03 -3.07941604e-05 9.99987609e-01 -1.89397972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.75591999999999 meters Centerline goodness : 0.999551 Centerline is valid? [True, True] Translation: X:91.23, Y:1.55, Z:-1.89 [[ 9.99943262e-01 9.41851966e-03 4.97628754e-03 9.12273600e+01] [-9.41794924e-03 9.99955641e-01 -1.38049393e-04 1.55436983e+00] [-4.97736702e-03 9.11751366e-05 9.99987609e-01 -1.89397466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.78591999999999 meters Centerline goodness : 0.998706 Centerline is valid? [True, True] Translation: X:91.26, Y:1.55, Z:-1.89 [[ 9.99934311e-01 1.03247914e-02 4.97710320e-03 9.12589712e+01] [-1.03244435e-02 9.99946697e-01 -9.55734559e-05 1.55431251e+00] [-4.97782468e-03 4.41813569e-05 9.99987610e-01 -1.88842860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.81591999999999 meters Centerline goodness : 0.911586 Centerline is valid? [True, False] Translation: X:91.26, Y:1.54, Z:-1.89 [[ 9.99998468e-01 5.48340675e-05 -1.74966644e-03 9.12626575e+01] [-3.84858819e-05 9.99956359e-01 9.34226727e-03 1.54383217e+00] [ 1.75010236e-03 -9.34218562e-03 9.99954829e-01 -1.88812404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.84591999999999 meters Centerline goodness : 0.999402 Centerline is valid? [False, True] Translation: X:91.26, Y:1.55, Z:-1.89 [[ 9.99998180e-01 1.13528052e-04 -1.90458614e-03 9.12630794e+01] [-9.66027922e-05 9.99960529e-01 8.88432088e-03 1.54594020e+00] [ 1.90551958e-03 -8.88412072e-03 9.99958720e-01 -1.88852141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.87592 meters Centerline goodness : 0.999252 Centerline is valid? [True, True] Translation: X:91.29, Y:1.56, Z:-1.89 [[ 9.99997703e-01 -7.60590741e-04 -2.00410422e-03 9.12923900e+01] [ 7.60714312e-04 9.99999709e-01 6.08975465e-05 1.55564517e+00] [ 2.00405732e-03 -6.24219574e-05 9.99997990e-01 -1.88870702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.90592 meters Centerline goodness : 0.800378 Centerline is valid? [True, False] Translation: X:91.27, Y:1.54, Z:-1.89 [[ 9.99995153e-01 -7.54142169e-04 3.02076138e-03 9.12677934e+01] [ 7.17276807e-04 9.99925484e-01 1.21865445e-02 1.54398291e+00] [-3.02972668e-03 -1.21843187e-02 9.99921178e-01 -1.89001613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.93592 meters Centerline goodness : 0.999751 Centerline is valid? [False, True] Translation: X:91.27, Y:1.54, Z:-1.89 [[ 9.99995153e-01 -7.72472716e-04 3.01611136e-03 9.12678477e+01] [ 7.34983623e-04 9.99922710e-01 1.24109979e-02 1.54294577e+00] [-3.02546540e-03 -1.24087210e-02 9.99918432e-01 -1.89022886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.96592 meters Centerline goodness : 0.983178 Centerline is valid? [True, True] Translation: X:91.29, Y:1.58, Z:-1.90 [[ 9.98616370e-01 5.25098315e-02 2.83962619e-03 9.12876356e+01] [-5.25104325e-02 9.98620366e-01 1.37453008e-04 1.57780851e+00] [-2.82849091e-03 -2.86372824e-04 9.99995959e-01 -1.89799441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.99592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.33, Y:1.55, Z:-1.90 [[ 9.99994813e-01 -1.51883109e-03 2.84009304e-03 9.13310640e+01] [ 1.51835449e-03 9.99998833e-01 1.69961187e-04 1.55344333e+00] [-2.84034786e-03 -1.65648038e-04 9.99995952e-01 -1.89571047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.02592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:91.36, Y:1.55, Z:-1.89 [[ 9.99990599e-01 -3.27977228e-03 2.83635629e-03 9.13612914e+01] [ 3.27992307e-03 9.99994620e-01 -4.85133661e-05 1.55219061e+00] [-2.83618192e-03 5.78159404e-05 9.99995976e-01 -1.89226511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.05592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:91.39, Y:1.55, Z:-1.89 [[ 9.99992812e-01 -2.51579294e-03 2.83675572e-03 9.13937685e+01] [ 2.51587627e-03 9.99996835e-01 -2.58068023e-05 1.55199657e+00] [-2.83668182e-03 3.29435432e-05 9.99995976e-01 -1.89235599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.08592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:91.43, Y:1.55, Z:-1.90 [[ 9.99987878e-01 -4.02451010e-03 2.83673306e-03 9.14266732e+01] [ 4.02460303e-03 9.99991901e-01 -2.70510864e-05 1.54855855e+00] [-2.83660122e-03 3.84674830e-05 9.99995976e-01 -1.89572314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.11592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:91.46, Y:1.55, Z:-1.89 [[ 9.99975872e-01 -6.34125931e-03 2.83625622e-03 9.14558180e+01] [ 6.34143430e-03 9.99979892e-01 -5.27096896e-05 1.54644756e+00] [-2.83586494e-03 7.06943503e-05 9.99995976e-01 -1.89193667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.14591999999999 meters Centerline goodness : 0.898374 Centerline is valid? [True, False] Translation: X:91.46, Y:1.54, Z:-1.89 [[ 9.99976430e-01 -6.37213549e-03 2.55640049e-03 9.14565884e+01] [ 6.36986708e-03 9.99979312e-01 8.94507657e-04 1.54212759e+00] [-2.56204753e-03 -8.78202642e-04 9.99996332e-01 -1.89229622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.17591999999999 meters Centerline goodness : 0.999052 Centerline is valid? [False, True] Translation: X:91.46, Y:1.53, Z:-1.89 [[ 9.99994414e-01 -2.26020858e-03 2.46240731e-03 9.14569192e+01] [ 2.24348499e-03 9.99974544e-01 6.77328638e-03 1.53486907e+00] [-2.47765367e-03 -6.76772417e-03 9.99974029e-01 -1.89247430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.20591999999999 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:91.49, Y:1.54, Z:-1.89 [[ 9.99997325e-01 -1.18681487e-04 2.31002908e-03 9.14877441e+01] [ 1.18750166e-04 9.99999993e-01 -2.95937310e-05 1.53516747e+00] [-2.31002555e-03 2.98679681e-05 9.99997331e-01 -1.89201469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.23592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.52, Y:1.53, Z:-1.90 [[ 9.99997287e-01 -3.00007291e-04 2.30977224e-03 9.15174888e+01] [ 3.00102855e-04 9.99999954e-01 -4.10274797e-05 1.53366157e+00] [-2.30975983e-03 4.17205377e-05 9.99997332e-01 -1.89709223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.26592 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:91.55, Y:1.53, Z:-1.89 [[ 9.99994896e-01 2.20711335e-03 2.31025293e-03 9.15499411e+01] [-2.20707321e-03 9.99997564e-01 -1.99257112e-05 1.53213365e+00] [-2.31029128e-03 1.48267121e-05 9.99997331e-01 -1.89068859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.29592 meters Centerline goodness : 0.999502 Centerline is valid? [True, True] Translation: X:91.58, Y:1.53, Z:-1.90 [[ 9.99994496e-01 2.38180824e-03 2.30969044e-03 9.15828641e+01] [-2.38171216e-03 9.99997163e-01 -4.43468383e-05 1.53000319e+00] [-2.30978951e-03 3.88455764e-05 9.99997332e-01 -1.89962888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.32592 meters Centerline goodness : 0.944602 Centerline is valid? [True, False] Translation: X:91.56, Y:1.52, Z:-1.90 [[ 9.99984315e-01 4.37162278e-03 3.50131183e-03 9.15601182e+01] [-4.42683449e-03 9.99863477e-01 1.59194892e-02 1.51538915e+00] [-3.43123982e-03 -1.59347393e-02 9.99867147e-01 -1.89895125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.35592 meters Centerline goodness : 0.999403 Centerline is valid? [False, True] Translation: X:91.54, Y:1.51, Z:-1.90 [[ 9.99957949e-01 -2.12011280e-03 8.92216040e-03 9.15387164e+01] [ 1.94271144e-03 9.99801178e-01 1.98451412e-02 1.50671059e+00] [-8.96246042e-03 -1.98269735e-02 9.99763255e-01 -1.90331808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.38592 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:91.57, Y:1.53, Z:-1.91 [[ 9.99961501e-01 1.54659810e-03 8.63741228e-03 9.15717230e+01] [-1.54558548e-03 9.99998798e-01 -1.23910208e-04 1.52554978e+00] [-8.63759353e-03 1.10555579e-04 9.99962689e-01 -1.90534014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.41592 meters Centerline goodness : 0.960306 Centerline is valid? [True, True] Translation: X:91.56, Y:1.52, Z:-1.92 [[ 9.99604428e-01 2.67653574e-02 8.63734532e-03 9.15582341e+01] [-2.67652468e-02 9.99641738e-01 -1.28414109e-04 1.51771419e+00] [-8.63768794e-03 -1.02817367e-04 9.99962689e-01 -1.91627768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.44592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.62, Y:1.53, Z:-1.90 [[ 9.99799019e-01 1.80811717e-02 8.65983963e-03 9.16220595e+01] [-1.80919927e-02 9.99835639e-01 1.17285028e-03 1.52761050e+00] [-8.63720978e-03 -1.32928832e-03 9.99961815e-01 -1.90406596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.47592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.65, Y:1.53, Z:-1.89 [[ 9.99687927e-01 2.34445003e-02 8.62575506e-03 9.16532328e+01] [-2.34435412e-02 9.99725140e-01 -2.12305768e-04 1.53036524e+00] [-8.62836159e-03 1.00212688e-05 9.99962775e-01 -1.89081399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.50591999999999 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:91.69, Y:1.53, Z:-1.89 [[ 9.99593022e-01 2.71915935e-02 8.62603363e-03 9.16859773e+01] [-2.71908706e-02 9.99630240e-01 -2.01092882e-04 1.53250381e+00] [-8.62831210e-03 -3.35383229e-05 9.99962775e-01 -1.89299755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.53591999999999 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:91.72, Y:1.53, Z:-1.89 [[ 9.99519200e-01 2.97821324e-02 8.62520708e-03 9.17180200e+01] [-2.97812209e-02 9.99556414e-01 -2.34124087e-04 1.53444607e+00] [-8.62835377e-03 -2.28576770e-05 9.99962775e-01 -1.89121968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.56591999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:91.75, Y:1.54, Z:-1.89 [[ 9.99371438e-01 3.43850707e-02 8.62527817e-03 9.17510961e+01] [-3.43843550e-02 9.99408656e-01 -2.31295727e-04 1.53839849e+00] [-8.62813079e-03 -6.54242833e-05 9.99962775e-01 -1.89145728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.59591999999999 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:91.78, Y:1.54, Z:-1.89 [[ 9.99427557e-01 3.27134870e-02 8.62472058e-03 9.17818057e+01] [-3.27125188e-02 9.99464770e-01 -2.53347398e-04 1.53853032e+00] [-8.62839225e-03 -2.89339635e-05 9.99962774e-01 -1.89387537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.62592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:91.82, Y:1.54, Z:-1.89 [[ 9.99414293e-01 3.31159166e-02 8.62590793e-03 9.18151329e+01] [-3.31153695e-02 9.99451514e-01 -2.06288239e-04 1.54055468e+00] [-8.62800817e-03 -7.94827135e-05 9.99962775e-01 -1.89130037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.65592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:91.85, Y:1.54, Z:-1.89 [[ 9.99495217e-01 3.05765827e-02 8.62462887e-03 9.18474373e+01] [-3.05755090e-02 9.99532427e-01 -2.56346789e-04 1.54352433e+00] [-8.62843443e-03 -7.48502807e-06 9.99962774e-01 -1.89201373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.68592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.88, Y:1.55, Z:-1.89 [[ 9.99569683e-01 2.80368346e-02 8.62471147e-03 9.18795282e+01] [-2.80356943e-02 9.99606891e-01 -2.53117158e-04 1.54546773e+00] [-8.62841762e-03 1.12084634e-05 9.99962774e-01 -1.89253354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.71592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:91.91, Y:1.55, Z:-1.89 [[ 9.99592771e-01 2.72009888e-02 8.62542274e-03 9.19128960e+01] [-2.72000565e-02 9.99629985e-01 -2.25397987e-04 1.54731660e+00] [-8.62836225e-03 -9.30578746e-06 9.99962775e-01 -1.89213691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.74592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.94, Y:1.55, Z:-1.91 [[ 9.99667258e-01 2.43101032e-02 8.62504952e-03 9.19444602e+01] [-2.43089396e-02 9.99704465e-01 -2.39742026e-04 1.54671425e+00] [-8.62832867e-03 2.99964464e-05 9.99962775e-01 -1.90664551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.77592 meters Centerline goodness : 0.969401 Centerline is valid? [True, True] Translation: X:91.95, Y:1.50, Z:-1.91 [[ 9.97723280e-01 -6.68869094e-02 8.62539138e-03 9.19525981e+01] [ 6.68913473e-02 9.97760240e-01 -2.26737187e-04 1.50451515e+00] [-8.59090682e-03 8.03185020e-04 9.99962775e-01 -1.91212763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.80592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.00, Y:1.55, Z:-1.89 [[ 9.99621383e-01 2.61217580e-02 8.64547669e-03 9.20031171e+01] [-2.61276336e-02 9.99658454e-01 5.67354255e-04 1.54533420e+00] [-8.62770357e-03 -7.93025292e-04 9.99962466e-01 -1.89266805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.83592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:92.04, Y:1.55, Z:-1.89 [[ 9.99634063e-01 2.56400997e-02 8.62125424e-03 9.20352804e+01] [-2.56387767e-02 9.99671238e-01 -2.63971071e-04 1.54680337e+00] [-8.62518815e-03 4.28360618e-05 9.99962801e-01 -1.89153280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.86592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:92.07, Y:1.55, Z:-1.89 [[ 9.99621946e-01 2.61080255e-02 8.62189506e-03 9.20676426e+01] [-2.61069089e-02 9.99659127e-01 -2.42046213e-04 1.54683861e+00] [-8.62527544e-03 1.68636776e-05 9.99962801e-01 -1.89348093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.89591999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:92.10, Y:1.55, Z:-1.89 [[ 9.99628356e-01 2.58615820e-02 8.62143465e-03 9.20994666e+01] [-2.58603219e-02 9.99665533e-01 -2.57622497e-04 1.54557058e+00] [-8.62521359e-03 3.45736772e-05 9.99962802e-01 -1.89343750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.92591999999999 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:92.13, Y:1.54, Z:-1.90 [[ 9.99612179e-01 2.64792229e-02 8.62216320e-03 9.21324234e+01] [-2.64781972e-02 9.99649364e-01 -2.33113585e-04 1.54443099e+00] [-8.62531262e-03 4.72384121e-06 9.99962801e-01 -1.89511026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.95591999999999 meters Centerline goodness : 0.997908 Centerline is valid? [True, True] Translation: X:92.15, Y:1.51, Z:-1.91 [[ 9.99206400e-01 -3.88874979e-02 8.62168911e-03 9.21507102e+01] [ 3.88910858e-02 9.99243425e-01 -2.48817615e-04 1.51382547e+00] [-8.60549026e-03 5.83927004e-04 9.99962802e-01 -1.91015289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.98592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.19, Y:1.54, Z:-1.90 [[ 9.99594475e-01 2.71345971e-02 8.63712144e-03 9.21934801e+01] [-2.71378868e-02 9.99631665e-01 2.63892242e-04 1.53969983e+00] [-8.62677947e-03 -4.98178452e-04 9.99962665e-01 -1.89570874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.01592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.22, Y:1.54, Z:-1.90 [[ 9.99652798e-01 2.48992040e-02 8.62054149e-03 9.22230882e+01] [-2.48979893e-02 9.99689966e-01 -2.48208977e-04 1.53841851e+00] [-8.62404904e-03 3.34886479e-05 9.99962812e-01 -1.89798924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.04592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.26, Y:1.54, Z:-1.91 [[ 9.99614524e-01 2.63906990e-02 8.62174647e-03 9.22564882e+01] [-2.63898585e-02 9.99651705e-01 -2.11254603e-04 1.53786450e+00] [-8.62431871e-03 -1.63534997e-05 9.99962810e-01 -1.90983291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.07592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:92.29, Y:1.54, Z:-1.90 [[ 9.99633279e-01 2.56712771e-02 8.61933280e-03 9.22863960e+01] [-2.56697791e-02 9.99670436e-01 -2.84405335e-04 1.53829159e+00] [-8.62379323e-03 6.30446692e-05 9.99962812e-01 -1.89598210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.10592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.32, Y:1.54, Z:-1.91 [[ 9.99595446e-01 2.71040741e-02 8.62052260e-03 9.23186593e+01] [-2.71029393e-02 9.99632617e-01 -2.48451967e-04 1.53694106e+00] [-8.62408963e-03 1.47099542e-05 9.99962812e-01 -1.91057018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.13592 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:92.35, Y:1.53, Z:-1.90 [[ 9.99564239e-01 2.82319175e-02 8.61917379e-03 9.23495779e+01] [-2.82304774e-02 9.99601399e-01 -2.88718552e-04 1.53447139e+00] [-8.62388925e-03 4.52693484e-05 9.99962813e-01 -1.90023132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.16592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.38, Y:1.53, Z:-1.91 [[ 9.99506713e-01 3.01999277e-02 8.61941959e-03 9.23816031e+01] [-3.01986238e-02 9.99543878e-01 -2.81414101e-04 1.53368759e+00] [-8.62398677e-03 2.09806733e-05 9.99962813e-01 -1.91244122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.19592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:92.41, Y:1.53, Z:-1.91 [[ 9.99463720e-01 3.15908911e-02 8.61901878e-03 9.24136855e+01] [-3.15895373e-02 9.99500883e-01 -2.93196513e-04 1.53401838e+00] [-8.62397922e-03 2.07684619e-05 9.99962813e-01 -1.91463106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.22592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:92.45, Y:1.53, Z:-1.91 [[ 9.99452205e-01 3.19531496e-02 8.61897963e-03 9.24457103e+01] [-3.19517994e-02 9.99489368e-01 -2.94343062e-04 1.53309965e+00] [-8.62398368e-03 1.87899143e-05 9.99962813e-01 -1.91400602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.25591999999999 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:92.48, Y:1.53, Z:-1.90 [[ 9.99474083e-01 3.12613465e-02 8.61894036e-03 9.24756737e+01] [-3.12599607e-02 9.99511244e-01 -2.95488473e-04 1.53258276e+00] [-8.62396517e-03 2.59053342e-05 9.99962813e-01 -1.90234604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.28591999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:92.51, Y:1.53, Z:-1.91 [[ 9.99501438e-01 3.03737392e-02 8.62041771e-03 9.25082760e+01] [-3.03726879e-02 9.99538612e-01 -2.52878213e-04 1.53126372e+00] [-8.62412121e-03 -9.07311940e-06 9.99962812e-01 -1.91437097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.31591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.54, Y:1.53, Z:-1.91 [[ 9.99550946e-01 2.86988538e-02 8.61875466e-03 9.25403619e+01] [-2.86973290e-02 9.99588102e-01 -3.00566536e-04 1.53040368e+00] [-8.62383053e-03 5.30963272e-05 9.99962813e-01 -1.91475287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.34591999999999 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:92.57, Y:1.53, Z:-1.92 [[ 9.99647601e-01 2.51075812e-02 8.61871463e-03 9.25729409e+01] [-2.51059130e-02 9.99684751e-01 -3.01710145e-04 1.52728314e+00] [-8.62357280e-03 8.52231230e-05 9.99962813e-01 -1.91648160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.37592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:92.60, Y:1.52, Z:-1.92 [[ 9.99677129e-01 2.39030682e-02 8.61866515e-03 9.26047935e+01] [-2.39013431e-02 9.99714276e-01 -3.03117120e-04 1.52491411e+00] [-8.62344802e-03 9.70215796e-05 9.99962813e-01 -1.91605846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.40592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:92.64, Y:1.52, Z:-1.92 [[ 9.99692733e-01 2.32413353e-02 8.61862544e-03 9.26366160e+01] [-2.32395760e-02 9.99729878e-01 -3.04241874e-04 1.52278207e+00] [-8.62336835e-03 1.03855190e-04 9.99962813e-01 -1.91732567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.43592 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:92.67, Y:1.52, Z:-1.91 [[ 9.99714514e-01 2.22847426e-02 8.61858543e-03 9.26678358e+01] [-2.22829379e-02 9.99751658e-01 -3.05371158e-04 1.52161407e+00] [-8.62325019e-03 1.13236575e-04 9.99962813e-01 -1.90601362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.46592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:92.70, Y:1.52, Z:-1.92 [[ 9.99693213e-01 2.32207828e-02 8.61832300e-03 9.26998576e+01] [-2.32189493e-02 9.99730355e-01 -3.12757047e-04 1.52052049e+00] [-8.62326158e-03 1.12552693e-04 9.99962813e-01 -1.91608905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.49592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.73, Y:1.52, Z:-1.92 [[ 9.99667465e-01 2.43039394e-02 8.61851323e-03 9.27330322e+01] [-2.43021921e-02 9.99704611e-01 -3.07424183e-04 1.51829864e+00] [-8.62343903e-03 9.78731892e-05 9.99962813e-01 -1.91592827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.52592 meters Centerline goodness : 0.999253 Centerline is valid? [True, True] Translation: X:92.76, Y:1.52, Z:-1.90 [[ 9.99623771e-01 2.60391746e-02 8.61845232e-03 9.27640514e+01] [-2.60374771e-02 9.99660920e-01 -3.09122393e-04 1.51654340e+00] [-8.62357926e-03 8.46033378e-05 9.99962813e-01 -1.90096514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.55592 meters Centerline goodness : 0.998905 Centerline is valid? [True, True] Translation: X:92.80, Y:1.52, Z:-1.90 [[ 9.99542869e-01 2.89788464e-02 8.61849912e-03 9.27962240e+01] [-2.89772694e-02 9.99580023e-01 -3.07819862e-04 1.51650827e+00] [-8.62379981e-03 5.79385773e-05 9.99962813e-01 -1.90066681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.58592 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:92.83, Y:1.52, Z:-1.92 [[ 9.99505066e-01 3.02546106e-02 8.61867801e-03 9.28277946e+01] [-3.02531237e-02 9.99542224e-01 -3.02873581e-04 1.51665943e+00] [-8.62389591e-03 4.19817466e-05 9.99962813e-01 -1.91629700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.61592 meters Centerline goodness : 0.999005 Centerline is valid? [True, True] Translation: X:92.86, Y:1.52, Z:-1.90 [[ 9.99391515e-01 3.37983131e-02 8.61825298e-03 9.28600182e+01] [-3.37968575e-02 9.99428674e-01 -3.14520056e-04 1.51859708e+00] [-8.62395939e-03 2.30588073e-05 9.99962813e-01 -1.90176368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.64591999999999 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:92.89, Y:1.52, Z:-1.90 [[ 9.99340653e-01 3.52703205e-02 8.61767728e-03 9.28923429e+01] [-3.52687847e-02 9.99377808e-01 -3.30163754e-04 1.51819236e+00] [-8.62396042e-03 2.60110568e-05 9.99962813e-01 -1.90171089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.67591999999999 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:92.92, Y:1.52, Z:-1.90 [[ 9.99331931e-01 3.55165489e-02 8.61779297e-03 9.29240066e+01] [-3.55150493e-02 9.99369088e-01 -3.27032956e-04 1.51740495e+00] [-8.62397098e-03 2.07531335e-05 9.99962813e-01 -1.90283881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.70591999999999 meters Centerline goodness : 0.924130 Centerline is valid? [True, False] Translation: X:92.92, Y:1.51, Z:-1.90 [[ 9.99579532e-01 2.75176285e-02 9.14002728e-03 9.29229769e+01] [-2.76360896e-02 9.99532240e-01 1.30976273e-02 1.50602529e+00] [-8.77533630e-03 -1.33447148e-02 9.99872448e-01 -1.90221201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.73592 meters Centerline goodness : 0.998158 Centerline is valid? [False, True] Translation: X:92.93, Y:1.50, Z:-1.90 [[ 9.99909189e-01 1.29132724e-02 3.85505009e-03 9.29265074e+01] [-1.29798836e-02 9.99757574e-01 1.77852470e-02 1.49989581e+00] [-3.62444979e-03 -1.78336700e-02 9.99834398e-01 -1.90243896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.76592 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:92.96, Y:1.52, Z:-1.92 [[ 9.99905930e-01 1.32105808e-02 3.68952149e-03 9.29570506e+01] [-1.32100850e-02 9.99912730e-01 -1.58714105e-04 1.51694556e+00] [-3.69129621e-03 1.09960282e-04 9.99993181e-01 -1.91780879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.79592 meters Centerline goodness : 0.998458 Centerline is valid? [True, True] Translation: X:92.99, Y:1.52, Z:-1.90 [[ 9.99872457e-01 1.55385908e-02 3.69069027e-03 9.29897842e+01] [-1.55385682e-02 9.99879269e-01 -3.48145057e-05 1.51718032e+00] [-3.69078565e-03 -2.25379770e-05 9.99993189e-01 -1.90364633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.82592 meters Centerline goodness : 0.998855 Centerline is valid? [True, True] Translation: X:93.02, Y:1.52, Z:-1.91 [[ 9.99748258e-01 2.21314428e-02 3.69048753e-03 9.30214675e+01] [-2.21313851e-02 9.99755069e-01 -5.64861586e-05 1.52209389e+00] [-3.69083373e-03 -2.52036619e-05 9.99993189e-01 -1.90636266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.85592 meters Centerline goodness : 0.944287 Centerline is valid? [True, False] Translation: X:93.02, Y:1.51, Z:-1.91 [[ 9.99942985e-01 1.05657241e-02 1.54660078e-03 9.30233126e+01] [-1.05788372e-02 9.99905921e-01 8.73134581e-03 1.51395526e+00] [-1.45420229e-03 -8.74720923e-03 9.99960685e-01 -1.90639274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.88592 meters Centerline goodness : 0.995223 Centerline is valid? [False, True] Translation: X:93.05, Y:1.51, Z:-1.90 [[ 9.99992905e-01 2.94906965e-03 -2.34359089e-03 9.30455666e+01] [-2.92395130e-03 9.99939012e-01 1.06499959e-02 1.51119527e+00] [ 2.37485554e-03 -1.06430678e-02 9.99940541e-01 -1.90326536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.91592 meters Centerline goodness : 0.997857 Centerline is valid? [True, True] Translation: X:93.10, Y:1.54, Z:-1.89 [[ 9.99794055e-01 2.01560197e-02 -2.36290687e-03 9.31022844e+01] [-2.01523369e-02 9.99795685e-01 1.57218720e-03 1.54382854e+00] [ 2.39411313e-03 -1.52424532e-03 9.99995972e-01 -1.88718186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.94592 meters Centerline goodness : 0.997857 Centerline is valid? [True, True] Translation: X:93.13, Y:1.54, Z:-1.89 [[ 9.99801545e-01 1.97794674e-02 -2.37549760e-03 9.31314769e+01] [-1.97794627e-02 9.99804367e-01 2.54918519e-05 1.54491942e+00] [ 2.37553709e-03 2.14992732e-05 9.99997178e-01 -1.88718795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.97592 meters Centerline goodness : 0.997839 Centerline is valid? [True, True] Translation: X:93.16, Y:1.55, Z:-1.89 [[ 9.99700858e-01 2.43423829e-02 -2.37539245e-03 9.31600291e+01] [-2.43423594e-02 9.99703680e-01 3.87931069e-05 1.54781152e+00] [ 2.37563289e-03 1.90411544e-05 9.99997178e-01 -1.88885181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.00591999999999 meters Centerline goodness : 0.997658 Centerline is valid? [True, True] Translation: X:93.19, Y:1.55, Z:-1.89 [[ 9.99688073e-01 2.48618915e-02 -2.37541237e-03 9.31892425e+01] [-2.48618756e-02 9.99690895e-01 3.62408542e-05 1.54928666e+00] [ 2.37557914e-03 2.28276571e-05 9.99997178e-01 -1.88733261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.03591999999999 meters Centerline goodness : 0.999303 Centerline is valid? [True, True] Translation: X:93.22, Y:1.55, Z:-1.90 [[ 9.99714543e-01 2.37737037e-02 -2.37540705e-03 9.32181894e+01] [-2.37736830e-02 9.99717365e-01 3.69579776e-05 1.55066150e+00] [ 2.37561431e-03 1.95247465e-05 9.99997178e-01 -1.90043718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.06591999999999 meters Centerline goodness : 0.997508 Centerline is valid? [True, True] Translation: X:93.25, Y:1.55, Z:-1.89 [[ 9.99575581e-01 2.90347105e-02 -2.37554957e-03 9.32491996e+01] [-2.90347526e-02 9.99578403e-01 1.67704756e-05 1.55454840e+00] [ 2.37503497e-03 5.22101362e-05 9.99997178e-01 -1.88805777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.09591999999999 meters Centerline goodness : 0.998307 Centerline is valid? [True, True] Translation: X:93.28, Y:1.56, Z:-1.89 [[ 9.99549521e-01 2.99184319e-02 -2.37541588e-03 9.32789634e+01] [-2.99184277e-02 9.99552343e-01 3.73074930e-05 1.55736001e+00] [ 2.37546869e-03 3.37780215e-05 9.99997178e-01 -1.88678161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.12592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:93.31, Y:1.56, Z:-1.90 [[ 9.99546038e-01 3.00345534e-02 -2.37543498e-03 9.33070659e+01] [-3.00345570e-02 9.99548860e-01 3.41649141e-05 1.56004352e+00] [ 2.37538945e-03 3.71957328e-05 9.99997178e-01 -1.90050583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.15592 meters Centerline goodness : 0.997761 Centerline is valid? [True, True] Translation: X:93.34, Y:1.56, Z:-1.89 [[ 9.99461544e-01 3.27258092e-02 -2.37555273e-03 9.33382128e+01] [-3.27258692e-02 9.99464365e-01 1.36056712e-05 1.56305950e+00] [ 2.37472556e-03 6.41436828e-05 9.99997178e-01 -1.88682289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.18592 meters Centerline goodness : 0.998107 Centerline is valid? [True, True] Translation: X:93.37, Y:1.57, Z:-1.89 [[ 9.99560592e-01 2.95462317e-02 -2.37548879e-03 9.33671832e+01] [-2.95462548e-02 9.99563414e-01 2.53757574e-05 1.56683477e+00] [ 2.37520144e-03 4.48221899e-05 9.99997178e-01 -1.88800714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.21592 meters Centerline goodness : 0.998601 Centerline is valid? [True, True] Translation: X:93.40, Y:1.57, Z:-1.89 [[ 9.99566485e-01 2.93461787e-02 -2.37553568e-03 9.33993459e+01] [-2.93462237e-02 9.99569307e-01 1.59262652e-05 1.56792731e+00] [ 2.37497993e-03 5.37936407e-05 9.99997178e-01 -1.88851237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.24592 meters Centerline goodness : 0.999051 Centerline is valid? [True, True] Translation: X:93.43, Y:1.57, Z:-1.89 [[ 9.99668392e-01 2.56410644e-02 -2.37542566e-03 9.34285193e+01] [-2.56410440e-02 9.99671214e-01 3.90382849e-05 1.56930100e+00] [ 2.37564563e-03 2.18830543e-05 9.99997178e-01 -1.88873589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.27592 meters Centerline goodness : 0.880864 Centerline is valid? [True, False] Translation: X:93.43, Y:1.56, Z:-1.89 [[ 9.99898356e-01 1.39124202e-02 -3.11791422e-03 9.34303605e+01] [-1.38848519e-02 9.99865789e-01 8.69568148e-03 1.56093688e+00] [ 3.23847373e-03 -8.65150584e-03 9.99957331e-01 -1.89005439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.30592 meters Centerline goodness : 0.999006 Centerline is valid? [False, True] Translation: X:93.45, Y:1.56, Z:-1.89 [[ 9.99977628e-01 5.08649401e-03 -4.34405235e-03 9.34514899e+01] [-5.04634862e-03 9.99944918e-01 9.20295416e-03 1.56236141e+00] [ 4.39062385e-03 -9.18082667e-03 9.99948216e-01 -1.88794683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.33592 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:93.48, Y:1.57, Z:-1.89 [[ 9.99988543e-01 2.22581022e-03 -4.23789449e-03 9.34807298e+01] [-2.22620923e-03 9.99997518e-01 -8.94371818e-05 1.57187606e+00] [ 4.23768490e-03 9.88705969e-05 9.99991016e-01 -1.89091217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.36592 meters Centerline goodness : 0.967251 Centerline is valid? [True, True] Translation: X:93.54, Y:1.61, Z:-1.91 [[ 9.95703186e-01 9.25051221e-02 -4.23884007e-03 9.35364701e+01] [-9.25059893e-02 9.95712128e-01 -8.55354644e-06 1.61225213e+00] [ 4.21987322e-03 4.00634887e-04 9.99991016e-01 -1.91302728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.39591999999999 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:93.53, Y:1.57, Z:-1.90 [[ 9.99980144e-01 -4.65930681e-03 -4.24303726e-03 9.35335625e+01] [ 4.66186531e-03 9.99988957e-01 5.93298094e-04 1.56733174e+00] [ 4.24022604e-03 -6.13066782e-04 9.99990822e-01 -1.90275972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.42591999999999 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:93.60, Y:1.58, Z:-1.91 [[ 9.99977309e-01 5.23920116e-03 -4.23466000e-03 9.35960002e+01] [-5.23947997e-03 9.99986272e-01 -5.47470796e-05 1.57988254e+00] [ 4.23431504e-03 7.69332536e-05 9.99991032e-01 -1.91312448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.45591999999999 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:93.59, Y:1.56, Z:-1.90 [[ 9.99920268e-01 -1.18935769e-02 -4.24280087e-03 9.35887788e+01] [ 1.18965767e-02 9.99929000e-01 6.82499287e-04 1.56454446e+00] [ 4.23438228e-03 -7.32919676e-04 9.99990766e-01 -1.90241096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.48592 meters Centerline goodness : 0.996460 Centerline is valid? [True, True] Translation: X:93.64, Y:1.56, Z:-1.92 [[ 9.98319060e-01 -5.78028349e-02 -4.22915142e-03 9.36429621e+01] [ 5.78030304e-02 9.98328004e-01 -7.61016017e-05 1.55910936e+00] [ 4.22647919e-03 -1.68484089e-04 9.99991054e-01 -1.91556633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.51592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:93.65, Y:1.56, Z:-1.90 [[ 9.99879705e-01 -1.49203210e-02 -4.23783123e-03 9.36477253e+01] [ 1.49223872e-02 9.99888551e-01 4.56340788e-04 1.56072379e+00] [ 4.23055018e-03 -5.19524451e-04 9.99990916e-01 -1.90269465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.54592 meters Centerline goodness : 0.998856 Centerline is valid? [True, True] Translation: X:93.68, Y:1.56, Z:-1.88 [[ 9.99882088e-01 -1.47631075e-02 -4.22617652e-03 9.36776700e+01] [ 1.47628583e-02 9.99891019e-01 -9.01365097e-05 1.56199830e+00] [ 4.22704664e-03 2.77354362e-05 9.99991066e-01 -1.88465665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.57592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.71, Y:1.56, Z:-1.90 [[ 9.99839545e-01 -1.74074938e-02 -4.22644041e-03 9.37074760e+01] [ 1.74073203e-02 9.99848478e-01 -7.78386727e-05 1.56186282e+00] [ 4.22715499e-03 4.25518113e-06 9.99991066e-01 -1.90288104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.60592 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:93.74, Y:1.56, Z:-1.89 [[ 9.99811897e-01 -1.89291099e-02 -4.22615222e-03 9.37373215e+01] [ 1.89288935e-02 9.99820828e-01 -9.11943595e-05 1.56151989e+00] [ 4.22712124e-03 1.11808203e-05 9.99991066e-01 -1.88835910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.63592 meters Centerline goodness : 0.788034 Centerline is valid? [True, False] Translation: X:93.73, Y:1.57, Z:-1.89 [[ 9.99942094e-01 -8.51018310e-03 6.58676434e-03 9.37315599e+01] [ 8.55262527e-03 9.99942672e-01 -6.44243327e-03 1.56979589e+00] [-6.53156044e-03 6.49839434e-03 9.99957554e-01 -1.88811245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.66592 meters Centerline goodness : 0.999354 Centerline is valid? [False, True] Translation: X:93.73, Y:1.57, Z:-1.88 [[ 9.99951624e-01 -6.56614128e-03 7.32355502e-03 9.37269518e+01] [ 6.59597230e-03 9.99970018e-01 -4.05661069e-03 1.56739477e+00] [-7.29669917e-03 4.10472041e-03 9.99964954e-01 -1.88413067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.69592 meters Centerline goodness : 0.999303 Centerline is valid? [True, True] Translation: X:93.76, Y:1.56, Z:-1.88 [[ 9.99948341e-01 -7.06211133e-03 7.31034460e-03 9.37601032e+01] [ 7.06212622e-03 9.99975063e-01 2.37765667e-05 1.56259677e+00] [-7.31033021e-03 2.78512379e-05 9.99973279e-01 -1.88410196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.72592 meters Centerline goodness : 0.999303 Centerline is valid? [True, True] Translation: X:93.79, Y:1.56, Z:-1.88 [[ 9.99951416e-01 -6.61246316e-03 7.31034901e-03 9.37919463e+01] [ 6.61247660e-03 9.99978137e-01 2.23325023e-05 1.56114867e+00] [-7.31033686e-03 2.60080945e-05 9.99973279e-01 -1.88488311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.75591999999999 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:93.82, Y:1.56, Z:-1.89 [[ 9.99958842e-01 -5.37334003e-03 7.31035766e-03 9.38249150e+01] [ 5.37334465e-03 9.99985563e-01 1.90092161e-05 1.56023829e+00] [-7.31035426e-03 2.02726374e-05 9.99973279e-01 -1.88688000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.78591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.86, Y:1.56, Z:-1.89 [[ 9.99964955e-01 -4.08010329e-03 7.31036558e-03 9.38581925e+01] [ 4.08010121e-03 9.99991676e-01 1.51973025e-05 1.55939853e+00] [-7.31036674e-03 1.46302616e-05 9.99973279e-01 -1.88683519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.81591999999999 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:93.89, Y:1.56, Z:-1.89 [[ 9.99969848e-01 -2.61935517e-03 7.31037154e-03 9.38911736e+01] [ 2.61934213e-03 9.99996569e-01 1.13584580e-05 1.55882085e+00] [-7.31037622e-03 7.79024869e-06 9.99973279e-01 -1.88657016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.84591999999999 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:93.92, Y:1.56, Z:-1.89 [[ 9.99973277e-01 6.07326947e-05 7.31037550e-03 9.39234612e+01] [-6.07891618e-05 9.99999998e-01 7.50203837e-06 1.55914111e+00] [-7.31037503e-03 -7.94622949e-06 9.99973279e-01 -1.88608593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.87592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:93.95, Y:1.56, Z:-1.87 [[ 9.99973090e-01 6.14654499e-04 7.31037636e-03 9.39541077e+01] [-6.14718718e-04 9.99999811e-01 6.53767532e-06 1.55924871e+00] [-7.31037097e-03 -1.10313246e-05 9.99973279e-01 -1.87031895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.90592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:93.99, Y:1.56, Z:-1.87 [[ 9.99973140e-01 5.28209608e-04 7.31035326e-03 9.39863276e+01] [-5.28514424e-04 9.99999860e-01 3.97647577e-05 1.55566464e+00] [-7.31033123e-03 -4.36273168e-05 9.99973278e-01 -1.87158954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.93592 meters Centerline goodness : 0.998902 Centerline is valid? [True, True] Translation: X:94.02, Y:1.55, Z:-1.89 [[ 9.99973234e-01 3.00770702e-04 7.31034579e-03 9.40195084e+01] [-3.01220767e-04 9.99999953e-01 6.04644657e-05 1.55384613e+00] [-7.31032726e-03 -6.26648753e-05 9.99973277e-01 -1.88921792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.96592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:94.05, Y:1.55, Z:-1.87 [[ 9.99973186e-01 -4.32329733e-04 7.31033850e-03 9.40496672e+01] [ 4.32347649e-04 9.99999907e-01 -8.70373455e-07 1.55457804e+00] [-7.31033744e-03 4.03095778e-06 9.99973279e-01 -1.87283027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.99592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:94.08, Y:1.55, Z:-1.87 [[ 9.99973220e-01 -3.43931141e-04 7.31035402e-03 9.40813772e+01] [ 3.43681484e-04 9.99999940e-01 3.54072456e-05 1.55400967e+00] [-7.31036577e-03 -3.28938641e-05 9.99973278e-01 -1.87380379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.02592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:94.11, Y:1.55, Z:-1.88 [[ 9.99973005e-01 7.39847040e-04 7.31034717e-03 9.41140472e+01] [-7.40076627e-04 9.99999726e-01 2.87006523e-05 1.55230952e+00] [-7.31032393e-03 -3.41100947e-05 9.99973279e-01 -1.87516016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.05592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:94.15, Y:1.55, Z:-1.87 [[ 9.99962844e-01 4.56841660e-03 7.31032904e-03 9.41456510e+01] [-4.56866057e-03 9.99989563e-01 1.66740170e-05 1.54928972e+00] [-7.31017657e-03 -5.00718095e-05 9.99973279e-01 -1.87368023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.08592 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:94.18, Y:1.55, Z:-1.87 [[ 9.99954381e-01 6.14774453e-03 7.31034362e-03 9.41777918e+01] [-6.14808777e-03 9.99981100e-01 2.44799251e-05 1.55011660e+00] [-7.31005496e-03 -6.94234426e-05 9.99973279e-01 -1.87219188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.11592 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:94.21, Y:1.55, Z:-1.87 [[ 9.99911185e-01 1.11436132e-02 7.31034652e-03 9.42113066e+01] [-1.11440994e-02 9.99937902e-01 2.57767030e-05 1.55171210e+00] [-7.30960532e-03 -1.07241642e-04 9.99973279e-01 -1.87281719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.14591999999999 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:94.24, Y:1.55, Z:-1.87 [[ 9.99877078e-01 1.38704500e-02 7.31024154e-03 9.42430110e+01] [-1.38707280e-02 9.99903797e-01 -1.26695101e-05 1.55151151e+00] [-7.30971400e-03 -8.87304192e-05 9.99973280e-01 -1.87467990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.17591999999999 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:94.27, Y:1.53, Z:-1.89 [[ 9.99777258e-01 -1.97988455e-02 7.31027649e-03 9.42689650e+01] [ 1.97993843e-02 9.99803973e-01 -1.34240837e-06 1.53439415e+00] [-7.30881690e-03 1.46081083e-04 9.99973280e-01 -1.88627580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.20591999999999 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:94.31, Y:1.55, Z:-1.89 [[ 9.99815999e-01 1.77346330e-02 7.31101114e-03 9.43058074e+01] [-1.77365200e-02 9.99842677e-01 1.93343154e-04 1.55062023e+00] [-7.30643208e-03 -3.22979474e-04 9.99973256e-01 -1.89393475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.23592 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:94.34, Y:1.55, Z:-1.89 [[ 9.99797831e-01 1.87313101e-02 7.30995189e-03 9.43377899e+01] [-1.87315616e-02 9.99824548e-01 -3.40565403e-05 1.55153603e+00] [-7.30930727e-03 -1.02877159e-04 9.99973281e-01 -1.89255667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.26592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:94.37, Y:1.55, Z:-1.88 [[ 9.99809976e-01 1.80714094e-02 7.30994729e-03 9.43683322e+01] [-1.80716363e-02 9.99836694e-01 -3.50158098e-05 1.55073492e+00] [-7.30938632e-03 -9.70935531e-05 9.99973281e-01 -1.88263073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.29592 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:94.40, Y:1.55, Z:-1.88 [[ 9.99783389e-01 1.94869074e-02 7.30996487e-03 9.44011457e+01] [-1.94871986e-02 9.99810106e-01 -3.14030731e-05 1.55139130e+00] [-7.30918870e-03 -1.11054466e-04 9.99973281e-01 -1.87666200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.32592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:94.43, Y:1.56, Z:-1.88 [[ 9.99774116e-01 1.99570737e-02 7.30974270e-03 9.44336293e+01] [-1.99570493e-02 9.99800835e-01 -7.62921693e-05 1.55561498e+00] [-7.30980943e-03 -6.96059590e-05 9.99973281e-01 -1.88027713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.35592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:94.47, Y:1.56, Z:-1.88 [[ 9.99725306e-01 2.22683414e-02 7.30983070e-03 9.44664111e+01] [-2.22685104e-02 9.99752024e-01 -5.82858286e-05 1.55889398e+00] [-7.30931597e-03 -1.04509223e-04 9.99973281e-01 -1.87731211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.38592 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:94.50, Y:1.56, Z:-1.88 [[ 9.99717587e-01 2.26122373e-02 7.30979555e-03 9.44977088e+01] [-2.26123628e-02 9.99744306e-01 -6.54891071e-05 1.55882580e+00] [-7.30940733e-03 -9.98211366e-05 9.99973281e-01 -1.87883972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.41592 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:94.53, Y:1.56, Z:-1.88 [[ 9.99678679e-01 2.42714513e-02 7.30988974e-03 9.45300307e+01] [-2.42717648e-02 9.99705396e-01 -4.58325845e-05 1.56026116e+00] [-7.30884865e-03 -1.31606067e-04 9.99973281e-01 -1.87956225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.44592 meters Centerline goodness : 0.874091 Centerline is valid? [True, False] Translation: X:94.54, Y:1.55, Z:-1.88 [[ 9.99905124e-01 1.35126168e-02 2.67422827e-03 9.45364754e+01] [-1.35363494e-02 9.99867288e-01 9.06493010e-03 1.55384759e+00] [-2.55138244e-03 -9.10026935e-03 9.99955337e-01 -1.88272090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.47592 meters Centerline goodness : 0.999701 Centerline is valid? [False, True] Translation: X:94.56, Y:1.55, Z:-1.88 [[ 9.99973545e-01 6.93909376e-03 -2.18128268e-03 9.45577498e+01] [-6.91395526e-03 9.99911929e-01 1.13283280e-02 1.55122240e+00] [ 2.25969890e-03 -1.13129470e-02 9.99933453e-01 -1.87878453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.50591999999999 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:94.59, Y:1.56, Z:-1.88 [[ 9.99983157e-01 5.43687685e-03 -2.03135636e-03 9.45864087e+01] [-5.43702620e-03 9.99985217e-01 -6.80066353e-05 1.56222329e+00] [ 2.03095659e-03 7.90500276e-05 9.99997934e-01 -1.87706987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.53591999999999 meters Centerline goodness : 0.931711 Centerline is valid? [True, False] Translation: X:94.61, Y:1.56, Z:-1.87 [[ 9.99970319e-01 3.08515586e-03 -7.05994540e-03 9.46078287e+01] [-3.03477583e-03 9.99969936e-01 7.13565693e-03 1.55641302e+00] [ 7.08174776e-03 -7.11401979e-03 9.99949619e-01 -1.87274352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.56591999999999 meters Centerline goodness : 0.999900 Centerline is valid? [False, True] Translation: X:94.63, Y:1.55, Z:-1.87 [[ 9.99941096e-01 -7.06588118e-04 -1.08307876e-02 9.46305293e+01] [ 8.48184348e-04 9.99914166e-01 1.30744801e-02 1.55421046e+00] [ 1.08206197e-02 -1.30828965e-02 9.99855866e-01 -1.86994386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.59591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.66, Y:1.57, Z:-1.88 [[ 9.99943527e-01 -7.59335987e-04 -1.06003391e-02 9.46598463e+01] [ 7.57425614e-04 9.99999696e-01 -1.84231572e-04 1.56829670e+00] [ 1.06004758e-02 1.76192200e-04 9.99943798e-01 -1.87855321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.62592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:94.69, Y:1.57, Z:-1.88 [[ 9.99940542e-01 -2.55759469e-03 -1.06005439e-02 9.46888309e+01] [ 2.55590800e-03 9.99996719e-01 -1.72658547e-04 1.57037489e+00] [ 1.06009507e-02 1.45554266e-04 9.99943798e-01 -1.87878677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.65592 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:94.72, Y:1.57, Z:-1.87 [[ 9.99933054e-01 -4.63847775e-03 -1.06005994e-02 9.47170676e+01] [ 4.63694077e-03 9.99989235e-01 -1.69563573e-04 1.57174246e+00] [ 1.06012718e-02 1.20397870e-04 9.99943798e-01 -1.86986526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.68592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:94.75, Y:1.57, Z:-1.87 [[ 9.99915789e-01 -7.48683624e-03 -1.06001321e-02 9.47450341e+01] [ 7.48518783e-03 9.99971967e-01 -1.95173479e-04 1.57290638e+00] [ 1.06012962e-02 1.15813063e-04 9.99943798e-01 -1.87105426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.71592 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:94.77, Y:1.57, Z:-1.87 [[ 9.99897527e-01 -9.62213187e-03 -1.05995194e-02 9.47742819e+01] [ 9.62025024e-03 9.99953698e-01 -2.28493717e-04 1.57256247e+00] [ 1.06012272e-02 1.26500274e-04 9.99943797e-01 -1.87207685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.74592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:94.80, Y:1.57, Z:-1.87 [[ 9.99825240e-01 -1.53991069e-02 -1.05998423e-02 9.48030149e+01] [ 1.53977335e-02 9.99881426e-01 -2.11178228e-04 1.57140555e+00] [ 1.06018374e-02 4.79277759e-05 9.99943798e-01 -1.86945837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.77592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:94.83, Y:1.57, Z:-1.87 [[ 9.99792567e-01 -1.73916978e-02 -1.05995750e-02 9.48321262e+01] [ 1.73902868e-02 9.99848752e-01 -2.25283247e-04 1.57218849e+00] [ 1.06018899e-02 4.09068666e-05 9.99943798e-01 -1.86911570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.80592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:94.86, Y:1.57, Z:-1.87 [[ 9.99765091e-01 -1.89054223e-02 -1.05994272e-02 9.48611061e+01] [ 1.89040132e-02 9.99821276e-01 -2.33122182e-04 1.57284067e+00] [ 1.06019401e-02 3.26957088e-05 9.99943797e-01 -1.87266686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.83592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.89, Y:1.57, Z:-1.88 [[ 9.99749026e-01 -1.97367821e-02 -1.05993078e-02 9.48924916e+01] [ 1.97353525e-02 9.99805210e-01 -2.39461682e-04 1.57291274e+00] [ 1.06019694e-02 3.02205064e-05 9.99943797e-01 -1.88224110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.86592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.92, Y:1.57, Z:-1.88 [[ 9.99745109e-01 -1.99337700e-02 -1.06000639e-02 9.49209757e+01] [ 1.99327780e-02 9.99801303e-01 -1.99236236e-04 1.57335660e+00] [ 1.06019292e-02 -1.21032680e-05 9.99943798e-01 -1.88193833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.89591999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:94.95, Y:1.57, Z:-1.88 [[ 9.99737394e-01 -2.03170499e-02 -1.06000242e-02 9.49496250e+01] [ 2.03160572e-02 9.99793587e-01 -2.01329481e-04 1.57263184e+00] [ 1.06019266e-02 -1.40740866e-05 9.99943798e-01 -1.88063868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.92591999999999 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:94.98, Y:1.57, Z:-1.87 [[ 9.99700365e-01 -2.20640219e-02 -1.05999975e-02 9.49772761e+01] [ 2.20631126e-02 9.99756559e-01 -2.02723780e-04 1.57275722e+00] [ 1.06018899e-02 -3.12059014e-05 9.99943798e-01 -1.86651768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.95591999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:95.01, Y:1.57, Z:-1.88 [[ 9.99695687e-01 -2.22756704e-02 -1.05985244e-02 9.50084905e+01] [ 2.22739747e-02 9.99751866e-01 -2.78023111e-04 1.57147967e+00] [ 1.06020877e-02 4.18672410e-05 9.99943795e-01 -1.87976494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.98592 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:95.04, Y:1.57, Z:-1.87 [[ 9.99649534e-01 -2.42580079e-02 -1.05999172e-02 9.50361791e+01] [ 2.42571814e-02 9.99705730e-01 -2.06547749e-04 1.57025012e+00] [ 1.06018084e-02 -5.06487536e-05 9.99943798e-01 -1.86516259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.01592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.07, Y:1.57, Z:-1.87 [[ 9.99644460e-01 -2.44667473e-02 -1.05986619e-02 9.50660074e+01] [ 2.44652572e-02 9.99700644e-01 -2.70251538e-04 1.57002676e+00] [ 1.06021013e-02 1.08564639e-05 9.99943796e-01 -1.86618111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.04592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:95.10, Y:1.58, Z:-1.87 [[ 9.99941345e-01 2.23055581e-03 -1.05986141e-02 9.50990166e+01] [-2.23357145e-03 9.99997468e-01 -2.72703305e-04 1.58208529e+00] [ 1.05979790e-02 2.96360071e-04 9.99943796e-01 -1.87377630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.07592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.13, Y:1.57, Z:-1.88 [[ 9.99728057e-01 -2.07698270e-02 -1.06031313e-02 9.51266158e+01] [ 2.07706171e-02 9.99784267e-01 -3.56088754e-05 1.57306728e+00] [ 1.06015834e-02 -1.84634389e-04 9.99943785e-01 -1.87874348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.10592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.16, Y:1.57, Z:-1.86 [[ 9.99785710e-01 -1.77814283e-02 -1.05997705e-02 9.51557880e+01] [ 1.77802289e-02 9.99841898e-01 -2.07389237e-04 1.57461624e+00] [ 1.06017823e-02 1.88784496e-05 9.99943799e-01 -1.86285310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.13592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.19, Y:1.58, Z:-1.86 [[ 9.99815635e-01 -1.60111797e-02 -1.05989484e-02 9.51858475e+01] [ 1.60094428e-02 9.99871810e-01 -2.48704802e-04 1.57556117e+00] [ 1.06015718e-02 7.89756913e-05 9.99943799e-01 -1.86207123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.16592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:95.22, Y:1.58, Z:-1.88 [[ 9.99864228e-01 -1.26166196e-02 -1.05993482e-02 9.52165492e+01] [ 1.26149029e-02 9.99920403e-01 -2.28814690e-04 1.57836645e+00] [ 1.06013913e-02 9.50738758e-05 9.99943799e-01 -1.87873838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.19592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:95.24, Y:1.58, Z:-1.86 [[ 9.99844136e-01 -1.41192189e-02 -1.05996395e-02 9.52448794e+01] [ 1.41177393e-02 9.99900317e-01 -2.14411525e-04 1.58046205e+00] [ 1.06016102e-02 6.47351590e-05 9.99943799e-01 -1.86318993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.22592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.27, Y:1.58, Z:-1.86 [[ 9.99819734e-01 -1.57533191e-02 -1.05987284e-02 9.52726973e+01] [ 1.57514586e-02 9.99875905e-01 -2.58999856e-04 1.58296665e+00] [ 1.06014933e-02 9.20077347e-05 9.99943798e-01 -1.86281931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.25591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.30, Y:1.58, Z:-1.88 [[ 9.99814267e-01 -1.60966742e-02 -1.05984784e-02 9.53033316e+01] [ 1.60947053e-02 9.99870435e-01 -2.71047372e-04 1.58415812e+00] [ 1.06014681e-02 1.00417644e-04 9.99943798e-01 -1.88014731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.28591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.33, Y:1.59, Z:-1.87 [[ 9.99704847e-01 -2.18602155e-02 -1.05995165e-02 9.53314318e+01] [ 2.18590975e-02 9.99761037e-01 -2.21329242e-04 1.58618136e+00] [ 1.06018220e-02 -1.04319490e-05 9.99943799e-01 -1.87170474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.31591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.36, Y:1.59, Z:-1.88 [[ 9.99640334e-01 -2.46350801e-02 -1.05978994e-02 9.53603882e+01] [ 2.46332994e-02 9.99696510e-01 -2.98537681e-04 1.58636022e+00] [ 1.06020375e-02 3.73690781e-05 9.99943796e-01 -1.87623280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.34591999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:95.39, Y:1.59, Z:-1.86 [[ 9.99590002e-01 -2.65990324e-02 -1.05981068e-02 9.53897278e+01] [ 2.65974675e-02 9.99646183e-01 -2.88605071e-04 1.58639354e+00] [ 1.06020336e-02 6.60394238e-06 9.99943797e-01 -1.86018098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.37592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:95.42, Y:1.59, Z:-1.88 [[ 9.99445916e-01 -3.15522106e-02 -1.05980565e-02 9.54191667e+01] [ 3.15508986e-02 9.99502104e-01 -2.91011669e-04 1.58618171e+00] [ 1.06019619e-02 -4.35277827e-05 9.99943797e-01 -1.87608435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.40592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.45, Y:1.59, Z:-1.88 [[ 9.99478395e-01 -3.05063033e-02 -1.05973576e-02 9.54515039e+01] [ 3.05045727e-02 9.99534574e-01 -3.24945192e-04 1.58697027e+00] [ 1.06023382e-02 1.50783258e-06 9.99943794e-01 -1.88015549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.43592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.48, Y:1.59, Z:-1.86 [[ 9.99387367e-01 -3.33547642e-02 -1.05995721e-02 9.54792073e+01] [ 3.33543430e-02 9.99443566e-01 -2.16560754e-04 1.58681321e+00] [ 1.06008975e-02 -1.37113682e-04 9.99943800e-01 -1.86054278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.46592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.51, Y:1.59, Z:-1.86 [[ 9.99405406e-01 -3.28104796e-02 -1.05975044e-02 9.55077774e+01] [ 3.28089590e-02 9.99461591e-01 -3.17350534e-04 1.58694110e+00] [ 1.06022110e-02 -3.05312466e-05 9.99943795e-01 -1.86048585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.49592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.54, Y:1.59, Z:-1.87 [[ 9.99441321e-01 -3.16975245e-02 -1.05977955e-02 9.55386039e+01] [ 3.16960918e-02 9.99497507e-01 -3.03157106e-04 1.58755093e+00] [ 1.06020795e-02 -3.29209623e-05 9.99943796e-01 -1.86726827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.52592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.57, Y:1.59, Z:-1.88 [[ 9.99405138e-01 -3.28183621e-02 -1.05983497e-02 9.55683576e+01] [ 3.28172776e-02 9.99461330e-01 -2.76271457e-04 1.58791847e+00] [ 1.06017074e-02 -7.17018694e-05 9.99943798e-01 -1.87542541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.55592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:95.60, Y:1.59, Z:-1.88 [[ 9.99365212e-01 -3.40125161e-02 -1.05981951e-02 9.55983346e+01] [ 3.40114180e-02 9.99421404e-01 -2.83878339e-04 1.58532369e+00] [ 1.06017184e-02 -7.67615061e-05 9.99943797e-01 -1.87937244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.58592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.63, Y:1.58, Z:-1.86 [[ 9.99322002e-01 -3.52588276e-02 -1.05995960e-02 9.56276681e+01] [ 3.52585329e-02 9.99378202e-01 -2.14724074e-04 1.58463678e+00] [ 1.06005761e-02 -1.59147713e-04 9.99943800e-01 -1.86274541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.61591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.66, Y:1.58, Z:-1.88 [[ 9.99245374e-01 -3.73676784e-02 -1.05990591e-02 9.56590185e+01] [ 3.73672233e-02 9.99301572e-01 -2.41032573e-04 1.58496102e+00] [ 1.06006632e-02 -1.55206724e-04 9.99943799e-01 -1.87895417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.64591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.69, Y:1.58, Z:-1.86 [[ 9.99212015e-01 -3.82491520e-02 -1.05995915e-02 9.56873764e+01] [ 3.82490252e-02 9.99268215e-01 -2.14753161e-04 1.58411922e+00] [ 1.06000490e-02 -1.90840104e-04 9.99943800e-01 -1.86453273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.67591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.72, Y:1.58, Z:-1.87 [[ 9.99197493e-01 -3.86268432e-02 -1.05988794e-02 9.57170556e+01] [ 3.86263656e-02 9.99253692e-01 -2.49833273e-04 1.58326738e+00] [ 1.06006196e-02 -1.59763410e-04 9.99943799e-01 -1.86692774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.70591999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:95.75, Y:1.58, Z:-1.86 [[ 9.99114385e-01 -4.07196667e-02 -1.05997424e-02 9.57461763e+01] [ 4.07197550e-02 9.99170585e-01 -2.07574230e-04 1.58158270e+00] [ 1.05994032e-02 -2.24228515e-04 9.99943800e-01 -1.86203338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.73592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.77, Y:1.58, Z:-1.86 [[ 9.99067698e-01 -4.18495496e-02 -1.05995026e-02 9.57746476e+01] [ 4.18495791e-02 9.99123899e-01 -2.19109134e-04 1.58059617e+00] [ 1.05993860e-02 -2.24679865e-04 9.99943800e-01 -1.86232619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.76592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.80, Y:1.58, Z:-1.88 [[ 9.99019890e-01 -4.29756747e-02 -1.05996034e-02 9.58042012e+01] [ 4.29758184e-02 9.99076090e-01 -2.14318233e-04 1.57963756e+00] [ 1.05990207e-02 -2.41418452e-04 9.99943800e-01 -1.87855321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.79592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.83, Y:1.58, Z:-1.86 [[ 9.99004802e-01 -4.33250284e-02 -1.05994280e-02 9.58334216e+01] [ 4.33251032e-02 9.99061002e-01 -2.22667360e-04 1.57809170e+00] [ 1.05991222e-02 -2.36775548e-04 9.99943800e-01 -1.86454208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.82592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.86, Y:1.58, Z:-1.86 [[ 9.98853688e-01 -4.66792676e-02 -1.05997732e-02 9.58625599e+01] [ 4.66797034e-02 9.98909887e-01 -2.06415293e-04 1.57530920e+00] [ 1.05978536e-02 -2.88615595e-04 9.99943800e-01 -1.86497027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.85592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:95.89, Y:1.57, Z:-1.88 [[ 9.98831774e-01 -4.71461505e-02 -1.05985001e-02 9.58938333e+01] [ 4.71459816e-02 9.98887975e-01 -2.65922440e-04 1.57452743e+00] [ 1.05992515e-02 -2.34064908e-04 9.99943799e-01 -1.87586686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.88592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:95.92, Y:1.57, Z:-1.86 [[ 9.98804583e-01 -4.77185344e-02 -1.05993353e-02 9.59221999e+01] [ 4.77188114e-02 9.98860783e-01 -2.26908833e-04 1.57147941e+00] [ 1.05980881e-02 -2.79150100e-04 9.99943800e-01 -1.85755712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.91592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:95.95, Y:1.57, Z:-1.88 [[ 9.98789890e-01 -4.80253445e-02 -1.05982364e-02 9.59536411e+01] [ 4.80251016e-02 9.98846091e-01 -2.77562892e-04 1.57090659e+00] [ 1.05993371e-02 -2.31754370e-04 9.99943799e-01 -1.87558646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.94592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:95.98, Y:1.57, Z:-1.86 [[ 9.98756349e-01 -4.87176711e-02 -1.05992609e-02 9.59825160e+01] [ 4.87179669e-02 9.98812548e-01 -2.30442883e-04 1.56921294e+00] [ 1.05979014e-02 -2.86218148e-04 9.99943800e-01 -1.86251662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.97592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.01, Y:1.57, Z:-1.86 [[ 9.98791004e-01 -4.80022656e-02 -1.05977326e-02 9.60129667e+01] [ 4.80017738e-02 9.98847205e-01 -3.00908148e-04 1.56900328e+00] [ 1.05999599e-02 -2.08165614e-04 9.99943797e-01 -1.86177079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.00591999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:96.04, Y:1.57, Z:-1.86 [[ 9.98811015e-01 -4.75837623e-02 -1.05991395e-02 9.60416015e+01] [ 4.75839376e-02 9.98867215e-01 -2.35781221e-04 1.56752497e+00] [ 1.05983523e-02 -2.68847912e-04 9.99943800e-01 -1.85616293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.03591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.07, Y:1.56, Z:-1.87 [[ 9.98671420e-01 -5.04287010e-02 -1.05990598e-02 9.60708170e+01] [ 5.04289975e-02 9.98727620e-01 -2.39455390e-04 1.56368158e+00] [ 1.05976492e-02 -2.95362706e-04 9.99943800e-01 -1.86651878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.06591999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:96.10, Y:1.56, Z:-1.86 [[ 9.98697920e-01 -4.99014117e-02 -1.05978619e-02 9.61011764e+01] [ 4.99010958e-02 9.98754121e-01 -2.94396592e-04 1.56250951e+00] [ 1.05993491e-02 -2.34831661e-04 9.99943798e-01 -1.85964488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.09591999999999 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:96.13, Y:1.56, Z:-1.86 [[ 9.98675111e-01 -5.03557229e-02 -1.05983232e-02 9.61313863e+01] [ 5.03556569e-02 9.98731312e-01 -2.73247158e-04 1.55969475e+00] [ 1.05986368e-02 -2.60800393e-04 9.99943799e-01 -1.85828867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.12592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:96.16, Y:1.56, Z:-1.86 [[ 9.98619514e-01 -5.14461345e-02 -1.06001085e-02 9.61604893e+01] [ 5.14469919e-02 9.98675708e-01 -1.91965702e-04 1.55823801e+00] [ 1.05959468e-02 -3.53643000e-04 9.99943799e-01 -1.85921292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.15592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:96.19, Y:1.56, Z:-1.87 [[ 9.98454889e-01 -5.45479236e-02 -1.05999378e-02 9.61905111e+01] [ 5.45488734e-02 9.98511082e-01 -1.99708048e-04 1.55706771e+00] [ 1.05950490e-02 -3.78815186e-04 9.99943799e-01 -1.87311268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.18592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.22, Y:1.56, Z:-1.87 [[ 9.98465078e-01 -5.43612514e-02 -1.05991666e-02 9.62188978e+01] [ 5.43618212e-02 9.98521275e-01 -2.34556295e-04 1.55628175e+00] [ 1.05962441e-02 -3.41993730e-04 9.99943800e-01 -1.87379803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.21592 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:96.25, Y:1.55, Z:-1.86 [[ 9.98558870e-01 -5.26102766e-02 -1.05991302e-02 9.62493977e+01] [ 5.26107305e-02 9.98615069e-01 -2.36187072e-04 1.55236128e+00] [ 1.05968770e-02 -3.21781289e-04 9.99943800e-01 -1.86192341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.24592 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:96.28, Y:1.55, Z:-1.86 [[ 9.98543998e-01 -5.28916307e-02 -1.05999609e-02 9.62762786e+01] [ 5.28924943e-02 9.98600192e-01 -1.99047929e-04 1.55005835e+00] [ 1.05956509e-02 -3.61900254e-04 9.99943799e-01 -1.85713850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.27592 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:96.30, Y:1.55, Z:-1.87 [[ 9.98482467e-01 -5.40409024e-02 -1.05992894e-02 9.63046012e+01] [ 5.40415167e-02 9.98538663e-01 -2.28649860e-04 1.54737507e+00] [ 1.05961567e-02 -3.44498798e-04 9.99943800e-01 -1.87207936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.30592 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:96.33, Y:1.55, Z:-1.86 [[ 9.98514163e-01 -5.34521099e-02 -1.05989462e-02 9.63343831e+01] [ 5.34525328e-02 9.98570362e-01 -2.43581695e-04 1.54603612e+00] [ 1.05968135e-02 -3.23320748e-04 9.99943800e-01 -1.86015531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.33592 meters Centerline goodness : 0.999550 Centerline is valid? [True, True] Translation: X:96.36, Y:1.54, Z:-1.86 [[ 9.98536653e-01 -5.30302513e-02 -1.05992567e-02 9.63619304e+01] [ 5.30307923e-02 9.98592851e-01 -2.30203607e-04 1.54195623e+00] [ 1.05965497e-02 -3.32220241e-04 9.99943800e-01 -1.85514069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.36591999999999 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:96.39, Y:1.54, Z:-1.87 [[ 9.98539514e-01 -5.29764874e-02 -1.05985834e-02 9.63926234e+01] [ 5.29767213e-02 9.98595714e-01 -2.58872134e-04 1.54215871e+00] [ 1.05974141e-02 -3.02984145e-04 9.99943800e-01 -1.87044155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.39591999999999 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:96.42, Y:1.54, Z:-1.87 [[ 9.98531456e-01 -5.31281098e-02 -1.05988207e-02 9.64218160e+01] [ 5.31284595e-02 9.98587655e-01 -2.48764460e-04 1.54281485e+00] [ 1.05970678e-02 -3.14699875e-04 9.99943800e-01 -1.86966176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.42591999999999 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:96.45, Y:1.54, Z:-1.87 [[ 9.98644390e-01 -5.09612464e-02 -1.05987896e-02 9.64505088e+01] [ 5.09614602e-02 9.98700589e-01 -2.50082446e-04 1.54305781e+00] [ 1.05977619e-02 -2.90386360e-04 9.99943800e-01 -1.86953428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.45591999999999 meters Centerline goodness : 0.999302 Centerline is valid? [True, True] Translation: X:96.48, Y:1.54, Z:-1.85 [[ 9.98809652e-01 -4.76124405e-02 -1.05987584e-02 9.64789831e+01] [ 4.76124518e-02 9.98865852e-01 -2.51396113e-04 1.54295684e+00] [ 1.05987074e-02 -2.53536009e-04 9.99943800e-01 -1.85293350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.48592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:96.51, Y:1.55, Z:-1.86 [[ 9.98881378e-01 -4.60833832e-02 -1.05978633e-02 9.65098206e+01] [ 4.60829157e-02 9.98937576e-01 -2.88434057e-04 1.54535907e+00] [ 1.05998959e-02 -2.00269031e-04 9.99943799e-01 -1.85858364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.51592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:96.54, Y:1.55, Z:-1.87 [[ 9.98896487e-01 -4.57542663e-02 -1.05997353e-02 9.65390805e+01] [ 4.57545966e-02 9.98952688e-01 -2.11465151e-04 1.54751510e+00] [ 1.05983095e-02 -2.73754817e-04 9.99943799e-01 -1.86997619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.54592 meters Centerline goodness : 0.999452 Centerline is valid? [True, True] Translation: X:96.57, Y:1.55, Z:-1.85 [[ 9.98956031e-01 -4.44355589e-02 -1.05985083e-02 9.65674899e+01] [ 4.44352871e-02 9.99012231e-01 -2.61243341e-04 1.54628808e+00] [ 1.05996480e-02 -2.09977150e-04 9.99943800e-01 -1.85415862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.57592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:96.60, Y:1.55, Z:-1.87 [[ 9.98916461e-01 -4.53167127e-02 -1.05971879e-02 9.65985434e+01] [ 4.53159289e-02 9.98972656e-01 -3.14183795e-04 1.54809852e+00] [ 1.06005387e-02 -1.66378049e-04 9.99943799e-01 -1.86849979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.60592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:96.63, Y:1.55, Z:-1.86 [[ 9.98917458e-01 -4.52944242e-02 -1.05984142e-02 9.66282000e+01] [ 4.52941591e-02 9.98973658e-01 -2.65169131e-04 1.55141593e+00] [ 1.05995473e-02 -2.15164186e-04 9.99943800e-01 -1.85660999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.63592 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:96.66, Y:1.55, Z:-1.86 [[ 9.98926129e-01 -4.51028883e-02 -1.05980437e-02 9.66569280e+01] [ 4.51024567e-02 9.98982327e-01 -2.79851574e-04 1.55404426e+00] [ 1.05998805e-02 -1.98446757e-04 9.99943800e-01 -1.85569563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.66592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:96.69, Y:1.55, Z:-1.87 [[ 9.99027381e-01 -4.28017529e-02 -1.05973028e-02 9.66873024e+01] [ 4.28008809e-02 9.99083575e-01 -3.09175746e-04 1.55293041e+00] [ 1.06008244e-02 -1.44698859e-04 9.99943799e-01 -1.86854047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.69592 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:96.72, Y:1.55, Z:-1.86 [[ 9.99048135e-01 -4.23142923e-02 -1.05983425e-02 9.67162035e+01] [ 4.23138288e-02 9.99104333e-01 -2.68072414e-04 1.55345521e+00] [ 1.06001932e-02 -1.80639203e-04 9.99943800e-01 -1.85644602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.72592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.75, Y:1.56, Z:-1.87 [[ 9.99102161e-01 -4.10188901e-02 -1.05982500e-02 9.67461957e+01] [ 4.10183150e-02 9.99158358e-01 -2.71714287e-04 1.55859842e+00] [ 1.06004755e-02 -1.63252027e-04 9.99943800e-01 -1.86554014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.75591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.77, Y:1.56, Z:-1.87 [[ 9.99094286e-01 -4.12102314e-02 -1.05983040e-02 9.67746857e+01] [ 4.12096896e-02 9.99150484e-01 -2.69593298e-04 1.55927190e+00] [ 1.06004106e-02 -1.67403694e-04 9.99943800e-01 -1.86523785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.78591999999999 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:96.80, Y:1.56, Z:-1.87 [[ 9.99107111e-01 -4.08981288e-02 -1.05982520e-02 9.68030420e+01] [ 4.08975479e-02 9.99163308e-01 -2.71623364e-04 1.56087321e+00] [ 1.06004934e-02 -1.62061683e-04 9.99943800e-01 -1.86532034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.81591999999999 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:96.83, Y:1.56, Z:-1.86 [[ 9.99076976e-01 -4.16278086e-02 -1.05982171e-02 9.68312504e+01] [ 4.16272544e-02 9.99133173e-01 -2.72975615e-04 1.55960165e+00] [ 1.06003937e-02 -1.68451029e-04 9.99943800e-01 -1.86448823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.84591999999999 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:96.86, Y:1.56, Z:-1.85 [[ 9.99046713e-01 -4.23478880e-02 -1.05981640e-02 9.68603878e+01] [ 4.23473526e-02 9.99102911e-01 -2.75022179e-04 1.55977051e+00] [ 1.06003031e-02 -1.74044184e-04 9.99943800e-01 -1.84999269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.87592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:96.89, Y:1.56, Z:-1.86 [[ 9.99045837e-01 -4.23688352e-02 -1.05970272e-02 9.68912244e+01] [ 4.23678411e-02 9.99102029e-01 -3.18383578e-04 1.56144635e+00] [ 1.06010009e-02 -1.30893375e-04 9.99943799e-01 -1.86375716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.90592 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:96.92, Y:1.56, Z:-1.85 [[ 9.98993338e-01 -4.35888932e-02 -1.05980844e-02 9.69189429e+01] [ 4.35883951e-02 9.99049536e-01 -2.78093196e-04 1.56141218e+00] [ 1.06001331e-02 -1.84140240e-04 9.99943800e-01 -1.85286952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.93592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:96.95, Y:1.56, Z:-1.86 [[ 9.99057826e-01 -4.20853716e-02 -1.05963550e-02 9.69507325e+01] [ 4.20840963e-02 9.99114013e-01 -3.43396105e-04 1.56100345e+00] [ 1.06014188e-02 -1.02865461e-04 9.99943798e-01 -1.86318378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.96592 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:96.98, Y:1.56, Z:-1.85 [[ 9.99042527e-01 -4.24465698e-02 -1.05980570e-02 9.69789500e+01] [ 4.24460013e-02 9.99098724e-01 -2.78670123e-04 1.56319934e+00] [ 1.06003338e-02 -1.71441837e-04 9.99943800e-01 -1.85200742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.99592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:97.01, Y:1.57, Z:-1.86 [[ 9.99161728e-01 -3.95418479e-02 -1.05963644e-02 9.70101791e+01] [ 3.95404336e-02 9.99217912e-01 -3.43013636e-04 1.56558886e+00] [ 1.06016405e-02 -7.62587440e-05 9.99943798e-01 -1.86261017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.02592 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:97.04, Y:1.57, Z:-1.85 [[ 9.99179967e-01 -3.90777940e-02 -1.05980908e-02 9.70394873e+01] [ 3.90770543e-02 9.99236162e-01 -2.76947051e-04 1.56662724e+00] [ 1.06008181e-02 -1.37422225e-04 9.99943800e-01 -1.85007130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.05592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:97.07, Y:1.57, Z:-1.86 [[ 9.99194087e-01 -3.87151098e-02 -1.05979239e-02 9.70695487e+01] [ 3.87142829e-02 9.99250281e-01 -2.83239391e-04 1.56737946e+00] [ 1.06009441e-02 -1.27279900e-04 9.99943800e-01 -1.86147275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.08592 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:97.10, Y:1.57, Z:-1.86 [[ 9.99060089e-01 -4.20312060e-02 -1.05979658e-02 9.70978761e+01] [ 4.20305823e-02 9.99116285e-01 -2.81662907e-04 1.57088116e+00] [ 1.06004389e-02 -1.64040506e-04 9.99943800e-01 -1.86157342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.11591999999999 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:97.13, Y:1.57, Z:-1.86 [[ 9.98871266e-01 -4.63020269e-02 -1.05979292e-02 9.71265568e+01] [ 4.63016290e-02 9.98927464e-01 -2.83033888e-04 1.57327679e+00] [ 1.05996676e-02 -2.07986968e-04 9.99943800e-01 -1.86024251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.14591999999999 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:97.16, Y:1.57, Z:-1.85 [[ 9.98891892e-01 -4.58549087e-02 -1.05978928e-02 9.71577463e+01] [ 4.58544713e-02 9.98948090e-01 -2.84389155e-04 1.57368801e+00] [ 1.05997855e-02 -2.01886752e-04 9.99943800e-01 -1.84532978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.17591999999999 meters Centerline goodness : 0.999002 Centerline is valid? [True, True] Translation: X:97.19, Y:1.57, Z:-1.84 [[ 9.98774079e-01 -4.83526432e-02 -1.06000031e-02 9.71858498e+01] [ 4.83531771e-02 9.98830280e-01 -2.06052855e-04 1.57398306e+00] [ 1.05975673e-02 -3.06743579e-04 9.99943797e-01 -1.84329715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.20591999999999 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:97.22, Y:1.58, Z:-1.86 [[ 9.98497776e-01 -5.37573076e-02 -1.05992438e-02 9.72152238e+01] [ 5.37578511e-02 9.98553974e-01 -2.33826555e-04 1.57554418e+00] [ 1.05964869e-02 -3.36317276e-04 9.99943799e-01 -1.86029941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.23592 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:97.25, Y:1.57, Z:-1.85 [[ 9.98435535e-01 -5.49014772e-02 -1.05976285e-02 9.72452255e+01] [ 5.49014641e-02 9.98491734e-01 -2.92376573e-04 1.57462322e+00] [ 1.05976964e-02 -2.89906162e-04 9.99943801e-01 -1.84634959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.26592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:97.28, Y:1.57, Z:-1.86 [[ 9.98190752e-01 -5.91853438e-02 -1.05980516e-02 9.72758038e+01] [ 5.91857333e-02 9.98246949e-01 -2.77155207e-04 1.57079125e+00] [ 1.05958762e-02 -3.50599694e-04 9.99943801e-01 -1.86217156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.29592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:97.30, Y:1.57, Z:-1.86 [[ 9.98111130e-01 -6.05133413e-02 -1.05975107e-02 9.73042992e+01] [ 6.05136005e-02 9.98167329e-01 -2.96491908e-04 1.56887000e+00] [ 1.05960306e-02 -3.45361652e-04 9.99943801e-01 -1.86203635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.32592 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:97.33, Y:1.57, Z:-1.84 [[ 9.98142574e-01 -5.99924684e-02 -1.05974737e-02 9.73340494e+01] [ 5.99926843e-02 9.98198772e-01 -2.97807570e-04 1.56618126e+00] [ 1.05962514e-02 -3.38516479e-04 9.99943801e-01 -1.84428677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.35592 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:97.36, Y:1.57, Z:-1.84 [[ 9.98204371e-01 -5.89552861e-02 -1.05975808e-02 9.73623182e+01] [ 5.89554838e-02 9.98260569e-01 -2.94010226e-04 1.56547561e+00] [ 1.05964805e-02 -3.31303208e-04 9.99943801e-01 -1.84175540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.38592 meters Centerline goodness : 0.998608 Centerline is valid? [True, True] Translation: X:97.39, Y:1.57, Z:-1.84 [[ 9.98369301e-01 -5.60932381e-02 -1.05966007e-02 9.73930601e+01] [ 5.60929074e-02 9.98425499e-01 -3.28646687e-04 1.56620000e+00] [ 1.05983512e-02 -2.66283379e-04 9.99943800e-01 -1.84201608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.41592 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:97.42, Y:1.57, Z:-1.85 [[ 9.98446082e-01 -5.47091316e-02 -1.05987295e-02 9.74226041e+01] [ 5.47095214e-02 9.98502280e-01 -2.53372093e-04 1.56663327e+00] [ 1.05967174e-02 -3.26873047e-04 9.99943800e-01 -1.84580932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.44592 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:97.45, Y:1.57, Z:-1.85 [[ 9.98611915e-01 -5.15937217e-02 -1.05986143e-02 9.74520669e+01] [ 5.15938931e-02 9.98668115e-01 -2.57426195e-04 1.56667745e+00] [ 1.05977797e-02 -2.89754906e-04 9.99943800e-01 -1.84527796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.47592 meters Centerline goodness : 0.998706 Centerline is valid? [True, True] Translation: X:97.48, Y:1.57, Z:-1.84 [[ 9.98699382e-01 -4.98720505e-02 -1.05982795e-02 9.74805278e+01] [ 4.98720024e-02 9.98755581e-01 -2.68987847e-04 1.56637208e+00] [ 1.05985057e-02 -2.59919423e-04 9.99943800e-01 -1.83953981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.50591999999999 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:97.51, Y:1.57, Z:-1.84 [[ 9.98669109e-01 -5.04746983e-02 -1.05979452e-02 9.75109620e+01] [ 5.04745635e-02 9.98725307e-01 -2.80363416e-04 1.56664215e+00] [ 1.05985874e-02 -2.54936378e-04 9.99943801e-01 -1.84460062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.53591999999999 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:97.54, Y:1.57, Z:-1.86 [[ 9.98590881e-01 -5.19993217e-02 -1.05982806e-02 9.75403280e+01] [ 5.19993922e-02 9.98647080e-01 -2.69087126e-04 1.56617610e+00] [ 1.05979343e-02 -2.82396200e-04 9.99943800e-01 -1.86048584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.56591999999999 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:97.57, Y:1.57, Z:-1.84 [[ 9.98646902e-01 -5.09123980e-02 -1.05967874e-02 9.75704491e+01] [ 5.09118808e-02 9.98703098e-01 -3.18732449e-04 1.56621686e+00] [ 1.05992718e-02 -2.21201203e-04 9.99943802e-01 -1.84314879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.59591999999999 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:97.60, Y:1.57, Z:-1.84 [[ 9.98760552e-01 -4.86317355e-02 -1.05978378e-02 9.75995226e+01] [ 4.86314568e-02 9.98816750e-01 -2.84146300e-04 1.56568334e+00] [ 1.05991164e-02 -2.31594177e-04 9.99943801e-01 -1.83773837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.62592 meters Centerline goodness : 0.999254 Centerline is valid? [True, True] Translation: X:97.63, Y:1.57, Z:-1.84 [[ 9.98868535e-01 -4.63611033e-02 -1.05970361e-02 9.76292987e+01] [ 4.63604190e-02 9.98924730e-01 -3.10348914e-04 1.56609076e+00] [ 1.06000296e-02 -1.81285270e-04 9.99943802e-01 -1.83823687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.65592 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:97.66, Y:1.57, Z:-1.86 [[ 9.99149604e-01 -3.98468471e-02 -1.05970355e-02 9.76583216e+01] [ 3.98457962e-02 9.99205793e-01 -3.10369485e-04 1.56737722e+00] [ 1.06009865e-02 -1.12141769e-04 9.99943802e-01 -1.85868615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.68592 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:97.69, Y:1.57, Z:-1.84 [[ 9.99274733e-01 -3.65748875e-02 -1.05964958e-02 9.76882205e+01] [ 3.65734676e-02 9.99330913e-01 -3.27815657e-04 1.56889754e+00] [ 1.06013956e-02 -5.99726914e-05 9.99943802e-01 -1.83591920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.71592 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:97.72, Y:1.57, Z:-1.84 [[ 9.99477278e-01 -3.05430455e-02 -1.05968242e-02 9.77181074e+01] [ 3.05413985e-02 9.99533452e-01 -3.17256599e-04 1.57074708e+00] [ 1.06015703e-02 -6.55106909e-06 9.99943802e-01 -1.83928904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.74592 meters Centerline goodness : 0.999452 Centerline is valid? [True, True] Translation: X:97.75, Y:1.57, Z:-1.84 [[ 9.99529668e-01 -2.87776019e-02 -1.05967672e-02 9.77480977e+01] [ 2.87758362e-02 9.99585839e-01 -3.19091507e-04 1.57148970e+00] [ 1.06015611e-02 1.40105921e-05 9.99943802e-01 -1.84036200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.77592 meters Centerline goodness : 0.999303 Centerline is valid? [True, True] Translation: X:97.78, Y:1.57, Z:-1.84 [[ 9.99558394e-01 -2.77618596e-02 -1.05969620e-02 9.77765816e+01] [ 2.77601029e-02 9.99614565e-01 -3.12860941e-04 1.57204881e+00] [ 1.06015632e-02 1.85500230e-05 9.99943802e-01 -1.83752708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.80592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:97.81, Y:1.57, Z:-1.86 [[ 9.99620065e-01 -2.54443538e-02 -1.05976690e-02 9.78056801e+01] [ 2.54427029e-02 9.99676240e-01 -2.90595917e-04 1.57419230e+00] [ 1.06016319e-02 2.08521668e-05 9.99943801e-01 -1.85677408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.83592 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:97.84, Y:1.58, Z:-1.84 [[ 9.99742383e-01 -2.00721410e-02 -1.05960672e-02 9.78365715e+01] [ 2.00696599e-02 9.99798526e-01 -3.40449065e-04 1.57898163e+00] [ 1.06007659e-02 1.27701894e-04 9.99943802e-01 -1.83791521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.86591999999999 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:97.87, Y:1.58, Z:-1.85 [[ 9.99789299e-01 -1.75798095e-02 -1.05974999e-02 9.78660596e+01] [ 1.75776588e-02 9.99845457e-01 -2.96056912e-04 1.58074839e+00] [ 1.06010667e-02 1.09715295e-04 9.99943801e-01 -1.84566226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.89591999999999 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:97.89, Y:1.58, Z:-1.83 [[ 9.99787828e-01 -1.76632958e-02 -1.05974875e-02 9.78941170e+01] [ 1.76611458e-02 9.99843986e-01 -2.96437517e-04 1.58218337e+00] [ 1.06010702e-02 1.09210849e-04 9.99943801e-01 -1.83497688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.92591999999999 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:97.92, Y:1.59, Z:-1.84 [[ 9.99849341e-01 -1.37481783e-02 -1.05963452e-02 9.79236106e+01] [ 1.37454387e-02 9.99905472e-01 -3.31322372e-04 1.58514740e+00] [ 1.05998986e-02 1.85621041e-04 9.99943802e-01 -1.83631363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.95591999999999 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:97.95, Y:1.59, Z:-1.83 [[ 9.99877371e-01 -1.15301416e-02 -1.05971320e-02 9.79526711e+01] [ 1.15275283e-02 9.99933509e-01 -3.07653750e-04 1.58914282e+00] [ 1.05999747e-02 1.85457283e-04 9.99943801e-01 -1.83433277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.98592 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:97.98, Y:1.59, Z:-1.83 [[ 9.99877126e-01 -1.15511375e-02 -1.05973186e-02 9.79812359e+01] [ 1.15485843e-02 9.99933267e-01 -3.02098462e-04 1.59114038e+00] [ 1.06001010e-02 1.79677315e-04 9.99943801e-01 -1.83142539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.01592 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:98.01, Y:1.59, Z:-1.85 [[ 9.99887012e-01 -1.06618267e-02 -1.05966541e-02 9.80105100e+01] [ 1.06590166e-02 9.99943139e-01 -3.21622913e-04 1.59377546e+00] [ 1.05994807e-02 2.08636660e-04 9.99943802e-01 -1.85182251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.04592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:98.04, Y:1.60, Z:-1.85 [[ 9.99874499e-01 -1.17782808e-02 -1.05951789e-02 9.80389530e+01] [ 1.17750792e-02 9.99930605e-01 -3.64505816e-04 1.59697710e+00] [ 1.05987369e-02 2.39701000e-04 9.99943803e-01 -1.85219412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.07592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:98.07, Y:1.60, Z:-1.84 [[ 9.99872154e-01 -1.19757406e-02 -1.05951328e-02 9.80694928e+01] [ 1.19725359e-02 9.99928260e-01 -3.65838941e-04 1.59920081e+00] [ 1.05987539e-02 2.38941562e-04 9.99943803e-01 -1.83715321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.10592 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:98.10, Y:1.60, Z:-1.83 [[ 9.99851941e-01 -1.35583162e-02 -1.05956860e-02 9.80989332e+01] [ 1.35553692e-02 9.99908061e-01 -3.49896638e-04 1.60145225e+00] [ 1.05994558e-02 2.06216397e-04 9.99943803e-01 -1.83111059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.13592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:98.13, Y:1.60, Z:-1.84 [[ 9.99819791e-01 -1.57517364e-02 -1.05956646e-02 9.81268331e+01] [ 1.57489061e-02 9.99875917e-01 -3.50510935e-04 1.60367874e+00] [ 1.05998710e-02 1.83577644e-04 9.99943803e-01 -1.83632464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.16592 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:98.16, Y:1.61, Z:-1.83 [[ 9.99842992e-01 -1.42053479e-02 -1.05924574e-02 9.81593000e+01] [ 1.42014629e-02 9.99899056e-01 -4.41908550e-04 1.60880350e+00] [ 1.05976657e-02 2.91410776e-04 9.99943801e-01 -1.83173088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.19592 meters Centerline goodness : 0.999502 Centerline is valid? [True, True] Translation: X:98.19, Y:1.61, Z:-1.83 [[ 9.99819939e-01 -1.57419547e-02 -1.05962276e-02 9.81874936e+01] [ 1.57392951e-02 9.99876074e-01 -3.34343158e-04 1.61031630e+00] [ 1.06001776e-02 1.67505803e-04 9.99943803e-01 -1.83166497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.22592 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:98.22, Y:1.62, Z:-1.83 [[ 9.99827329e-01 -1.52661593e-02 -1.05951558e-02 9.82155645e+01] [ 1.52631519e-02 9.99883445e-01 -3.64657108e-04 1.61513309e+00] [ 1.05994878e-02 2.02878670e-04 9.99943803e-01 -1.83055288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.25591999999999 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:98.25, Y:1.62, Z:-1.85 [[ 9.99843782e-01 -1.41479857e-02 -1.05945923e-02 9.82463242e+01] [ 1.41447487e-02 9.99899886e-01 -3.80410418e-04 1.61814614e+00] [ 1.05989136e-02 2.30493146e-04 9.99943803e-01 -1.84795501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.28591999999999 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:98.28, Y:1.62, Z:-1.83 [[ 9.99849436e-01 -1.37425987e-02 -1.05946344e-02 9.82757149e+01] [ 1.37393514e-02 9.99905539e-01 -3.79231877e-04 1.62271782e+00] [ 1.05988453e-02 2.33611373e-04 9.99943803e-01 -1.83028967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.31591999999999 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:98.30, Y:1.63, Z:-1.83 [[ 9.99879223e-01 -1.13700760e-02 -1.05953185e-02 9.83036950e+01] [ 1.13668968e-02 9.99935330e-01 -3.60234212e-04 1.63107129e+00] [ 1.05987292e-02 2.39754812e-04 9.99943803e-01 -1.83031391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.34591999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:98.33, Y:1.64, Z:-1.83 [[ 9.99897984e-01 -9.57971553e-03 -1.05948779e-02 9.83325525e+01] [ 9.57630805e-03 9.99954077e-01 -3.72301370e-04 1.63714653e+00] [ 1.05979579e-02 2.70803575e-04 9.99943803e-01 -1.83180621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.37592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:98.36, Y:1.65, Z:-1.83 [[ 9.99900538e-01 -9.31043190e-03 -1.05938529e-02 9.83597375e+01] [ 9.30671369e-03 9.99956612e-01 -4.00222729e-04 1.64703797e+00] [ 1.05971195e-02 3.01588967e-04 9.99943803e-01 -1.82981109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.40592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:98.39, Y:1.65, Z:-1.83 [[ 9.99896708e-01 -9.71392636e-03 -1.05930963e-02 9.83887625e+01] [ 9.71001444e-03 9.99952768e-01 -4.20659635e-04 1.65025874e+00] [ 1.05966822e-02 3.17757066e-04 9.99943803e-01 -1.82820496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.43592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.42, Y:1.66, Z:-1.83 [[ 9.99860398e-01 -1.29206238e-02 -1.05944031e-02 9.84158477e+01] [ 1.29172640e-02 9.99916494e-01 -3.85504832e-04 1.65739316e+00] [ 1.05984994e-02 2.48600314e-04 9.99943803e-01 -1.82948043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.46592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:98.45, Y:1.66, Z:-1.83 [[ 9.99827225e-01 -1.52758122e-02 -1.05910059e-02 9.84468064e+01] [ 1.52716201e-02 9.99883268e-01 -4.76581048e-04 1.66168804e+00] [ 1.05970498e-02 3.14756887e-04 9.99943800e-01 -1.82743160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.49592 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:98.48, Y:1.67, Z:-1.84 [[ 9.99749681e-01 -1.97066832e-02 -1.05935053e-02 9.84772859e+01] [ 1.97034519e-02 9.99805784e-01 -4.09316756e-04 1.66562058e+00] [ 1.05995141e-02 2.00485675e-04 9.99943803e-01 -1.84332727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.52592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:98.50, Y:1.67, Z:-1.83 [[ 9.99667509e-01 -2.35082332e-02 -1.05940362e-02 9.85042053e+01] [ 2.35053661e-02 9.99723633e-01 -3.95080973e-04 1.66870389e+00] [ 1.06003960e-02 1.45932914e-04 9.99943804e-01 -1.82975881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.55592 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:98.53, Y:1.67, Z:-1.84 [[ 9.99650065e-01 -2.42405196e-02 -1.05898479e-02 9.85345811e+01] [ 2.42365113e-02 9.99706124e-01 -5.06697442e-04 1.67194412e+00] [ 1.05990184e-02 2.49859163e-04 9.99943798e-01 -1.83874858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.58592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:98.56, Y:1.68, Z:-1.83 [[ 9.99625468e-01 -2.52338699e-02 -1.05912530e-02 9.85638111e+01] [ 2.52303152e-02 9.99681555e-01 -4.69123485e-04 1.68006178e+00] [ 1.05997180e-02 2.01727132e-04 9.99943801e-01 -1.82950327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.61591999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:98.59, Y:1.69, Z:-1.84 [[ 9.99722153e-01 -2.10583087e-02 -1.05907424e-02 9.85941321e+01] [ 2.10543754e-02 9.99778216e-01 -4.82756345e-04 1.68794017e+00] [ 1.05985596e-02 2.59640746e-04 9.99943800e-01 -1.84001733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.64591999999999 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:98.62, Y:1.69, Z:-1.84 [[ 9.99768051e-01 -1.87527150e-02 -1.05915414e-02 9.86249382e+01] [ 1.87488781e-02 9.99824118e-01 -4.61447383e-04 1.69172429e+00] [ 1.05983320e-02 2.62760831e-04 9.99943802e-01 -1.84448088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.67591999999999 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:98.65, Y:1.69, Z:-1.84 [[ 9.99764356e-01 -1.89472839e-02 -1.05939984e-02 9.86534019e+01] [ 1.89441547e-02 9.99820465e-01 -3.95660394e-04 1.69267736e+00] [ 1.05995931e-02 1.94872814e-04 9.99943804e-01 -1.84417970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.70591999999999 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:98.68, Y:1.70, Z:-1.84 [[ 9.99773762e-01 -1.84443413e-02 -1.05939207e-02 9.86818381e+01] [ 1.84411619e-02 9.99829868e-01 -3.97729628e-04 1.69771985e+00] [ 1.05994542e-02 2.02275438e-04 9.99943804e-01 -1.83949141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.73592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:98.71, Y:1.70, Z:-1.83 [[ 9.99699884e-01 -2.20897233e-02 -1.05917960e-02 9.87109045e+01] [ 2.20861520e-02 9.99755968e-01 -4.54041791e-04 1.70476568e+00] [ 1.05992409e-02 2.19973509e-04 9.99943802e-01 -1.82705449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.76592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:98.74, Y:1.71, Z:-1.83 [[ 9.99614171e-01 -2.56767616e-02 -1.05930548e-02 9.87384901e+01] [ 2.56737453e-02 9.99670287e-01 -4.20652102e-04 1.70739672e+00] [ 1.06003631e-02 1.48526413e-04 9.99943804e-01 -1.82800641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.79592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.77, Y:1.71, Z:-1.83 [[ 9.99415202e-01 -3.25123636e-02 -1.05924832e-02 9.87660061e+01] [ 3.25095718e-02 9.99471329e-01 -4.35683945e-04 1.70929570e+00] [ 1.06010484e-02 9.10720640e-05 9.99943803e-01 -1.82753967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.82592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.80, Y:1.71, Z:-1.84 [[ 9.99352166e-01 -3.43956515e-02 -1.05918140e-02 9.87963525e+01] [ 3.43927797e-02 9.99408291e-01 -4.53212838e-04 1.71127996e+00] [ 1.06011353e-02 8.86373049e-05 9.99943802e-01 -1.84365300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.85592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.83, Y:1.72, Z:-1.83 [[ 9.99141491e-01 -4.00511240e-02 -1.05918628e-02 9.88251730e+01] [ 4.00485835e-02 9.99197631e-01 -4.51929316e-04 1.71581157e+00] [ 1.06014645e-02 2.73522296e-05 9.99943803e-01 -1.83248133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.88592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:98.85, Y:1.72, Z:-1.83 [[ 9.99068901e-01 -4.18227926e-02 -1.05917048e-02 9.88534632e+01] [ 4.18203074e-02 9.99125044e-01 -4.56106301e-04 1.71930155e+00] [ 1.06015131e-02 1.27332717e-05 9.99943802e-01 -1.83153919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.91592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:98.88, Y:1.72, Z:-1.82 [[ 9.99054667e-01 -4.21615562e-02 -1.05913278e-02 9.88833148e+01] [ 4.21589841e-02 9.99110806e-01 -4.66095802e-04 1.72338614e+00] [ 1.06015614e-02 1.91355672e-05 9.99943802e-01 -1.82412024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.94592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.91, Y:1.73, Z:-1.82 [[ 9.99123501e-01 -4.04973517e-02 -1.05921892e-02 9.89119158e+01] [ 4.04949296e-02 9.99179646e-01 -4.43124435e-04 1.72515660e+00] [ 1.06014452e-02 1.38060811e-05 9.99943803e-01 -1.82334341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.97592 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:98.94, Y:1.73, Z:-1.82 [[ 9.99216396e-01 -3.81363279e-02 -1.05931503e-02 9.89408630e+01] [ 3.81340451e-02 9.99272546e-01 -4.17473580e-04 1.73012321e+00] [ 1.06013652e-02 1.31867749e-05 9.99943804e-01 -1.82404414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.00591999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:98.97, Y:1.73, Z:-1.82 [[ 9.99255628e-01 -3.70940227e-02 -1.05935911e-02 9.89706988e+01] [ 3.70918053e-02 9.99311780e-01 -4.05781989e-04 1.73432121e+00] [ 1.06013525e-02 1.25445180e-05 9.99943804e-01 -1.82457495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.03591999999999 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:99.00, Y:1.74, Z:-1.82 [[ 9.99286915e-01 -3.62412997e-02 -1.05938261e-02 9.89993442e+01] [ 3.62391002e-02 9.99343068e-01 -3.99569475e-04 1.73786913e+00] [ 1.06013476e-02 1.53738216e-05 9.99943804e-01 -1.82317175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.06591999999999 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:99.03, Y:1.74, Z:-1.82 [[ 9.99377478e-01 -3.36515474e-02 -1.05938487e-02 9.90275614e+01] [ 3.36492087e-02 9.99433625e-01 -3.98975503e-04 1.74173346e+00] [ 1.06012747e-02 4.22525076e-05 9.99943804e-01 -1.82199379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.09591999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:99.06, Y:1.74, Z:-1.82 [[ 9.99429764e-01 -3.20609894e-02 -1.05942964e-02 9.90567011e+01] [ 3.20586852e-02 9.99485913e-01 -3.87296874e-04 1.74459111e+00] [ 1.06012671e-02 4.74368103e-05 9.99943804e-01 -1.82380641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.12592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:99.08, Y:1.75, Z:-1.82 [[ 9.99433409e-01 -3.19470432e-02 -1.05946465e-02 9.90839008e+01] [ 3.19448287e-02 9.99489562e-01 -3.78228440e-04 1.75138870e+00] [ 1.06013219e-02 3.95699712e-05 9.99943804e-01 -1.82286553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.15592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.11, Y:1.76, Z:-1.84 [[ 9.99447974e-01 -3.14883440e-02 -1.05939305e-02 9.91131032e+01] [ 3.14859094e-02 9.99504117e-01 -3.96556697e-04 1.75539879e+00] [ 1.06011641e-02 6.27782497e-05 9.99943804e-01 -1.83886862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.18592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:99.14, Y:1.76, Z:-1.84 [[ 9.99394373e-01 -3.31462285e-02 -1.05931342e-02 9.91417135e+01] [ 3.31436725e-02 9.99450511e-01 -4.16795677e-04 1.75980353e+00] [ 1.06011286e-02 6.54478833e-05 9.99943804e-01 -1.83734316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.21592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:99.17, Y:1.76, Z:-1.84 [[ 9.99347167e-01 -3.45402234e-02 -1.05930793e-02 9.91708611e+01] [ 3.45377310e-02 9.99403307e-01 -4.18185575e-04 1.76233062e+00] [ 1.06012028e-02 5.20516446e-05 9.99943804e-01 -1.83591810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.24592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:99.20, Y:1.77, Z:-1.82 [[ 9.99286099e-01 -3.62640416e-02 -1.05930246e-02 9.92015940e+01] [ 3.62616314e-02 9.99342243e-01 -4.19567215e-04 1.76808289e+00] [ 1.06012722e-02 3.51473307e-05 9.99943804e-01 -1.81694957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.27592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:99.23, Y:1.77, Z:-1.84 [[ 9.99212438e-01 -3.82394610e-02 -1.05946945e-02 9.92312462e+01] [ 3.82376074e-02 9.99268604e-01 -3.77534952e-04 1.77153616e+00] [ 1.06013823e-02 -2.78781480e-05 9.99943803e-01 -1.83579264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.30592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:99.26, Y:1.77, Z:-1.82 [[ 9.99221321e-01 -3.80071102e-02 -1.05929553e-02 9.92603618e+01] [ 3.80047800e-02 9.99277469e-01 -4.21268274e-04 1.77497429e+00] [ 1.06013127e-02 1.83573076e-05 9.99943804e-01 -1.81948521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.33592 meters Centerline goodness : 0.999303 Centerline is valid? [True, True] Translation: X:99.29, Y:1.78, Z:-1.82 [[ 9.99202976e-01 -3.84860451e-02 -1.05942018e-02 9.92888903e+01] [ 3.84840731e-02 9.99259138e-01 -3.90012126e-04 1.77728579e+00] [ 1.06013630e-02 -1.80067616e-05 9.99943804e-01 -1.81850851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.36591999999999 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] Translation: X:99.32, Y:1.78, Z:-1.82 [[ 9.99152025e-01 -3.97867418e-02 -1.05946013e-02 9.93178711e+01] [ 3.97849481e-02 9.99208193e-01 -3.80085705e-04 1.77977301e+00] [ 1.06013348e-02 -4.17422601e-05 9.99943803e-01 -1.81774616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.39591999999999 meters Centerline goodness : 0.999254 Centerline is valid? [True, True] Translation: X:99.35, Y:1.78, Z:-1.82 [[ 9.99082699e-01 -4.14912783e-02 -1.05941040e-02 9.93471007e+01] [ 4.14894498e-02 9.99138865e-01 -3.92411447e-04 1.78154144e+00] [ 1.06012627e-02 -4.74920573e-05 9.99943804e-01 -1.81856100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.42591999999999 meters Centerline goodness : 0.974818 Centerline is valid? [True, True] Translation: X:99.42, Y:1.80, Z:-1.85 [[ 9.98944341e-01 -4.46986829e-02 -1.05939551e-02 9.94233606e+01] [ 4.46969956e-02 9.99000511e-01 -3.96100619e-04 1.80130709e+00] [ 1.06010718e-02 -7.78354939e-05 9.99943804e-01 -1.84579711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.45591999999999 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:99.40, Y:1.78, Z:-1.81 [[ 9.98578140e-01 -5.22250898e-02 -1.06882008e-02 9.93969578e+01] [ 5.22499136e-02 9.98631923e-01 2.05644131e-03 1.77578425e+00] [ 1.05661807e-02 -2.61197490e-03 9.99940765e-01 -1.81485167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.48592 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:99.43, Y:1.78, Z:-1.82 [[ 9.98457550e-01 -5.45056936e-02 -1.05664226e-02 9.94253677e+01] [ 5.45037216e-02 9.98513455e-01 -4.74713362e-04 1.78086826e+00] [ 1.05765898e-02 -1.01928218e-04 9.99944061e-01 -1.81621278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.51592 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:99.45, Y:1.78, Z:-1.82 [[ 9.98184873e-01 -5.92899154e-02 -1.05671911e-02 9.94543391e+01] [ 5.92883788e-02 9.98240791e-01 -4.58892105e-04 1.77935485e+00] [ 1.05758088e-02 -1.68452469e-04 9.99944060e-01 -1.81513739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.54592 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:99.48, Y:1.78, Z:-1.82 [[ 9.98101852e-01 -6.06717100e-02 -1.05658160e-02 9.94831238e+01] [ 6.06699528e-02 9.98157763e-01 -4.87054041e-04 1.77876924e+00] [ 1.05759017e-02 -1.54898019e-04 9.99944062e-01 -1.81773911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.57592 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:99.51, Y:1.78, Z:-1.82 [[ 9.98016238e-01 -6.20642568e-02 -1.05648758e-02 9.95132648e+01] [ 6.20623738e-02 9.98072144e-01 -5.06301175e-04 1.77832185e+00] [ 1.05759315e-02 -1.50384479e-04 9.99944062e-01 -1.81647739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.60592 meters Centerline goodness : 0.998706 Centerline is valid? [True, True] Translation: X:99.54, Y:1.78, Z:-1.83 [[ 9.97975046e-01 -6.27229342e-02 -1.05660363e-02 9.95420966e+01] [ 6.27213399e-02 9.98030962e-01 -4.82515974e-04 1.77931935e+00] [ 1.05754962e-02 -1.81177055e-04 9.99944061e-01 -1.83302828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.63592 meters Centerline goodness : 0.999650 Centerline is valid? [True, True] Translation: X:99.57, Y:1.78, Z:-1.81 [[ 9.97980664e-01 -6.26337732e-02 -1.05643495e-02 9.95705005e+01] [ 6.26318090e-02 9.98036567e-01 -5.16986002e-04 1.77785444e+00] [ 1.05759879e-02 -1.45722286e-04 9.99944062e-01 -1.81305393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.66592 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:99.60, Y:1.78, Z:-1.82 [[ 9.97934253e-01 -6.33692760e-02 -1.05622641e-02 9.95991657e+01] [ 6.33669025e-02 9.97990142e-01 -5.59555576e-04 1.77842450e+00] [ 1.05764940e-02 -1.10898281e-04 9.99944061e-01 -1.81567248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.69592 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:99.63, Y:1.78, Z:-1.81 [[ 9.98117487e-01 -6.04150474e-02 -1.05595396e-02 9.96291974e+01] [ 6.04119189e-02 9.98173342e-01 -6.15281613e-04 1.78042680e+00] [ 1.05774232e-02 -2.37987117e-05 9.99944057e-01 -1.81081279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.72592 meters Centerline goodness : 0.999502 Centerline is valid? [True, True] Translation: X:99.66, Y:1.78, Z:-1.81 [[ 9.98078539e-01 -6.10549312e-02 -1.05605491e-02 9.96580707e+01] [ 6.10520583e-02 9.98134406e-01 -5.94513513e-04 1.78226016e+00] [ 1.05771454e-02 -5.13720828e-05 9.99944059e-01 -1.81326803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.75591999999999 meters Centerline goodness : 0.998360 Centerline is valid? [True, True] Translation: X:99.69, Y:1.78, Z:-1.83 [[ 9.98264190e-01 -5.79405389e-02 -1.05594355e-02 9.96902877e+01] [ 5.79372491e-02 9.98320036e-01 -6.17436490e-04 1.78307140e+00] [ 1.05774707e-02 4.58008990e-06 9.99944057e-01 -1.83365533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.78591999999999 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:99.72, Y:1.78, Z:-1.83 [[ 9.98276778e-01 -5.77222929e-02 -1.05646244e-02 9.97186491e+01] [ 5.77201283e-02 9.98332673e-01 -5.09938641e-04 1.78201992e+00] [ 1.05764445e-02 -1.00731570e-04 9.99944063e-01 -1.83242524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.81591999999999 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:99.75, Y:1.78, Z:-1.83 [[ 9.98309506e-01 -5.71534903e-02 -1.05645457e-02 9.97471967e+01] [ 5.71512767e-02 9.98365399e-01 -5.11563121e-04 1.78378627e+00] [ 1.05765145e-02 -9.30789477e-05 9.99944063e-01 -1.83091514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.84591999999999 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:99.77, Y:1.79, Z:-1.81 [[ 9.98279353e-01 -5.76777700e-02 -1.05644808e-02 9.97749677e+01] [ 5.76755715e-02 9.98335247e-01 -5.12900047e-04 1.78642418e+00] [ 1.05764765e-02 -9.72949411e-05 9.99944063e-01 -1.80862965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.87592 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:99.80, Y:1.79, Z:-1.81 [[ 9.98390102e-01 -5.57289299e-02 -1.05588885e-02 9.98033356e+01] [ 5.57254068e-02 9.98445935e-01 -6.27802373e-04 1.78841667e+00] [ 1.05774661e-02 3.83933153e-05 9.99944056e-01 -1.80877412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.90592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:99.83, Y:1.79, Z:-1.81 [[ 9.98500938e-01 -5.37062620e-02 -1.05599971e-02 9.98319183e+01] [ 5.37028667e-02 9.98556777e-01 -6.05022371e-04 1.78910693e+00] [ 1.05772502e-02 3.70132871e-05 9.99944059e-01 -1.80963618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.93592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:99.86, Y:1.79, Z:-1.82 [[ 9.98600937e-01 -5.18135687e-02 -1.05604537e-02 9.98634970e+01] [ 5.18101669e-02 9.98656774e-01 -5.95639751e-04 1.79055161e+00] [ 1.05771308e-02 4.76675464e-05 9.99944059e-01 -1.81550931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.96592 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:99.89, Y:1.79, Z:-1.83 [[ 9.98474756e-01 -5.41895149e-02 -1.05668027e-02 9.98926945e+01] [ 5.41876333e-02 9.98530663e-01 -4.64495143e-04 1.79117468e+00] [ 1.05764473e-02 -1.08803357e-04 9.99944062e-01 -1.82967050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.99592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:99.92, Y:1.79, Z:-1.81 [[ 9.98354404e-01 -5.63637920e-02 -1.05643892e-02 9.99215474e+01] [ 5.63615073e-02 9.98410295e-01 -5.14092225e-04 1.79244729e+00] [ 1.05765711e-02 -8.21786624e-05 9.99944063e-01 -1.80971802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.02592 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:99.95, Y:1.79, Z:-1.81 [[ 9.98238743e-01 -5.83767932e-02 -1.05622460e-02 9.99513849e+01] [ 5.83741542e-02 9.98294619e-01 -5.58228238e-04 1.79340903e+00] [ 1.05768209e-02 -5.93171193e-05 9.99944062e-01 -1.81373918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.05592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:99.98, Y:1.79, Z:-1.81 [[ 9.98198320e-01 -5.90639353e-02 -1.05624363e-02 9.99816815e+01] [ 5.90613762e-02 9.98254199e-01 -5.54310090e-04 1.79455631e+00] [ 1.05767361e-02 -7.05206232e-05 9.99944062e-01 -1.80945388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.08592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:100.01, Y:1.80, Z:-1.83 [[ 9.98113063e-01 -6.04873178e-02 -1.05639530e-02 1.00012940e+02] [ 6.04851695e-02 9.98168959e-01 -5.23024916e-04 1.79585387e+00] [ 1.05762464e-02 -1.16924487e-04 9.99944063e-01 -1.83068561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.11591999999999 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:100.04, Y:1.80, Z:-1.81 [[ 9.98248010e-01 -5.82177198e-02 -1.05644482e-02 1.00044557e+02] [ 5.82155524e-02 9.98303905e-01 -5.12823898e-04 1.79870524e+00] [ 1.05763853e-02 -1.03089752e-04 9.99944063e-01 -1.80805663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.14591999999999 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:100.07, Y:1.80, Z:-1.81 [[ 9.98382080e-01 -5.58707785e-02 -1.05677892e-02 1.00073212e+02] [ 5.58692092e-02 9.98437997e-01 -4.43892933e-04 1.80422983e+00] [ 1.05760829e-02 -1.47239275e-04 9.99944061e-01 -1.81103336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.17591999999999 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:100.10, Y:1.81, Z:-1.81 [[ 9.98476006e-01 -5.41669594e-02 -1.05643684e-02 1.00101570e+02] [ 5.41645518e-02 9.98531891e-01 -5.14089693e-04 1.80766567e+00] [ 1.05767055e-02 -5.89080587e-05 9.99944063e-01 -1.80901855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.20591999999999 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:100.13, Y:1.81, Z:-1.83 [[ 9.98537598e-01 -5.30194760e-02 -1.05641205e-02 1.00131638e+02] [ 5.30169504e-02 9.98593478e-01 -5.19167965e-04 1.81089834e+00] [ 1.05767878e-02 -4.16687204e-05 9.99944063e-01 -1.82582364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.23592 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:100.16, Y:1.82, Z:-1.81 [[ 9.98688913e-01 -5.00884388e-02 -1.05642843e-02 1.00160651e+02] [ 5.00857848e-02 9.98744786e-01 -5.15812840e-04 1.81718346e+00] [ 1.05768602e-02 -1.39839072e-05 9.99944063e-01 -1.80536085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.26592 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:100.19, Y:1.82, Z:-1.81 [[ 9.98701322e-01 -4.98405265e-02 -1.05636363e-02 1.00189724e+02] [ 4.98377178e-02 9.98757189e-01 -5.29123840e-04 1.82051386e+00] [ 1.05768795e-02 1.96915434e-06 9.99944063e-01 -1.80880848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.29592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:100.22, Y:1.82, Z:-1.81 [[ 9.98672762e-01 -5.04096734e-02 -1.05630775e-02 1.00218657e+02] [ 5.04067751e-02 9.98728624e-01 -5.40607642e-04 1.82245154e+00] [ 1.05768997e-02 7.43945552e-06 9.99944063e-01 -1.80621972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.32592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:100.25, Y:1.83, Z:-1.81 [[ 9.98628301e-01 -5.12829634e-02 -1.05628188e-02 1.00247339e+02] [ 5.12800576e-02 9.98684163e-01 -5.45929798e-04 1.82500184e+00] [ 1.05769168e-02 3.51898873e-06 9.99944063e-01 -1.80593133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.35592 meters Centerline goodness : 0.999252 Centerline is valid? [True, True] Translation: X:100.28, Y:1.83, Z:-1.82 [[ 9.98658983e-01 -5.06819902e-02 -1.05627146e-02 1.00278045e+02] [ 5.06790282e-02 9.98714842e-01 -5.48071712e-04 1.83276297e+00] [ 1.05769172e-02 1.20286269e-05 9.99944063e-01 -1.82356964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.38592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:100.31, Y:1.84, Z:-1.80 [[ 9.98659042e-01 -5.06804835e-02 -1.05643960e-02 1.00306094e+02] [ 5.06778873e-02 9.98714918e-01 -5.13478285e-04 1.83536416e+00] [ 1.05768432e-02 -2.25915399e-05 9.99944063e-01 -1.80272281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.41592 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:100.33, Y:1.84, Z:-1.80 [[ 9.98768488e-01 -4.84762292e-02 -1.05623064e-02 1.00334576e+02] [ 4.84730551e-02 9.98824336e-01 -5.56457667e-04 1.83732495e+00] [ 1.05768636e-02 4.37851234e-05 9.99944062e-01 -1.80107951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.44592 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:100.36, Y:1.84, Z:-1.80 [[ 9.98803856e-01 -4.77422625e-02 -1.05609410e-02 1.00364015e+02] [ 4.77387510e-02 9.98859685e-01 -5.84482540e-04 1.84047940e+00] [ 1.05768027e-02 7.96172847e-05 9.99944061e-01 -1.80376274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.47592 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:100.39, Y:1.85, Z:-1.80 [[ 9.98784379e-01 -4.81480735e-02 -1.05606627e-02 1.00392743e+02] [ 4.81445241e-02 9.98840206e-01 -5.90214162e-04 1.84574068e+00] [ 1.05768322e-02 8.10586064e-05 9.99944060e-01 -1.80258425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.50591999999999 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:100.43, Y:1.85, Z:-1.80 [[ 9.99170192e-01 -3.93373386e-02 -1.05593927e-02 1.00427202e+02] [ 3.93330189e-02 9.99225967e-01 -6.16519750e-04 1.85094841e+00] [ 1.05754717e-02 2.00675363e-04 9.99944058e-01 -1.80430627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.53591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.45, Y:1.85, Z:-1.80 [[ 9.98323965e-01 -5.68992429e-02 -1.05705281e-02 1.00452558e+02] [ 5.68983533e-02 9.98379902e-01 -3.85120323e-04 1.84687397e+00] [ 1.05753158e-02 -2.16970793e-04 9.99944056e-01 -1.80315200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.56591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.48, Y:1.85, Z:-1.80 [[ 9.98340204e-01 -5.66161842e-02 -1.05567468e-02 1.00480860e+02] [ 5.66122685e-02 9.98396015e-01 -6.69621039e-04 1.84865566e+00] [ 1.05777253e-02 7.08682206e-05 9.99944052e-01 -1.80282548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.59591999999999 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:100.51, Y:1.85, Z:-1.80 [[ 9.98088604e-01 -6.08908391e-02 -1.05567398e-02 1.00508728e+02] [ 6.08871608e-02 9.98144431e-01 -6.69766632e-04 1.85108717e+00] [ 1.05779337e-02 2.57165281e-05 9.99944052e-01 -1.79993066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.62592 meters Centerline goodness : 0.998409 Centerline is valid? [True, True] Translation: X:100.54, Y:1.85, Z:-1.82 [[ 9.98278788e-01 -5.76895830e-02 -1.05533981e-02 1.00543249e+02] [ 5.76849834e-02 9.98334561e-01 -7.39972331e-04 1.85455278e+00] [ 1.05785107e-02 1.29926088e-04 9.99944038e-01 -1.82215256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.65592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:100.57, Y:1.86, Z:-1.80 [[ 9.97646106e-01 -6.77541991e-02 -1.05648762e-02 1.00570165e+02] [ 6.77527545e-02 9.97702019e-01 -4.94997612e-04 1.85517144e+00] [ 1.05741365e-02 -2.21967026e-04 9.99944068e-01 -1.79931876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.68592 meters Centerline goodness : 0.999303 Centerline is valid? [True, True] Translation: X:100.60, Y:1.86, Z:-1.81 [[ 9.97383974e-01 -7.15107324e-02 -1.05556925e-02 1.00600755e+02] [ 7.15074269e-02 9.97439828e-01 -6.90716652e-04 1.85874855e+00] [ 1.05780618e-02 -6.59006920e-05 9.99944049e-01 -1.81316582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.71592 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:100.63, Y:1.86, Z:-1.82 [[ 9.97552852e-01 -6.91148391e-02 -1.05567846e-02 1.00634855e+02] [ 6.91116491e-02 9.97608708e-01 -6.67127716e-04 1.86155436e+00] [ 1.05776486e-02 -6.41016346e-05 9.99944053e-01 -1.82364486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.74592 meters Centerline goodness : 0.998755 Centerline is valid? [True, True] Translation: X:100.66, Y:1.86, Z:-1.82 [[ 9.97282981e-01 -7.29042653e-02 -1.05651966e-02 1.00664708e+02] [ 7.29032342e-02 9.97338902e-01 -4.83202656e-04 1.86013728e+00] [ 1.05723091e-02 -2.88347219e-04 9.99944070e-01 -1.82410320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.77592 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:100.70, Y:1.86, Z:-1.80 [[ 9.97218333e-01 -7.37832881e-02 -1.05651679e-02 1.00695224e+02] [ 7.37822997e-02 9.97274254e-01 -4.83830710e-04 1.86024792e+00] [ 1.05720685e-02 -2.97037527e-04 9.99944070e-01 -1.80154051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.80592 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:100.72, Y:1.86, Z:-1.81 [[ 9.96887727e-01 -7.81230387e-02 -1.05664916e-02 1.00723603e+02] [ 7.81225999e-02 9.96943656e-01 -4.54906073e-04 1.86216561e+00] [ 1.05697354e-02 -3.71991514e-04 9.99944070e-01 -1.81377133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.83592 meters Centerline goodness : 0.997767 Centerline is valid? [True, True] Translation: X:100.76, Y:1.86, Z:-1.82 [[ 9.97063605e-01 -7.58463379e-02 -1.05594080e-02 1.00756775e+02] [ 7.58441239e-02 9.97119499e-01 -6.10538910e-04 1.86465998e+00] [ 1.05752988e-02 -1.92122923e-04 9.99944062e-01 -1.81869511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.86591999999999 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:100.79, Y:1.86, Z:-1.80 [[ 9.97034231e-01 -7.62306499e-02 -1.05654836e-02 1.00786021e+02] [ 7.62298863e-02 9.97090156e-01 -4.75561422e-04 1.86197375e+00] [ 1.05709920e-02 -3.31254593e-04 9.99944071e-01 -1.79540428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.89591999999999 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:100.82, Y:1.87, Z:-1.82 [[ 9.97101103e-01 -7.53511405e-02 -1.05638772e-02 1.00816070e+02] [ 7.53499502e-02 9.97157021e-01 -5.11202151e-04 1.86552635e+00] [ 1.05723640e-02 -2.86267397e-04 9.99944070e-01 -1.81849103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.92591999999999 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:100.85, Y:1.87, Z:-1.82 [[ 9.97166980e-01 -7.44740402e-02 -1.05655892e-02 1.00845733e+02] [ 7.44732056e-02 9.97222903e-01 -4.72958636e-04 1.86901405e+00] [ 1.05714707e-02 -3.15234561e-04 9.99944071e-01 -1.81927916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.95591999999999 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:100.88, Y:1.87, Z:-1.80 [[ 9.97213275e-01 -7.38515613e-02 -1.05655609e-02 1.00875691e+02] [ 7.38506851e-02 9.97269197e-01 -4.73589029e-04 1.86880889e+00] [ 1.05716838e-02 -3.08004647e-04 9.99944071e-01 -1.79965348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.98592 meters Centerline goodness : 0.998808 Centerline is valid? [True, True] Translation: X:100.90, Y:1.87, Z:-1.82 [[ 9.97066614e-01 -7.58057158e-02 -1.05669993e-02 1.00904650e+02] [ 7.58052893e-02 9.97122542e-01 -4.41463220e-04 1.86680055e+00] [ 1.05700586e-02 -3.60866201e-04 9.99944070e-01 -1.81980858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.01592 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:100.93, Y:1.86, Z:-1.80 [[ 9.96926951e-01 -7.76210337e-02 -1.05655288e-02 1.00933685e+02] [ 7.76203621e-02 9.96982876e-01 -4.74224762e-04 1.86377203e+00] [ 1.05704611e-02 -3.47332727e-04 9.99944071e-01 -1.79800415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.04592 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:100.96, Y:1.86, Z:-1.82 [[ 9.96550907e-01 -8.23084089e-02 -1.05648388e-02 1.00964199e+02] [ 8.23078373e-02 9.96606833e-01 -4.89625785e-04 1.86225564e+00] [ 1.05692908e-02 -3.81632009e-04 9.99944071e-01 -1.81679001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.07592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:100.99, Y:1.86, Z:-1.79 [[ 9.96381786e-01 -8.43309209e-02 -1.05655858e-02 1.00992208e+02] [ 8.43306396e-02 9.96437715e-01 -4.72935770e-04 1.86048271e+00] [ 1.05678313e-02 -4.19778023e-04 9.99944071e-01 -1.79269884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.10592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:101.03, Y:1.86, Z:-1.82 [[ 9.96356307e-01 -8.46322141e-02 -1.05592311e-02 1.01025404e+02] [ 8.46304480e-02 9.96412219e-01 -6.14777492e-04 1.85983204e+00] [ 1.05733769e-02 -2.81095030e-04 9.99944061e-01 -1.81698704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.13592 meters Centerline goodness : 0.998606 Centerline is valid? [True, True] Translation: X:101.06, Y:1.86, Z:-1.82 [[ 9.96240421e-01 -8.59848260e-02 -1.05656919e-02 1.01055481e+02] [ 8.59846756e-02 9.96296349e-01 -4.69333766e-04 1.85788062e+00] [ 1.05669159e-02 -4.40918326e-04 9.99944071e-01 -1.81821624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.16592 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:101.08, Y:1.86, Z:-1.80 [[ 9.96289372e-01 -8.54157673e-02 -1.05656648e-02 1.01084488e+02] [ 8.54155785e-02 9.96345301e-01 -4.69942912e-04 1.85605459e+00] [ 1.05671911e-02 -4.34273247e-04 9.99944071e-01 -1.79739382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.19592 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:101.11, Y:1.85, Z:-1.80 [[ 9.96119001e-01 -8.73804246e-02 -1.05639432e-02 1.01114219e+02] [ 8.73799354e-02 9.96174928e-01 -5.08739302e-04 1.84836223e+00] [ 1.05679893e-02 -4.16311793e-04 9.99944071e-01 -1.79792545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.22592 meters Centerline goodness : 0.999253 Centerline is valid? [True, True] Translation: X:101.15, Y:1.85, Z:-1.82 [[ 9.96048608e-01 -8.81792649e-02 -1.05635466e-02 1.01145701e+02] [ 8.81787258e-02 9.96104535e-01 -5.17684737e-04 1.84596370e+00] [ 1.05680457e-02 -4.15840917e-04 9.99944070e-01 -1.81745197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.25591999999999 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:101.17, Y:1.84, Z:-1.80 [[ 9.96101773e-01 -8.75763782e-02 -1.05657806e-02 1.01173404e+02] [ 8.75763402e-02 9.96157702e-01 -4.67157679e-04 1.84432218e+00] [ 1.05660957e-02 -4.59975805e-04 9.99944071e-01 -1.79511764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.28591999999999 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:101.21, Y:1.84, Z:-1.82 [[ 9.96175264e-01 -8.67370335e-02 -1.05608156e-02 1.01206247e+02] [ 8.67357619e-02 9.96231184e-01 -5.79217006e-04 1.84449273e+00] [ 1.05712534e-02 -3.38998734e-04 9.99944065e-01 -1.81646358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.31591999999999 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:101.23, Y:1.84, Z:-1.80 [[ 9.96083287e-01 -8.77863808e-02 -1.05658505e-02 1.01234313e+02] [ 8.77863801e-02 9.96139215e-01 -4.64752301e-04 1.84147216e+00] [ 1.05658570e-02 -4.64605772e-04 9.99944072e-01 -1.79705570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.34591999999999 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:101.26, Y:1.84, Z:-1.80 [[ 9.96130600e-01 -8.72482687e-02 -1.05625497e-02 1.01263078e+02] [ 8.72474478e-02 9.96186525e-01 -5.39357878e-04 1.83518876e+00] [ 1.05693277e-02 -3.84284616e-04 9.99944069e-01 -1.79712439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.37592 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:101.29, Y:1.83, Z:-1.79 [[ 9.96124598e-01 -8.73166456e-02 -1.05635222e-02 1.01291593e+02] [ 8.73160617e-02 9.96180525e-01 -5.17334882e-04 1.83121181e+00] [ 1.05683470e-02 -4.07035152e-04 9.99944071e-01 -1.79272175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.40592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:101.32, Y:1.83, Z:-1.80 [[ 9.96038754e-01 -8.82906108e-02 -1.05626059e-02 1.01320008e+02] [ 8.82898611e-02 9.96094680e-01 -5.38166548e-04 1.82933224e+00] [ 1.05688706e-02 -3.96536269e-04 9.99944069e-01 -1.79825603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.43592 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:101.35, Y:1.82, Z:-1.80 [[ 9.96183776e-01 -8.66391347e-02 -1.05615037e-02 1.01349634e+02] [ 8.66380272e-02 9.96239698e-01 -5.63206676e-04 1.82403175e+00] [ 1.05705850e-02 -3.53970496e-04 9.99944067e-01 -1.79936791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.46592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:101.38, Y:1.82, Z:-1.81 [[ 9.96083168e-01 -8.77878738e-02 -1.05646757e-02 1.01375619e+02] [ 8.77875975e-02 9.96139095e-01 -4.90778090e-04 1.82282140e+00] [ 1.05669708e-02 -4.38591702e-04 9.99944072e-01 -1.80673252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.49592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:101.41, Y:1.82, Z:-1.79 [[ 9.96344001e-01 -8.47769641e-02 -1.05592246e-02 1.01406127e+02] [ 8.47752002e-02 9.96399913e-01 -6.15330343e-04 1.82184815e+00] [ 1.05733763e-02 -2.82079680e-04 9.99944061e-01 -1.79167481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.52592 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:101.44, Y:1.82, Z:-1.80 [[ 9.96480694e-01 -8.31547006e-02 -1.05604026e-02 1.01437548e+02] [ 8.31531327e-02 9.96536608e-01 -5.88221251e-04 1.82099382e+00] [ 1.05727411e-02 -2.91979434e-04 9.99944064e-01 -1.79923917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.55592 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:101.47, Y:1.82, Z:-1.82 [[ 9.96593435e-01 -8.17919263e-02 -1.05643653e-02 1.01469449e+02] [ 8.17912529e-02 9.96649359e-01 -4.96503248e-04 1.81714922e+00] [ 1.05695778e-02 -3.69260795e-04 9.99944072e-01 -1.81742940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.58592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:101.50, Y:1.82, Z:-1.80 [[ 9.96617790e-01 -8.14944014e-02 -1.05661381e-02 1.01499848e+02] [ 8.14941467e-02 9.96673716e-01 -4.55367018e-04 1.81518683e+00] [ 1.05681020e-02 -4.07251540e-04 9.99944073e-01 -1.80037072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.61591999999999 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:101.53, Y:1.81, Z:-1.80 [[ 9.96787406e-01 -7.93928563e-02 -1.05660375e-02 1.01528867e+02] [ 7.93924589e-02 9.96843332e-01 -4.57704731e-04 1.81190678e+00] [ 1.05690225e-02 -3.82629387e-04 9.99944073e-01 -1.79927879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.64591999999999 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:101.56, Y:1.81, Z:-1.82 [[ 9.96802005e-01 -7.92093074e-02 -1.05663568e-02 1.01559276e+02] [ 7.92089779e-02 9.96857931e-01 -4.50325683e-04 1.81192845e+00] [ 1.05688265e-02 -3.88064776e-04 9.99944073e-01 -1.81799682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.67591999999999 meters Centerline goodness : 0.999502 Centerline is valid? [True, True] Translation: X:101.59, Y:1.81, Z:-1.80 [[ 9.96860863e-01 -7.84651367e-02 -1.05660794e-02 1.01589885e+02] [ 7.84646975e-02 9.96916788e-01 -4.56741157e-04 1.80981607e+00] [ 1.05693402e-02 -3.73756844e-04 9.99944073e-01 -1.79905352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.70591999999999 meters Centerline goodness : 0.972977 Centerline is valid? [True, True] Translation: X:101.60, Y:1.83, Z:-1.82 [[ 9.99588545e-01 -2.66660362e-02 -1.05670564e-02 1.01596765e+02] [ 2.66629354e-02 9.99644386e-01 -4.34229943e-04 1.83158466e+00] [ 1.05748778e-02 1.52302535e-04 9.99944073e-01 -1.81657629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.73592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:101.65, Y:1.81, Z:-1.81 [[ 9.97480025e-01 -7.01641718e-02 -1.05160788e-02 1.01647554e+02] [ 7.01520044e-02 9.97535152e-01 -1.52192773e-03 1.80817620e+00] [ 1.05969431e-02 7.80368497e-04 9.99943546e-01 -1.81491324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.76592 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:101.67, Y:1.81, Z:-1.81 [[ 9.97814967e-01 -6.52206861e-02 -1.05618542e-02 1.01672666e+02] [ 6.52195569e-02 9.97870836e-01 -4.51677813e-04 1.80792705e+00] [ 1.05688250e-02 -2.38148566e-04 9.99944120e-01 -1.81444760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.79592 meters Centerline goodness : 0.717479 Centerline is valid? [True, False] Translation: X:101.67, Y:1.81, Z:-1.82 [[ 9.98635642e-01 -5.12135582e-02 -1.01993388e-02 1.01673252e+02] [ 5.11543041e-02 9.98672808e-01 -5.98829254e-03 1.81191645e+00] [ 1.04924841e-02 5.45838229e-03 9.99930054e-01 -1.81526292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.82592 meters Centerline goodness : 0.913951 Centerline is valid? [False, False] Translation: X:101.67, Y:1.81, Z:-1.82 [[ 9.99327449e-01 -3.55773711e-02 -8.88260973e-03 1.01672590e+02] [ 3.54922671e-02 9.99324210e-01 -9.56154814e-03 1.81380144e+00] [ 9.21678170e-03 9.23985356e-03 9.99914834e-01 -1.81593310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.85592 meters Centerline goodness : 0.999851 Centerline is valid? [False, True] Translation: X:101.67, Y:1.82, Z:-1.82 [[ 9.99772228e-01 -2.13028685e-02 -1.29591586e-03 1.01668825e+02] [ 2.12833708e-02 9.99681621e-01 -1.35526579e-02 1.82081654e+00] [ 1.58421376e-03 1.35219896e-02 9.99907319e-01 -1.81628903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.88592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.70, Y:1.81, Z:-1.81 [[ 9.99833965e-01 -1.81716832e-02 -1.35375014e-03 1.01697758e+02] [ 1.81716920e-02 9.99834881e-01 -5.76700528e-06 1.80767539e+00] [ 1.35363141e-03 -1.88338828e-05 9.99999084e-01 -1.81212294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.91592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:101.73, Y:1.81, Z:-1.81 [[ 9.99855016e-01 -1.69739316e-02 -1.35372129e-03 1.01727693e+02] [ 1.69739306e-02 9.99855932e-01 -1.21869588e-05 1.80723538e+00] [ 1.35373312e-03 -1.07927794e-05 9.99999084e-01 -1.81180973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.94592 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:101.76, Y:1.81, Z:-1.80 [[ 9.99880122e-01 -1.54243140e-02 -1.35371043e-03 1.01757171e+02] [ 1.54243081e-02 9.99881038e-01 -1.48489118e-05 1.80860837e+00] [ 1.35377842e-03 -6.03291489e-06 9.99999084e-01 -1.79822122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.97592 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:101.79, Y:1.81, Z:-1.80 [[ 9.99895272e-01 -1.44087869e-02 -1.35370729e-03 1.01786579e+02] [ 1.44087789e-02 9.99896188e-01 -1.56527451e-05 1.81052544e+00] [ 1.35379229e-03 -3.85416322e-06 9.99999084e-01 -1.79684471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.00591999999999 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:101.82, Y:1.81, Z:-1.80 [[ 9.99904856e-01 -1.37275906e-02 -1.35371834e-03 1.01816101e+02] [ 1.37275861e-02 9.99905772e-01 -1.26669917e-05 1.81183809e+00] [ 1.35376467e-03 -5.91749846e-06 9.99999084e-01 -1.79933668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.03591999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:101.85, Y:1.81, Z:-1.81 [[ 9.99871815e-01 -1.59537256e-02 -1.35372725e-03 1.01845860e+02] [ 1.59537267e-02 9.99872731e-01 -1.00464326e-05 1.81243688e+00] [ 1.35371524e-03 -1.15518497e-05 9.99999084e-01 -1.81339399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.06591999999999 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:101.88, Y:1.81, Z:-1.81 [[ 9.99828278e-01 -1.84819128e-02 -1.35371808e-03 1.01876429e+02] [ 1.84819124e-02 9.99829195e-01 -1.27929489e-05 1.81405769e+00] [ 1.35372329e-03 -1.22285469e-05 9.99999084e-01 -1.80932350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.09591999999999 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:101.91, Y:1.81, Z:-1.80 [[ 9.99809309e-01 -1.94810971e-02 -1.35371753e-03 1.01906377e+02] [ 1.94810974e-02 9.99810225e-01 -1.29658496e-05 1.81456031e+00] [ 1.35371322e-03 -1.34085260e-05 9.99999084e-01 -1.80280408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.12592 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:101.94, Y:1.81, Z:-1.81 [[ 9.99675238e-01 -2.54477187e-02 -1.35372367e-03 1.01935299e+02] [ 2.54477275e-02 9.99676154e-01 -1.07250754e-05 1.81338233e+00] [ 1.35355821e-03 -2.37275989e-05 9.99999084e-01 -1.80892313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.15592 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:101.97, Y:1.81, Z:-1.79 [[ 9.99662974e-01 -2.59250230e-02 -1.35371349e-03 1.01966342e+02] [ 2.59250272e-02 9.99663890e-01 -1.44520727e-05 1.81359377e+00] [ 1.35363316e-03 -2.06478572e-05 9.99999084e-01 -1.79236395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.18592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:102.00, Y:1.81, Z:-1.81 [[ 9.99519978e-01 -3.09512703e-02 -1.35372383e-03 1.01996234e+02] [ 3.09512845e-02 9.99520894e-01 -1.04347028e-05 1.81456793e+00] [ 1.35339822e-03 -3.14697976e-05 9.99999084e-01 -1.81398199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.21592 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:102.03, Y:1.81, Z:-1.80 [[ 9.99471329e-01 -3.24843008e-02 -1.35374113e-03 1.02025898e+02] [ 3.24843262e-02 9.99472245e-01 -3.26730315e-06 1.81409092e+00] [ 1.35313282e-03 -4.07097927e-05 9.99999084e-01 -1.79539601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.24592 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:102.06, Y:1.81, Z:-1.81 [[ 9.99443402e-01 -3.33324683e-02 -1.35373418e-03 1.02056261e+02] [ 3.33324908e-02 9.99444318e-01 -5.94710429e-06 1.81398660e+00] [ 1.35318016e-03 -3.91795379e-05 9.99999084e-01 -1.81299773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.27592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:102.09, Y:1.81, Z:-1.81 [[ 9.99425521e-01 -3.38643596e-02 -1.35372080e-03 1.02085412e+02] [ 3.38643746e-02 9.99426438e-01 -1.18396740e-05 1.81438740e+00] [ 1.35334529e-03 -3.40100357e-05 9.99999084e-01 -1.80743479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.30592 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:102.12, Y:1.82, Z:-1.79 [[ 9.99506556e-01 -3.13817294e-02 -1.35371172e-03 1.02117348e+02] [ 3.13817367e-02 9.99507472e-01 -1.58320925e-05 1.81506588e+00] [ 1.35354181e-03 -2.66575444e-05 9.99999084e-01 -1.79297638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.33592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:102.15, Y:1.82, Z:-1.80 [[ 9.99511511e-01 -3.12234832e-02 -1.35375367e-03 1.02146876e+02] [ 3.12235189e-02 9.99512427e-01 5.23124975e-06 1.81585741e+00] [ 1.35293028e-03 -4.74976477e-05 9.99999084e-01 -1.79649616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.36591999999999 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:102.18, Y:1.82, Z:-1.79 [[ 9.99510364e-01 -3.12601995e-02 -1.35373705e-03 1.02176130e+02] [ 3.12602252e-02 9.99511280e-01 -2.21247450e-06 1.81713671e+00] [ 1.35314462e-03 -4.01067339e-05 9.99999084e-01 -1.79366709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.39591999999999 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:102.21, Y:1.82, Z:-1.81 [[ 9.99433058e-01 -3.36411848e-02 -1.35372941e-03 1.02205837e+02] [ 3.36412081e-02 9.99433974e-01 -5.58023915e-06 1.81674448e+00] [ 1.35315089e-03 -3.99640174e-05 9.99999084e-01 -1.80740763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.42591999999999 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:102.24, Y:1.82, Z:-1.80 [[ 9.99468098e-01 -3.25835751e-02 -1.35371949e-03 1.02236384e+02] [ 3.25835903e-02 9.99469014e-01 -1.08176787e-05 1.81649639e+00] [ 1.35335316e-03 -3.32971165e-05 9.99999084e-01 -1.79608263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.45591999999999 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:102.27, Y:1.82, Z:-1.81 [[ 9.99440559e-01 -3.34176038e-02 -1.35373239e-03 1.02265895e+02] [ 3.34176299e-02 9.99441475e-01 -3.33518212e-06 1.81662984e+00] [ 1.35308775e-03 -4.19052117e-05 9.99999084e-01 -1.81168648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.48592 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:102.30, Y:1.82, Z:-1.81 [[ 9.99441039e-01 -3.34032393e-02 -1.35372880e-03 1.02296053e+02] [ 3.34032623e-02 9.99441955e-01 -5.60434743e-06 1.81669534e+00] [ 1.35316056e-03 -3.96177432e-05 9.99999084e-01 -1.81164566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.51592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.33, Y:1.82, Z:-1.80 [[ 9.99490210e-01 -3.18980756e-02 -1.35372887e-03 1.02327147e+02] [ 3.18980974e-02 9.99491126e-01 -5.55396267e-06 1.81903475e+00] [ 1.35321716e-03 -3.76302441e-05 9.99999084e-01 -1.79770592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.54592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:102.36, Y:1.82, Z:-1.79 [[ 9.99475175e-01 -3.23657528e-02 -1.35373868e-03 1.02356391e+02] [ 3.23657840e-02 9.99476091e-01 1.19025200e-06 1.81947097e+00] [ 1.35299092e-03 -4.50044411e-05 9.99999084e-01 -1.79491497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.57592 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:102.38, Y:1.82, Z:-1.79 [[ 9.99510582e-01 -3.12532148e-02 -1.35372529e-03 1.02384854e+02] [ 3.12532332e-02 9.99511498e-01 -7.56509795e-06 1.81972070e+00] [ 1.35330042e-03 -3.47468967e-05 9.99999084e-01 -1.79292335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.60592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:102.42, Y:1.82, Z:-1.80 [[ 9.99594477e-01 -2.84437860e-02 -1.35372367e-03 1.02416501e+02] [ 2.84438004e-02 9.99595393e-01 -8.64789721e-06 1.81836919e+00] [ 1.35342192e-03 -2.98606555e-05 9.99999084e-01 -1.79796607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.63592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:102.45, Y:1.82, Z:-1.79 [[ 9.99613688e-01 -2.77604404e-02 -1.35374219e-03 1.02445839e+02] [ 2.77604728e-02 9.99614604e-01 5.18431814e-06 1.81638005e+00] [ 1.35307654e-03 -4.27628386e-05 9.99999084e-01 -1.79464622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.66592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:102.48, Y:1.82, Z:-1.82 [[ 9.99609462e-01 -2.79121976e-02 -1.35372948e-03 1.02476221e+02] [ 2.79122157e-02 9.99610378e-01 -5.52994242e-06 1.81664637e+00] [ 1.35335639e-03 -3.22578066e-05 9.99999084e-01 -1.81690604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.69592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:102.51, Y:1.82, Z:-1.80 [[ 9.99687368e-01 -2.49666385e-02 -1.35373400e-03 1.02506165e+02] [ 2.49666593e-02 9.99688284e-01 -1.52905332e-06 1.81662942e+00] [ 1.35335020e-03 -3.22696403e-05 9.99999084e-01 -1.79795565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.72592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:102.54, Y:1.82, Z:-1.79 [[ 9.99739591e-01 -2.27797729e-02 -1.35374120e-03 1.02535776e+02] [ 2.27797993e-02 9.99740507e-01 4.07875291e-06 1.81607637e+00] [ 1.35329700e-03 -3.49156436e-05 9.99999084e-01 -1.79312289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.75591999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:102.57, Y:1.82, Z:-1.80 [[ 9.99763373e-01 -2.17109595e-02 -1.35374120e-03 1.02566592e+02] [ 2.17109849e-02 9.99764289e-01 4.07942394e-06 1.81579961e+00] [ 1.35333354e-03 -3.34695136e-05 9.99999084e-01 -1.80164453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.78591999999999 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:102.59, Y:1.82, Z:-1.79 [[ 9.99820644e-01 -1.88903866e-02 -1.35375020e-03 1.02594784e+02] [ 1.88904191e-02 9.99821560e-01 1.12906059e-05 1.81712261e+00] [ 1.35329535e-03 -3.68614896e-05 9.99999084e-01 -1.79284052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.81591999999999 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:102.62, Y:1.82, Z:-1.79 [[ 9.99839773e-01 -1.78492741e-02 -1.35373984e-03 1.02624046e+02] [ 1.78492967e-02 9.99840689e-01 4.65983693e-06 1.81902192e+00] [ 1.35344100e-03 -2.88223945e-05 9.99999084e-01 -1.79485493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.84591999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:102.65, Y:1.82, Z:-1.79 [[ 9.99827361e-01 -1.85314594e-02 -1.35374231e-03 1.02653323e+02] [ 1.85314847e-02 9.99828277e-01 6.17616452e-06 1.81913692e+00] [ 1.35339539e-03 -3.12619533e-05 9.99999084e-01 -1.79368908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.87592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:102.68, Y:1.82, Z:-1.80 [[ 9.99895458e-01 -1.43958243e-02 -1.35370686e-03 1.02684779e+02] [ 1.43958177e-02 9.99896375e-01 -1.46820211e-05 1.82149350e+00] [ 1.35377794e-03 -4.80723090e-06 9.99999084e-01 -1.79846538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.90592 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:102.72, Y:1.82, Z:-1.79 [[ 9.99912284e-01 -1.31754202e-02 -1.35372599e-03 1.02715069e+02] [ 1.31754324e-02 9.99913200e-01 4.23318041e-08 1.82297729e+00] [ 1.35360793e-03 -1.78782533e-05 9.99999084e-01 -1.79496834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.93592 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:102.74, Y:1.82, Z:-1.79 [[ 9.99907169e-01 -1.35580297e-02 -1.35372631e-03 1.02743413e+02] [ 1.35580425e-02 9.99908086e-01 2.70730081e-07 1.82403875e+00] [ 1.35359821e-03 -1.86245838e-05 9.99999084e-01 -1.79406674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.96592 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:102.77, Y:1.83, Z:-1.80 [[ 9.99906237e-01 -1.36266140e-02 -1.35372748e-03 1.02772541e+02] [ 1.36266279e-02 9.99907153e-01 1.01848948e-06 1.82533864e+00] [ 1.35358791e-03 -1.94651346e-05 9.99999084e-01 -1.79691230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.99592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:102.80, Y:1.83, Z:-1.80 [[ 9.99913607e-01 -1.30745962e-02 -1.35372485e-03 1.02802040e+02] [ 1.30746073e-02 9.99914524e-01 -6.45259324e-07 1.82831528e+00] [ 1.35361758e-03 -1.70542172e-05 9.99999084e-01 -1.79612416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.02592 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:102.83, Y:1.83, Z:-1.79 [[ 9.99880180e-01 -1.54205433e-02 -1.35373309e-03 1.02831497e+02] [ 1.54205644e-02 9.99881096e-01 5.13076467e-06 1.82950812e+00] [ 1.35349301e-03 -2.60054782e-05 9.99999084e-01 -1.79480815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.05592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:102.86, Y:1.83, Z:-1.81 [[ 9.99855839e-01 -1.69253582e-02 -1.35372494e-03 1.02860715e+02] [ 1.69253732e-02 9.99856756e-01 -3.86056892e-07 1.82949884e+00] [ 1.35353756e-03 -2.25262985e-05 9.99999084e-01 -1.81073882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.08592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.89, Y:1.83, Z:-1.81 [[ 9.99853191e-01 -1.70810772e-02 -1.35372277e-03 1.02890797e+02] [ 1.70810902e-02 9.99854108e-01 -1.91471849e-06 1.82915468e+00] [ 1.35355798e-03 -2.12086234e-05 9.99999084e-01 -1.80962359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.11591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.92, Y:1.83, Z:-1.81 [[ 9.99874525e-01 -1.57829673e-02 -1.35372265e-03 1.02920261e+02] [ 1.57829791e-02 9.99875441e-01 -2.00029964e-06 1.83041501e+00] [ 1.35358560e-03 -1.93657276e-05 9.99999084e-01 -1.80883593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.14591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.95, Y:1.83, Z:-1.81 [[ 9.99921109e-01 -1.24877023e-02 -1.35372252e-03 1.02949471e+02] [ 1.24877109e-02 9.99922025e-01 -2.08586535e-06 1.83241939e+00] [ 1.35364301e-03 -1.48191946e-05 9.99999084e-01 -1.80735612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.17591999999999 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:102.98, Y:1.83, Z:-1.81 [[ 9.99931073e-01 -1.16626336e-02 -1.35372238e-03 1.02979413e+02] [ 1.16626414e-02 9.99931989e-01 -2.17234631e-06 1.83298508e+00] [ 1.35365564e-03 -1.36157820e-05 9.99999084e-01 -1.80691030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.20591999999999 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:103.01, Y:1.83, Z:-1.79 [[ 9.99952343e-01 -9.66843399e-03 -1.35372223e-03 1.03010238e+02] [ 9.66843979e-03 9.99953260e-01 -2.25954713e-06 1.83405115e+00] [ 1.35368080e-03 -1.08289424e-05 9.99999084e-01 -1.79030299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.23592 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:103.04, Y:1.83, Z:-1.79 [[ 9.99949516e-01 -9.95651383e-03 -1.35373309e-03 1.03039723e+02] [ 9.95652814e-03 9.99950433e-01 3.83515638e-06 1.83443892e+00] [ 1.35362781e-03 -1.73134444e-05 9.99999084e-01 -1.79137891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.26592 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:103.07, Y:1.83, Z:-1.79 [[ 9.99932438e-01 -1.15450259e-02 -1.35373001e-03 1.03069513e+02] [ 1.15450394e-02 9.99933354e-01 2.17948786e-06 1.83497483e+00] [ 1.35361462e-03 -1.78082069e-05 9.99999084e-01 -1.78886652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.29592 meters Centerline goodness : 0.953236 Centerline is valid? [True, True] Translation: X:103.14, Y:1.81, Z:-1.81 [[ 9.96197814e-01 -8.71096017e-02 -1.35373199e-03 1.03144777e+02] [ 8.71096860e-02 9.96198726e-01 3.37930902e-06 1.80562960e+00] [ 1.34829171e-03 -1.21289629e-04 9.99999084e-01 -1.81260077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.32592 meters Centerline goodness : 0.998905 Centerline is valid? [True, True] Translation: X:103.12, Y:1.83, Z:-1.79 [[ 9.99672627e-01 -2.55500732e-02 -1.35345463e-03 1.03120122e+02] [ 2.55505218e-02 9.99673482e-01 3.15158877e-04 1.82690714e+00] [ 1.34496037e-03 -3.49637175e-04 9.99999034e-01 -1.78862246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.35592 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:103.15, Y:1.83, Z:-1.80 [[ 9.99605570e-01 -2.80513805e-02 -1.35067884e-03 1.03149995e+02] [ 2.80513855e-02 9.99606482e-01 -1.52893197e-05 1.82689374e+00] [ 1.35057622e-03 -2.26051238e-05 9.99999088e-01 -1.80467027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.38592 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:103.18, Y:1.83, Z:-1.80 [[ 9.99608581e-01 -2.79438692e-02 -1.35074701e-03 1.03180000e+02] [ 2.79438852e-02 9.99609493e-01 -7.00311211e-06 1.82744344e+00] [ 1.35041523e-03 -3.07447485e-05 9.99999088e-01 -1.80480112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.41592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:103.21, Y:1.83, Z:-1.80 [[ 9.99669923e-01 -2.56558141e-02 -1.35076231e-03 1.03209180e+02] [ 2.56558306e-02 9.99670835e-01 -5.11759815e-06 1.82706869e+00] [ 1.35044898e-03 -2.95390200e-05 9.99999088e-01 -1.80488300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.44592 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:103.24, Y:1.83, Z:-1.79 [[ 9.99677935e-01 -2.53417126e-02 -1.35077821e-03 1.03239182e+02] [ 2.53417314e-02 9.99678847e-01 -3.18561476e-06 1.82701680e+00] [ 1.35042514e-03 -3.10464699e-05 9.99999088e-01 -1.79024175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.47592 meters Centerline goodness : 0.998955 Centerline is valid? [True, True] Translation: X:103.27, Y:1.83, Z:-1.79 [[ 9.99733195e-01 -2.30589406e-02 -1.35073860e-03 1.03269125e+02] [ 2.30589509e-02 9.99734107e-01 -7.93798505e-06 1.82831186e+00] [ 1.35056249e-03 -2.32107479e-05 9.99999088e-01 -1.78731897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.50591999999999 meters Centerline goodness : 0.985240 Centerline is valid? [True, True] Translation: X:103.28, Y:1.85, Z:-1.81 [[ 9.99808466e-01 1.95245377e-02 -1.35073321e-03 1.03275749e+02] [-1.95245671e-02 9.99809377e-01 -8.57393980e-06 1.84919877e+00] [ 1.35030832e-03 3.49447787e-05 9.99999088e-01 -1.81363840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.53591999999999 meters Centerline goodness : 0.990152 Centerline is valid? [True, True] Translation: X:103.31, Y:1.85, Z:-1.81 [[ 9.99883742e-01 1.51881896e-02 -1.34954355e-03 1.03307726e+02] [-1.51883937e-02 9.99884640e-01 -1.41138181e-04 1.84888369e+00] [ 1.34724423e-03 1.61619171e-04 9.99999079e-01 -1.81335567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.56591999999999 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:103.35, Y:1.83, Z:-1.79 [[ 9.99832832e-01 -1.82342247e-02 -1.34954554e-03 1.03354733e+02] [ 1.82340511e-02 9.99833736e-01 -1.40793819e-04 1.83424103e+00] [ 1.35188843e-03 1.16162600e-04 9.99999079e-01 -1.79235599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.59591999999999 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:103.39, Y:1.84, Z:-1.79 [[ 9.99834225e-01 -1.81576796e-02 -1.34986542e-03 1.03385086e+02] [ 1.81576741e-02 9.99835136e-01 -1.63042331e-05 1.83665822e+00] [ 1.34993893e-03 -8.20888614e-06 9.99999089e-01 -1.79464915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.62592 meters Centerline goodness : 0.998157 Centerline is valid? [True, True] Translation: X:103.41, Y:1.84, Z:-1.81 [[ 9.99801548e-01 -1.98756967e-02 -1.34989644e-03 1.03414920e+02] [ 1.98757122e-02 9.99802459e-01 -1.91688910e-06 1.83787334e+00] [ 1.34966788e-03 -2.49136445e-05 9.99999089e-01 -1.81261871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.65592 meters Centerline goodness : 0.998409 Centerline is valid? [True, True] Translation: X:103.44, Y:1.84, Z:-1.79 [[ 9.99673110e-01 -2.55313708e-02 -1.34989442e-03 1.03444917e+02] [ 2.55313902e-02 9.99674021e-01 -2.86640728e-06 1.83788103e+00] [ 1.34952757e-03 -3.15992109e-05 9.99999089e-01 -1.79013377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.68592 meters Centerline goodness : 0.998658 Centerline is valid? [True, True] Translation: X:103.48, Y:1.84, Z:-1.81 [[ 9.99549116e-01 -2.99956963e-02 -1.34988627e-03 1.03476032e+02] [ 2.99957148e-02 9.99550027e-01 -6.56227004e-06 1.83979361e+00] [ 1.34947570e-03 -3.39314923e-05 9.99999089e-01 -1.81103339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.71592 meters Centerline goodness : 0.998458 Centerline is valid? [True, True] Translation: X:103.51, Y:1.84, Z:-1.79 [[ 9.99469894e-01 -3.25285975e-02 -1.34989409e-03 1.03505726e+02] [ 3.25286233e-02 9.99470804e-01 -2.82493312e-06 1.83831763e+00] [ 1.34927162e-03 -4.10867608e-05 9.99999089e-01 -1.79240295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.74592 meters Centerline goodness : 0.999005 Centerline is valid? [True, True] Translation: X:103.54, Y:1.84, Z:-1.80 [[ 9.99499982e-01 -3.15905557e-02 -1.34987782e-03 1.03537088e+02] [ 3.15905708e-02 9.99500893e-01 -1.01983466e-05 1.83801156e+00] [ 1.34952626e-03 -3.24501636e-05 9.99999089e-01 -1.79538241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.77592 meters Centerline goodness : 0.998806 Centerline is valid? [True, True] Translation: X:103.57, Y:1.84, Z:-1.81 [[ 9.99538657e-01 -3.03422441e-02 -1.34989585e-03 1.03567601e+02] [ 3.03422701e-02 9.99539567e-01 -1.20507988e-06 1.84004081e+00] [ 1.34931088e-03 -3.97543807e-05 9.99999089e-01 -1.81325420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.80592 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:103.62, Y:1.84, Z:-1.81 [[ 9.99160895e-01 -4.09351216e-02 -1.34989325e-03 1.03615938e+02] [ 4.09351554e-02 9.99161805e-01 -2.57291879e-06 1.83872203e+00] [ 1.34886710e-03 -5.26873300e-05 9.99999089e-01 -1.80896431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.83592 meters Centerline goodness : 0.843127 Centerline is valid? [True, False] Translation: X:103.62, Y:1.84, Z:-1.81 [[ 9.99597701e-01 -2.81071628e-02 -3.79779884e-03 1.03619622e+02] [ 2.80802542e-02 9.99581427e-01 -6.96202863e-03 1.84310896e+00] [ 3.99189206e-03 6.85258465e-03 9.99968553e-01 -1.81035278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.86591999999999 meters Centerline goodness : 0.999403 Centerline is valid? [False, True] Translation: X:103.62, Y:1.85, Z:-1.81 [[ 9.99899009e-01 -1.36278017e-02 -4.03181635e-03 1.03621067e+02] [ 1.35780772e-02 9.99834435e-01 -1.21135296e-02 1.84808437e+00] [ 4.19622960e-03 1.20575619e-02 9.99918500e-01 -1.81154533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.89591999999999 meters Centerline goodness : 0.998458 Centerline is valid? [True, True] Translation: X:103.65, Y:1.84, Z:-1.79 [[ 9.99929296e-01 -1.12234507e-02 -3.92907239e-03 1.03650787e+02] [ 1.12236683e-02 9.99937012e-01 3.33277593e-05 1.83610988e+00] [ 3.92845086e-03 -7.74240082e-05 9.99992281e-01 -1.78964015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.92591999999999 meters Centerline goodness : 0.998056 Centerline is valid? [True, True] Translation: X:103.68, Y:1.84, Z:-1.79 [[ 9.99932642e-01 -1.09211956e-02 -3.92915567e-03 1.03679228e+02] [ 1.09213716e-02 9.99940360e-01 2.33555066e-05 1.83573564e+00] [ 3.92866626e-03 -6.62657027e-05 9.99992281e-01 -1.78975166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.95591999999999 meters Centerline goodness : 0.998256 Centerline is valid? [True, True] Translation: X:103.71, Y:1.83, Z:-1.79 [[ 9.99954333e-01 -8.71168644e-03 -3.92913783e-03 1.03707846e+02] [ 8.71185402e-03 9.99962051e-01 2.55377328e-05 1.83425733e+00] [ 3.92876624e-03 -5.97666417e-05 9.99992281e-01 -1.79180442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.98592 meters Centerline goodness : 0.997954 Centerline is valid? [True, True] Translation: X:103.74, Y:1.83, Z:-1.79 [[ 9.99968252e-01 -6.93224220e-03 -3.92916448e-03 1.03737042e+02] [ 6.93238335e-03 9.99975970e-01 2.23043892e-05 1.83447217e+00] [ 3.92891544e-03 -4.95421555e-05 9.99992281e-01 -1.78998204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.01592 meters Centerline goodness : 0.996265 Centerline is valid? [True, True] Translation: X:103.76, Y:1.83, Z:-1.79 [[ 9.99946110e-01 -9.60933594e-03 -3.92904083e-03 1.03763894e+02] [ 9.60955694e-03 9.99953826e-01 3.73723990e-05 1.83355374e+00] [ 3.92850029e-03 -7.51267266e-05 9.99992281e-01 -1.78710349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.04592 meters Centerline goodness : 0.940088 Centerline is valid? [True, False] Translation: X:103.79, Y:1.84, Z:-1.78 [[ 9.99922923e-01 -9.92245347e-03 -7.46280785e-03 1.03786148e+02] [ 9.83202085e-03 9.99878956e-01 -1.20583829e-02 1.84395867e+00] [ 7.58155326e-03 1.19840790e-02 9.99899446e-01 -1.78319965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.07592 meters Centerline goodness : 0.998108 Centerline is valid? [False, True] Translation: X:103.81, Y:1.85, Z:-1.78 [[ 9.99951808e-01 -4.44697766e-03 -8.75247978e-03 1.03809091e+02] [ 4.28807465e-03 9.99827149e-01 -1.80909872e-02 1.85010222e+00] [ 8.83141712e-03 1.80525840e-02 9.99798035e-01 -1.78177366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.10592 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:103.84, Y:1.84, Z:-1.82 [[ 9.99756743e-01 2.02963346e-02 -8.63210041e-03 1.03844628e+02] [-2.02973355e-02 9.99793987e-01 -2.83631394e-05 1.83639752e+00] [ 8.62974642e-03 2.03564878e-04 9.99962742e-01 -1.82129869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.13592 meters Centerline goodness : 0.997609 Centerline is valid? [True, True] Translation: X:103.87, Y:1.83, Z:-1.78 [[ 9.99953554e-01 -4.29139741e-03 -8.62978629e-03 1.03867766e+02] [ 4.29412515e-03 9.99990736e-01 2.97580472e-04 1.83350416e+00] [ 8.62842931e-03 -3.34624033e-04 9.99962718e-01 -1.78293057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.16592 meters Centerline goodness : 0.997958 Centerline is valid? [True, True] Translation: X:103.90, Y:1.83, Z:-1.78 [[ 9.99945229e-01 -5.91909486e-03 -8.63154656e-03 1.03896622e+02] [ 5.91937120e-03 9.99982480e-01 6.46800194e-06 1.83216288e+00] [ 8.63135706e-03 -5.75609758e-05 9.99962747e-01 -1.78099142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.19592 meters Centerline goodness : 0.998011 Centerline is valid? [True, True] Translation: X:103.93, Y:1.83, Z:-1.78 [[ 9.99892585e-01 -1.18453434e-02 -8.63171458e-03 1.03927478e+02] [ 1.18456171e-02 9.99929838e-01 -1.94171240e-05 1.83031944e+00] [ 8.63133896e-03 -8.28329478e-05 9.99962746e-01 -1.78084866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.22592 meters Centerline goodness : 0.994820 Centerline is valid? [True, True] Translation: X:103.92, Y:1.82, Z:-1.80 [[ 9.99890560e-01 -1.20153400e-02 -8.63136247e-03 1.03924095e+02] [ 1.20160749e-02 9.99927804e-01 3.32845471e-05 1.82110896e+00] [ 8.63033939e-03 -1.36996002e-04 9.99962749e-01 -1.79634937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.25591999999999 meters Centerline goodness : 0.972641 Centerline is valid? [True, True] Translation: X:103.95, Y:1.85, Z:-1.80 [[ 9.99342213e-01 3.52209222e-02 -8.63874548e-03 1.03948410e+02] [-3.52312985e-02 9.99378632e-01 -1.05186568e-03 1.84653833e+00] [ 8.59632996e-03 1.35552800e-03 9.99962132e-01 -1.80469307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.28591999999999 meters Centerline goodness : 0.991142 Centerline is valid? [True, True] Translation: X:103.98, Y:1.82, Z:-1.80 [[ 9.99962637e-01 -1.23704706e-04 -8.64346478e-03 1.03979159e+02] [ 1.09834554e-04 9.99998706e-01 -1.60515447e-03 1.82008344e+00] [ 8.64365216e-03 1.60414514e-03 9.99961356e-01 -1.79797398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.31591999999999 meters Centerline goodness : 0.923333 Centerline is valid? [True, False] Translation: X:104.01, Y:1.83, Z:-1.80 [[ 9.99920619e-01 1.08824777e-03 -1.25527077e-02 1.04005563e+02] [-1.24237497e-03 9.99923861e-01 -1.22771470e-02 1.82920343e+00] [ 1.25383913e-02 1.22917676e-02 9.99845839e-01 -1.79689952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.34591999999999 meters Centerline goodness : 0.920158 Centerline is valid? [False, False] Translation: X:104.01, Y:1.83, Z:-1.80 [[ 9.99917321e-01 1.11267460e-03 -1.28106998e-02 1.04006293e+02] [-1.26708924e-03 9.99926572e-01 -1.20517675e-02 1.82800344e+00] [ 1.27963494e-02 1.20670034e-02 9.99845308e-01 -1.79705703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.37592 meters Centerline goodness : 0.920158 Centerline is valid? [False, False] Translation: X:104.01, Y:1.83, Z:-1.80 [[ 9.99916872e-01 1.12269448e-03 -1.28448099e-02 1.04006391e+02] [-1.27737189e-03 9.99926699e-01 -1.20401559e-02 1.82770372e+00] [ 1.28303509e-02 1.20555626e-02 9.99845011e-01 -1.79699652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.40592 meters Centerline goodness : 0.999751 Centerline is valid? [False, True] Translation: X:104.01, Y:1.83, Z:-1.80 [[ 9.99914192e-01 1.11101234e-03 -1.30527173e-02 1.04006884e+02] [-1.26228839e-03 9.99932071e-01 -1.15871054e-02 1.82566490e+00] [ 1.30389572e-02 1.16025874e-02 9.99847671e-01 -1.79721905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.43592 meters Centerline goodness : 0.945946 Centerline is valid? [True, False] Translation: X:104.01, Y:1.82, Z:-1.80 [[ 9.99901421e-01 5.24388425e-03 -1.30249454e-02 1.04006830e+02] [-5.31943390e-03 9.99969190e-01 -5.77252573e-03 1.81812128e+00] [ 1.29942737e-02 5.84124202e-03 9.99898509e-01 -1.79735044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.46592 meters Centerline goodness : 0.996423 Centerline is valid? [False, True] Translation: X:104.00, Y:1.81, Z:-1.80 [[ 9.99993079e-01 -8.91925335e-04 -3.61188939e-03 1.04000894e+02] [ 9.15221646e-04 9.99978758e-01 6.45338797e-03 1.80646193e+00] [ 3.60605672e-03 -6.45664899e-03 9.99972654e-01 -1.79695081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.49592 meters Centerline goodness : 0.972699 Centerline is valid? [True, True] Translation: X:104.09, Y:1.79, Z:-1.77 [[ 9.98395761e-01 -5.64982024e-02 -3.72260429e-03 1.04089580e+02] [ 5.64997574e-02 9.98402564e-01 3.13808391e-04 1.79309137e+00] [ 3.69892805e-03 -5.23631206e-04 9.99993022e-01 -1.77396950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.52592 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:104.07, Y:1.77, Z:-1.77 [[ 9.98333568e-01 -5.75860510e-02 -3.73271547e-03 1.04066568e+02] [ 5.75887375e-02 9.98340201e-01 6.16204758e-04 1.77054923e+00] [ 3.69103512e-03 -8.30140267e-04 9.99992844e-01 -1.76518676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.55592 meters Centerline goodness : 0.956370 Centerline is valid? [True, True] Translation: X:104.13, Y:1.78, Z:-1.79 [[ 9.94804559e-01 -1.01735933e-01 -3.69984162e-03 1.04130209e+02] [ 1.01736049e-01 9.94811415e-01 -1.57256893e-04 1.77528045e+00] [ 3.69664335e-03 -2.19967394e-04 9.99993143e-01 -1.79312257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.58592 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:104.12, Y:1.77, Z:-1.77 [[ 9.97978321e-01 -6.34460207e-02 -3.72456764e-03 1.04123254e+02] [ 6.34481291e-02 9.97985036e-01 4.50556164e-04 1.76765493e+00] [ 3.68847678e-03 -6.85962133e-04 9.99992962e-01 -1.76507828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.61591999999999 meters Centerline goodness : 0.997116 Centerline is valid? [True, True] Translation: X:104.11, Y:1.75, Z:-1.79 [[ 9.96406139e-01 -8.46235954e-02 -3.69506004e-03 1.04111115e+02] [ 8.46235295e-02 9.96412981e-01 -1.74453398e-04 1.74739515e+00] [ 3.69656866e-03 -1.38862586e-04 9.99993158e-01 -1.78521671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.64591999999999 meters Centerline goodness : 0.981381 Centerline is valid? [True, True] Translation: X:104.28, Y:1.72, Z:-1.80 [[ 9.92268483e-01 -1.24058817e-01 -3.55921196e-03 1.04279183e+02] [ 1.24054532e-01 9.92274412e-01 -1.40129512e-03 1.71541043e+00] [ 3.70555797e-03 9.48924608e-04 9.99992684e-01 -1.79638769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.67591999999999 meters Centerline goodness : 0.999302 Centerline is valid? [True, True] Translation: X:104.25, Y:1.68, Z:-1.76 [[ 9.83214285e-01 -1.82413782e-01 -3.85779606e-03 1.04249974e+02] [ 1.82417367e-01 9.83221007e-01 5.95895856e-04 1.68146291e+00] [ 3.68436651e-03 -1.28962232e-03 9.99992381e-01 -1.76341640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.70591999999999 meters Centerline goodness : 0.996817 Centerline is valid? [True, True] Translation: X:104.28, Y:1.68, Z:-1.75 [[ 9.82807081e-01 -1.84598992e-01 -3.66801962e-03 1.04279572e+02] [ 1.84598082e-01 9.82813920e-01 -5.87990333e-04 1.68282131e+00] [ 3.71352317e-03 -9.92283259e-05 9.99993100e-01 -1.74902730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.73592 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:104.31, Y:1.69, Z:-1.76 [[ 9.83153195e-01 -1.82746761e-01 -3.66274596e-03 1.04311399e+02] [ 1.82745716e-01 9.83160016e-01 -6.20851406e-04 1.68697223e+00] [ 3.71452396e-03 -5.89590875e-05 9.99993099e-01 -1.76374654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.76592 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:104.34, Y:1.69, Z:-1.76 [[ 9.83282339e-01 -1.82050503e-01 -3.66819310e-03 1.04343770e+02] [ 1.82049580e-01 9.83289177e-01 -5.86800353e-04 1.69134317e+00] [ 3.71372188e-03 -9.08025888e-05 9.99993100e-01 -1.76424668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.79592 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:104.38, Y:1.69, Z:-1.76 [[ 9.83838628e-01 -1.79019819e-01 -3.66848409e-03 1.04375757e+02] [ 1.79018881e-01 9.83845464e-01 -5.84975482e-04 1.69420274e+00] [ 3.71394364e-03 -8.12064429e-05 9.99993100e-01 -1.76451498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.82592 meters Centerline goodness : 0.997513 Centerline is valid? [True, True] Translation: X:104.41, Y:1.69, Z:-1.75 [[ 9.84137653e-01 -1.77368601e-01 -3.66873806e-03 1.04407320e+02] [ 1.77367658e-01 9.84144488e-01 -5.83378369e-04 1.69447836e+00] [ 3.71404134e-03 -7.65908588e-05 9.99993100e-01 -1.75075907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.85592 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:104.44, Y:1.70, Z:-1.76 [[ 9.84134409e-01 -1.77386581e-01 -3.66963965e-03 1.04436873e+02] [ 1.77385659e-01 9.84141247e-01 -5.77697845e-04 1.69855123e+00] [ 3.71391959e-03 -8.24091218e-05 9.99993100e-01 -1.76370458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.88592 meters Centerline goodness : 0.996719 Centerline is valid? [True, True] Translation: X:104.47, Y:1.70, Z:-1.75 [[ 9.84165511e-01 -1.77213954e-01 -3.66895564e-03 1.04467143e+02] [ 1.77213015e-01 9.84172347e-01 -5.82009807e-04 1.70150044e+00] [ 3.71402494e-03 -7.73927117e-05 9.99993100e-01 -1.74671995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.91592 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:104.50, Y:1.70, Z:-1.76 [[ 9.84152215e-01 -1.77287798e-01 -3.66810347e-03 1.04497519e+02] [ 1.77286839e-01 9.84159048e-01 -5.87387186e-04 1.70286690e+00] [ 3.71413380e-03 -7.22280699e-05 9.99993100e-01 -1.76206720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.94592 meters Centerline goodness : 0.997215 Centerline is valid? [True, True] Translation: X:104.53, Y:1.70, Z:-1.75 [[ 9.84265295e-01 -1.76658898e-01 -3.66908836e-03 1.04528946e+02] [ 1.76657958e-01 9.84272131e-01 -5.81169277e-04 1.70351208e+00] [ 3.71405014e-03 -7.61489085e-05 9.99993100e-01 -1.74772908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.97592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:104.56, Y:1.71, Z:-1.76 [[ 9.83923411e-01 -1.78553175e-01 -3.67214724e-03 1.04558939e+02] [ 1.78552320e-01 9.83930258e-01 -5.61832128e-04 1.70626022e+00] [ 3.71345369e-03 -1.02870626e-04 9.99993100e-01 -1.76253065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.00591999999999 meters Centerline goodness : 0.997815 Centerline is valid? [True, True] Translation: X:104.59, Y:1.71, Z:-1.75 [[ 9.83836159e-01 -1.79033373e-01 -3.66929044e-03 1.04589787e+02] [ 1.79032455e-01 9.83842998e-01 -5.79908122e-04 1.70508116e+00] [ 3.71382861e-03 -8.63874945e-05 9.99993100e-01 -1.74956601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.03591999999999 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:104.62, Y:1.71, Z:-1.76 [[ 9.84007442e-01 -1.78089582e-01 -3.66821983e-03 1.04620499e+02] [ 1.78088632e-01 9.84014276e-01 -5.86677209e-04 1.70741483e+00] [ 3.71406178e-03 -7.59735116e-05 9.99993100e-01 -1.76134738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.06591999999999 meters Centerline goodness : 0.998262 Centerline is valid? [True, True] Translation: X:104.65, Y:1.71, Z:-1.75 [[ 9.84358738e-01 -1.76137478e-01 -3.66932435e-03 1.04651448e+02] [ 1.76136540e-01 9.84365574e-01 -5.79685784e-04 1.70981788e+00] [ 3.71406096e-03 -7.56833280e-05 9.99993100e-01 -1.74708135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.09591999999999 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:104.68, Y:1.71, Z:-1.76 [[ 9.84657546e-01 -1.74459280e-01 -3.67106572e-03 1.04680763e+02] [ 1.74458372e-01 9.84664386e-01 -5.68664761e-04 1.71260784e+00] [ 3.71397652e-03 -8.05081008e-05 9.99993100e-01 -1.75896701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.12592 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:104.71, Y:1.72, Z:-1.75 [[ 9.85171262e-01 -1.71534605e-01 -3.66923865e-03 1.04709875e+02] [ 1.71533633e-01 9.85178094e-01 -5.80218975e-04 1.71698856e+00] [ 3.71438117e-03 -5.77827756e-05 9.99993100e-01 -1.74826843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.15592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:104.74, Y:1.72, Z:-1.75 [[ 9.85819395e-01 -1.67769623e-01 -3.67062329e-03 1.04738788e+02] [ 1.67768658e-01 9.85826228e-01 -5.71461818e-04 1.72187467e+00] [ 3.71447065e-03 -5.24573979e-05 9.99993100e-01 -1.74793404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.18592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.77, Y:1.73, Z:-1.76 [[ 9.86050478e-01 -1.66406110e-01 -3.66896911e-03 1.04769183e+02] [ 1.66405097e-01 9.86057303e-01 -5.81913244e-04 1.72658324e+00] [ 3.71464770e-03 -3.67393265e-05 9.99993100e-01 -1.75902174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.21592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:104.80, Y:1.73, Z:-1.74 [[ 9.85999393e-01 -1.66708531e-01 -3.66913601e-03 1.04798150e+02] [ 1.66707524e-01 9.86006219e-01 -5.80858940e-04 1.73032888e+00] [ 3.71462507e-03 -3.89460173e-05 9.99993100e-01 -1.74220691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.24592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:104.83, Y:1.74, Z:-1.76 [[ 9.86079570e-01 -1.66233688e-01 -3.66642058e-03 1.04828424e+02] [ 1.66232613e-01 9.86086386e-01 -5.98024774e-04 1.73537073e+00] [ 3.71481928e-03 -1.97786624e-05 9.99993100e-01 -1.75595712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.27592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:104.86, Y:1.74, Z:-1.76 [[ 9.85456678e-01 -1.69887234e-01 -3.66934534e-03 1.04857694e+02] [ 1.69886254e-01 9.85463508e-01 -5.79505609e-04 1.73832600e+00] [ 3.71445654e-03 -5.22936625e-05 9.99993100e-01 -1.75597670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.30592 meters Centerline goodness : 0.955210 Centerline is valid? [True, True] Translation: X:104.93, Y:1.77, Z:-1.78 [[ 9.86491569e-01 -1.63770936e-01 -3.66930791e-03 1.04929843e+02] [ 1.63769913e-01 9.86498393e-01 -5.79742510e-04 1.76886593e+00] [ 3.71471133e-03 -2.90111376e-05 9.99993100e-01 -1.77669879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.33592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:104.91, Y:1.74, Z:-1.74 [[ 9.83658171e-01 -1.80005776e-01 -3.81104926e-03 1.04910025e+02] [ 1.80008370e-01 9.83665018e-01 3.46113026e-04 1.73556199e+00] [ 3.68649349e-03 -1.02647767e-03 9.99992678e-01 -1.74149022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.36591999999999 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:104.94, Y:1.74, Z:-1.74 [[ 9.83720009e-01 -1.79670750e-01 -3.65577003e-03 1.04940821e+02] [ 1.79669739e-01 9.83726800e-01 -6.05970809e-04 1.74085260e+00] [ 3.70515418e-03 -6.07256366e-05 9.99993134e-01 -1.74229961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.39591999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:104.97, Y:1.74, Z:-1.75 [[ 9.83297465e-01 -1.81969018e-01 -3.65681328e-03 1.04972340e+02] [ 1.81968046e-01 9.83304262e-01 -5.99567874e-04 1.74113801e+00] [ 3.70486286e-03 -7.58695966e-05 9.99993134e-01 -1.74827245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.42591999999999 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:105.00, Y:1.74, Z:-1.75 [[ 9.83313512e-01 -1.81882230e-01 -3.65940751e-03 1.05001148e+02] [ 1.81881317e-01 9.83320317e-01 -5.83630446e-04 1.74347488e+00] [ 3.70452176e-03 -9.16861536e-05 9.99993134e-01 -1.75280341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.45591999999999 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:105.03, Y:1.75, Z:-1.75 [[ 9.83309841e-01 -1.81902118e-01 -3.65736982e-03 1.05030707e+02] [ 1.81901158e-01 9.83316639e-01 -5.96132012e-04 1.74693044e+00] [ 3.70479027e-03 -7.90973315e-05 9.99993134e-01 -1.75261519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.48592 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:105.06, Y:1.75, Z:-1.74 [[ 9.83316316e-01 -1.81867111e-01 -3.65733178e-03 1.05059608e+02] [ 1.81866150e-01 9.83323115e-01 -5.96365264e-04 1.75184737e+00] [ 3.70479811e-03 -7.87291572e-05 9.99993134e-01 -1.73578999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.51592 meters Centerline goodness : 0.976618 Centerline is valid? [True, True] Translation: X:105.14, Y:1.74, Z:-1.78 [[ 9.77812125e-01 -2.09451837e-01 -3.65727335e-03 1.05144613e+02] [ 2.09451067e-01 9.77818948e-01 -5.96723378e-04 1.74194013e+00] [ 3.70113599e-03 -1.82536450e-04 9.99993134e-01 -1.77566962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.54592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.11, Y:1.75, Z:-1.75 [[ 9.84305078e-01 -1.76434077e-01 -3.81185898e-03 1.05105855e+02] [ 1.76437019e-01 9.84311830e-01 4.47162800e-04 1.75295860e+00] [ 3.67316313e-03 -1.11269765e-03 9.99992635e-01 -1.75208954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.57592 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:105.13, Y:1.76, Z:-1.75 [[ 9.84224432e-01 -1.76886847e-01 -3.64832023e-03 1.05134121e+02] [ 1.76885909e-01 9.84231191e-01 -5.80556488e-04 1.75808045e+00] [ 3.69348338e-03 -7.39385623e-05 9.99993176e-01 -1.75186132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.60592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:105.16, Y:1.76, Z:-1.74 [[ 9.84296809e-01 -1.76483661e-01 -3.64824659e-03 1.05163907e+02] [ 1.76482720e-01 9.84303567e-01 -5.81018920e-04 1.76259838e+00] [ 3.69352248e-03 -7.19574111e-05 9.99993176e-01 -1.74233450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.63592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.19, Y:1.77, Z:-1.74 [[ 9.83948128e-01 -1.78417355e-01 -3.65091632e-03 1.05193533e+02] [ 1.78416489e-01 9.83954896e-01 -5.64248810e-04 1.76740629e+00] [ 3.69300877e-03 -9.61921110e-05 9.99993176e-01 -1.74227113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.66592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:105.22, Y:1.77, Z:-1.75 [[ 9.83297869e-01 -1.81966927e-01 -3.65214332e-03 1.05222431e+02] [ 1.81966114e-01 9.83304644e-01 -5.56548973e-04 1.77167338e+00] [ 3.69244299e-03 -1.17312907e-04 9.99993176e-01 -1.75234030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.69592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.25, Y:1.77, Z:-1.75 [[ 9.82413919e-01 -1.86680433e-01 -3.64802507e-03 1.05252210e+02] [ 1.86679556e-01 9.82420686e-01 -5.82347103e-04 1.77055678e+00] [ 3.69260810e-03 -1.08905802e-04 9.99993176e-01 -1.75388188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.72592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:105.28, Y:1.77, Z:-1.75 [[ 9.81922140e-01 -1.89250107e-01 -3.64795191e-03 1.05281378e+02] [ 1.89249246e-01 9.81928909e-01 -5.82805063e-04 1.77188016e+00] [ 3.69232536e-03 -1.18102954e-04 9.99993176e-01 -1.75356738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.75591999999999 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:105.31, Y:1.77, Z:-1.75 [[ 9.81641874e-01 -1.90698514e-01 -3.64787995e-03 1.05309839e+02] [ 1.90697662e-01 9.81648645e-01 -5.83255127e-04 1.77365028e+00] [ 3.69216229e-03 -1.23094521e-04 9.99993176e-01 -1.75216215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.78591999999999 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:105.34, Y:1.78, Z:-1.75 [[ 9.81668162e-01 -1.90563146e-01 -3.64780828e-03 1.05338761e+02] [ 1.90562291e-01 9.81674932e-01 -5.83702993e-04 1.77756443e+00] [ 3.69219422e-03 -1.22132059e-04 9.99993176e-01 -1.75280696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.81591999999999 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:105.37, Y:1.78, Z:-1.75 [[ 9.81829536e-01 -1.89729955e-01 -3.64773651e-03 1.05368445e+02] [ 1.89729093e-01 9.81836305e-01 -5.84151174e-04 1.77639370e+00] [ 3.69231111e-03 -1.18544862e-04 9.99993176e-01 -1.75425761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.84591999999999 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:105.40, Y:1.78, Z:-1.74 [[ 9.81928238e-01 -1.89218473e-01 -3.64766439e-03 1.05399098e+02] [ 1.89217606e-01 9.81935006e-01 -5.84601132e-04 1.77819329e+00] [ 3.69238669e-03 -1.16165963e-04 9.99993176e-01 -1.74488021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.87592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.43, Y:1.78, Z:-1.75 [[ 9.82028760e-01 -1.88696060e-01 -3.64848699e-03 1.05428640e+02] [ 1.88695209e-01 9.82035530e-01 -5.79473997e-04 1.78161072e+00] [ 3.69228832e-03 -1.19391883e-04 9.99993176e-01 -1.75420414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.90592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:105.46, Y:1.78, Z:-1.75 [[ 9.81970906e-01 -1.88996915e-01 -3.64761368e-03 1.05457987e+02] [ 1.88996045e-01 9.81977674e-01 -5.84920066e-04 1.78244582e+00] [ 3.69242328e-03 -1.15010071e-04 9.99993176e-01 -1.75396471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.93592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:105.49, Y:1.78, Z:-1.74 [[ 9.81814593e-01 -1.89807273e-01 -3.64754107e-03 1.05487505e+02] [ 1.89806406e-01 9.81821361e-01 -5.85372470e-04 1.78002291e+00] [ 3.69234169e-03 -1.17599430e-04 9.99993176e-01 -1.74167442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.96592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.52, Y:1.78, Z:-1.75 [[ 9.81414340e-01 -1.91866053e-01 -3.64849046e-03 1.05516985e+02] [ 1.91865223e-01 9.81421113e-01 -5.79457587e-04 1.78318695e+00] [ 3.69188381e-03 -1.31330453e-04 9.99993176e-01 -1.75298239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.99592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.55, Y:1.79, Z:-1.75 [[ 9.81258938e-01 -1.92659264e-01 -3.64741014e-03 1.05545564e+02] [ 1.92658415e-01 9.81265709e-01 -5.86179755e-04 1.78679764e+00] [ 3.69201145e-03 -1.27510131e-04 9.99993176e-01 -1.75278000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.02592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.57, Y:1.79, Z:-1.75 [[ 9.81451688e-01 -1.91674936e-01 -3.64733748e-03 1.05574053e+02] [ 1.91674078e-01 9.81458457e-01 -5.86631473e-04 1.78911475e+00] [ 3.69215277e-03 -1.23349599e-04 9.99993176e-01 -1.75269999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.05592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.60, Y:1.79, Z:-1.75 [[ 9.81607114e-01 -1.90877371e-01 -3.64722680e-03 1.05603123e+02] [ 1.90876505e-01 9.81613883e-01 -5.87318837e-04 1.78785304e+00] [ 3.69227433e-03 -1.19653555e-04 9.99993176e-01 -1.75281878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.08592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.63, Y:1.79, Z:-1.75 [[ 9.81697010e-01 -1.90414494e-01 -3.64715330e-03 1.05632145e+02] [ 1.90413623e-01 9.81703777e-01 -5.87774848e-04 1.79118368e+00] [ 3.69234503e-03 -1.17450864e-04 9.99993176e-01 -1.75205267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.11591999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:105.66, Y:1.79, Z:-1.74 [[ 9.82040527e-01 -1.88634840e-01 -3.64707976e-03 1.05660581e+02] [ 1.88633955e-01 9.82047293e-01 -5.88230849e-04 1.79268213e+00] [ 3.69256563e-03 -1.10296547e-04 9.99993176e-01 -1.74234428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.14591999999999 meters Centerline goodness : 0.865350 Centerline is valid? [True, False] Translation: X:105.64, Y:1.79, Z:-1.74 [[ 9.84834993e-01 -1.73130013e-01 1.12265532e-02 1.05641739e+02] [ 1.73065414e-01 9.84888896e-01 6.49810883e-03 1.78524583e+00] [-1.21819252e-02 -4.45663688e-03 9.99915866e-01 -1.74179067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.17591999999999 meters Centerline goodness : 0.867070 Centerline is valid? [False, False] Translation: X:105.62, Y:1.78, Z:-1.74 [[ 9.87175941e-01 -1.57399121e-01 2.66304160e-02 1.05623136e+02] [ 1.57078275e-01 9.87490401e-01 1.37522062e-02 1.77896225e+00] [-2.84618653e-02 -9.39278732e-03 9.99550748e-01 -1.74165572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.20591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [False, True] Translation: X:105.62, Y:1.78, Z:-1.74 [[ 9.89541786e-01 -1.40232799e-01 3.37907678e-02 1.05618007e+02] [ 1.39831755e-01 9.90076800e-01 1.39646379e-02 1.77853338e+00] [-3.54137555e-02 -9.09357035e-03 9.99331363e-01 -1.74167045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.23592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.65, Y:1.79, Z:-1.74 [[ 9.89802872e-01 -1.38088812e-01 3.49535942e-02 1.05649822e+02] [ 1.38029207e-01 9.90419572e-01 4.12423706e-03 1.79094978e+00] [-3.51882348e-02 7.42435196e-04 9.99380427e-01 -1.74347526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.26592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.68, Y:1.79, Z:-1.74 [[ 9.90587100e-01 -1.32345372e-01 3.49556981e-02 1.05682406e+02] [ 1.32282822e-01 9.91203507e-01 4.10632738e-03 1.79446086e+00] [-3.51916640e-02 5.56363467e-04 9.99380427e-01 -1.74339659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.29592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.72, Y:1.80, Z:-1.74 [[ 9.90656092e-01 -1.31827379e-01 3.49578248e-02 1.05715583e+02] [ 1.31765149e-01 9.91272532e-01 4.08814172e-03 1.79865609e+00] [-3.51916605e-02 5.56280475e-04 9.99380427e-01 -1.74457611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.32592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.75, Y:1.81, Z:-1.75 [[ 9.91616168e-01 -1.24399266e-01 3.49599516e-02 1.05748302e+02] [ 1.24333062e-01 9.92232194e-01 4.06987254e-03 1.80613223e+00] [-3.51946787e-02 3.10926413e-04 9.99380427e-01 -1.74523884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.35592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:105.78, Y:1.81, Z:-1.74 [[ 9.92161143e-01 -1.19974660e-01 3.49620834e-02 1.05778949e+02] [ 1.19906356e-01 9.92776939e-01 4.05147698e-03 1.81280074e+00] [-3.51956247e-02 1.72457990e-04 9.99380427e-01 -1.73638417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.38592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.81, Y:1.82, Z:-1.75 [[ 9.92352679e-01 -1.18379067e-01 3.49650879e-02 1.05809119e+02] [ 1.18310689e-01 9.92968467e-01 4.02547209e-03 1.81944221e+00] [-3.51957614e-02 1.42055641e-04 9.99380427e-01 -1.74651760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.41592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.84, Y:1.83, Z:-1.75 [[ 9.92831243e-01 -1.14296344e-01 3.49638158e-02 1.05839906e+02] [ 1.14225046e-01 9.93446700e-01 4.03649098e-03 1.82828054e+00] [-3.51960436e-02 -1.38108749e-05 9.99380427e-01 -1.74942958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.44592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.87, Y:1.83, Z:-1.75 [[ 9.93064994e-01 -1.12246671e-01 3.49657298e-02 1.05872037e+02] [ 1.12174689e-01 9.93680371e-01 4.01984275e-03 1.83384803e+00] [-3.51959733e-02 -6.96952503e-05 9.99380427e-01 -1.74963222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.47592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.90, Y:1.84, Z:-1.74 [[ 9.93208423e-01 -1.10969710e-01 3.49678782e-02 1.05903614e+02] [ 1.10897598e-01 9.93823784e-01 4.00106702e-03 1.84292110e+00] [-3.51959062e-02 -9.60397789e-05 9.99380428e-01 -1.74186485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.50591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.94, Y:1.85, Z:-1.74 [[ 9.93481589e-01 -1.08493148e-01 3.49795545e-02 1.05935262e+02] [ 1.08423097e-01 9.94097194e-01 3.89892323e-03 1.85252323e+00] [-3.51960834e-02 -8.09168132e-05 9.99380423e-01 -1.74403592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.53591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.97, Y:1.86, Z:-1.75 [[ 9.93669157e-01 -1.06762219e-01 3.49776214e-02 1.05966443e+02] [ 1.06690501e-01 9.94284569e-01 3.91584747e-03 1.85781175e+00] [-3.51957737e-02 -1.59276914e-04 9.99380424e-01 -1.75425174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.56591999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:106.00, Y:1.86, Z:-1.74 [[ 9.93862934e-01 -1.04945574e-01 3.49699154e-02 1.05998826e+02] [ 1.04870351e-01 9.94477924e-01 3.98349646e-03 1.86343566e+00] [-3.51948592e-02 -2.91742190e-04 9.99380426e-01 -1.74174442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.59591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.03, Y:1.87, Z:-1.76 [[ 9.94154371e-01 -1.02141082e-01 3.49897947e-02 1.06027919e+02] [ 1.02070274e-01 9.94769900e-01 3.80869310e-03 1.87438159e+00] [-3.51958186e-02 -2.15010970e-04 9.99380412e-01 -1.75595496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.62592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.06, Y:1.88, Z:-1.76 [[ 9.94348029e-01 -1.00244784e-01 3.49711521e-02 1.06059555e+02] [ 1.00167029e-01 9.94962704e-01 3.97280167e-03 1.88362469e+00] [-3.51932447e-02 -4.47391098e-04 9.99380426e-01 -1.75817534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.65592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.09, Y:1.89, Z:-1.76 [[ 9.94420503e-01 -9.95226314e-02 3.49729624e-02 1.06092485e+02] [ 9.94449927e-02 9.95035194e-01 3.95680101e-03 1.88904516e+00] [-3.51931197e-02 -4.56838065e-04 9.99380426e-01 -1.75956635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.68592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.13, Y:1.90, Z:-1.75 [[ 9.94316496e-01 -1.00555724e-01 3.49750276e-02 1.06125017e+02] [ 1.00479369e-01 9.94931347e-01 3.93846151e-03 1.89620721e+00] [-3.51937861e-02 -4.01808539e-04 9.99380426e-01 -1.74696687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.71592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.15, Y:1.90, Z:-1.76 [[ 9.94059655e-01 -1.03053568e-01 3.50052118e-02 1.06154386e+02] [ 1.02988218e-01 9.94675807e-01 3.66969829e-03 1.90096626e+00] [-3.51970128e-02 -4.27746454e-05 9.99380392e-01 -1.76172355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.74592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:106.19, Y:1.91, Z:-1.75 [[ 9.93829375e-01 -1.05260805e-01 3.49762207e-02 1.06186148e+02] [ 1.05187734e-01 9.94444625e-01 3.92786450e-03 1.90582928e+00] [-3.51953648e-02 -2.24557732e-04 9.99380426e-01 -1.74831810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.77592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.22, Y:1.91, Z:-1.75 [[ 9.93228574e-01 -1.10785175e-01 3.49806300e-02 1.06216815e+02] [ 1.10716913e-01 9.93844377e-01 3.88849748e-03 1.91377034e+00] [-3.51960903e-02 1.07805461e-05 9.99380426e-01 -1.75409999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.80592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:106.25, Y:1.92, Z:-1.75 [[ 9.93097188e-01 -1.11958015e-01 3.49768345e-02 1.06248487e+02] [ 1.11889284e-01 9.93712938e-01 3.92244409e-03 1.91946947e+00] [-3.51960820e-02 1.81647824e-05 9.99380426e-01 -1.75476628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.83592 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:106.28, Y:1.92, Z:-1.77 [[ 9.92478555e-01 -1.17310699e-01 3.49931125e-02 1.06278204e+02] [ 1.17250442e-01 9.93095199e-01 3.77625864e-03 1.92255724e+00] [-3.51944875e-02 3.55102193e-04 9.99380419e-01 -1.76993713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.86591999999999 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:106.31, Y:1.93, Z:-1.76 [[ 9.92169055e-01 -1.19904061e-01 3.49797322e-02 1.06308527e+02] [ 1.19841180e-01 9.92785430e-01 3.89638192e-03 1.92503572e+00] [-3.51945605e-02 3.26142815e-04 9.99380426e-01 -1.75974205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.89591999999999 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:106.34, Y:1.93, Z:-1.77 [[ 9.91798969e-01 -1.22930100e-01 3.49713514e-02 1.06339866e+02] [ 1.22866444e-01 9.92415267e-01 3.97168692e-03 1.92930391e+00] [-3.51943429e-02 3.57690589e-04 9.99380423e-01 -1.77401276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.92591999999999 meters Centerline goodness : 0.998259 Centerline is valid? [True, True] Translation: X:106.37, Y:1.93, Z:-1.76 [[ 9.91515896e-01 -1.25190094e-01 3.49809626e-02 1.06369425e+02] [ 1.25130895e-01 9.92132635e-01 3.88515174e-03 1.93324133e+00] [-3.51921371e-02 5.25009442e-04 9.99380427e-01 -1.76367583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.95591999999999 meters Centerline goodness : 0.998253 Centerline is valid? [True, True] Translation: X:106.40, Y:1.94, Z:-1.77 [[ 9.91198104e-01 -1.27687326e-01 3.49609068e-02 1.06401751e+02] [ 1.27623305e-01 9.91814378e-01 4.06590305e-03 1.93519400e+00] [-3.51938943e-02 4.31711081e-04 9.99380410e-01 -1.76538564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.98592 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:106.43, Y:1.94, Z:-1.78 [[ 9.91410456e-01 -1.26028660e-01 3.49583194e-02 1.06434103e+02] [ 1.25962784e-01 9.92026539e-01 4.08929303e-03 1.93811159e+00] [-3.51949487e-02 3.49279353e-04 9.99380405e-01 -1.77804791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.01592 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:106.47, Y:1.94, Z:-1.78 [[ 9.91713891e-01 -1.23610809e-01 3.49846527e-02 1.06465970e+02] [ 1.23551867e-01 9.92330647e-01 3.85001458e-03 1.94226106e+00] [-3.51922464e-02 5.04306204e-04 9.99380434e-01 -1.77986881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.04592 meters Centerline goodness : 0.999254 Centerline is valid? [True, True] Translation: X:106.50, Y:1.95, Z:-1.78 [[ 9.91919027e-01 -1.21953260e-01 3.49863796e-02 1.06498413e+02] [ 1.21893843e-01 9.92535737e-01 3.83425671e-03 1.94572363e+00] [-3.51928322e-02 4.61352065e-04 9.99380434e-01 -1.78206420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.07592 meters Centerline goodness : 0.998807 Centerline is valid? [True, True] Translation: X:106.53, Y:1.95, Z:-1.77 [[ 9.91892911e-01 -1.22164919e-01 3.49883541e-02 1.06528805e+02] [ 1.22106272e-01 9.92509695e-01 3.81615326e-03 1.94830749e+00] [-3.51924808e-02 4.87082134e-04 9.99380434e-01 -1.77051799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.10592 meters Centerline goodness : 0.999254 Centerline is valid? [True, True] Translation: X:106.56, Y:1.95, Z:-1.78 [[ 9.92223523e-01 -1.19457771e-01 3.49617186e-02 1.06561148e+02] [ 1.19388820e-01 9.92839272e-01 4.06077128e-03 1.94965741e+00] [-3.51964579e-02 1.44845532e-04 9.99380402e-01 -1.78306807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.13592 meters Centerline goodness : 0.998408 Centerline is valid? [True, True] Translation: X:106.59, Y:1.95, Z:-1.77 [[ 9.91886736e-01 -1.22214501e-01 3.49902720e-02 1.06590681e+02] [ 1.22156535e-01 9.92503581e-01 3.79770522e-03 1.95228472e+00] [-3.51921049e-02 5.07396946e-04 9.99380437e-01 -1.77337060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.16592 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:106.62, Y:1.96, Z:-1.79 [[ 9.92142085e-01 -1.20130936e-01 3.49663014e-02 1.06623316e+02] [ 1.20063885e-01 9.92758034e-01 4.01867685e-03 1.95609867e+00] [-3.51958441e-02 2.11091578e-04 9.99380412e-01 -1.78631502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.19592 meters Centerline goodness : 0.998106 Centerline is valid? [True, True] Translation: X:106.65, Y:1.96, Z:-1.77 [[ 9.91889349e-01 -1.22192785e-01 3.49920369e-02 1.06653338e+02] [ 1.22135414e-01 9.92506246e-01 3.78047959e-03 1.95967190e+00] [-3.51917625e-02 5.23949456e-04 9.99380441e-01 -1.77269727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.22592 meters Centerline goodness : 0.998356 Centerline is valid? [True, True] Translation: X:106.69, Y:1.96, Z:-1.77 [[ 9.92100045e-01 -1.20479749e-01 3.49589944e-02 1.06685799e+02] [ 1.20410505e-01 9.92715773e-01 4.08705123e-03 1.96422600e+00] [-3.51967521e-02 1.54666481e-04 9.99380390e-01 -1.77233806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.25591999999999 meters Centerline goodness : 0.999502 Centerline is valid? [True, True] Translation: X:106.72, Y:1.97, Z:-1.79 [[ 9.92328200e-01 -1.18581795e-01 3.49728729e-02 1.06717981e+02] [ 1.18515946e-01 9.92944264e-01 3.95729222e-03 1.96946338e+00] [-3.51953763e-02 2.17910441e-04 9.99380427e-01 -1.79082787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.28591999999999 meters Centerline goodness : 0.998504 Centerline is valid? [True, True] Translation: X:106.75, Y:1.98, Z:-1.78 [[ 9.92375132e-01 -1.18180941e-01 3.49980471e-02 1.06748143e+02] [ 1.18123190e-01 9.92991979e-01 3.72049196e-03 1.97628815e+00] [-3.51924713e-02 4.41957286e-04 9.99380455e-01 -1.78098582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.31591999999999 meters Centerline goodness : 0.999005 Centerline is valid? [True, True] Translation: X:106.78, Y:1.98, Z:-1.79 [[ 9.92549146e-01 -1.16714320e-01 3.49851543e-02 1.06779974e+02] [ 1.16651378e-01 9.93165493e-01 3.84189660e-03 1.97956970e+00] [-3.51944523e-02 2.67795275e-04 9.99380447e-01 -1.79297957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.34591999999999 meters Centerline goodness : 0.998955 Centerline is valid? [True, True] Translation: X:106.81, Y:1.98, Z:-1.78 [[ 9.92351680e-01 -1.18377061e-01 3.50002128e-02 1.06809795e+02] [ 1.18320175e-01 9.92968605e-01 3.69943215e-03 1.98281551e+00] [-3.51920404e-02 4.70093579e-04 9.99380458e-01 -1.78494623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.37592 meters Centerline goodness : 0.998358 Centerline is valid? [True, True] Translation: X:106.84, Y:1.99, Z:-1.78 [[ 9.92211342e-01 -1.19553756e-01 3.49793138e-02 1.06840239e+02] [ 1.19490620e-01 9.92827680e-01 3.89743282e-03 1.98769385e+00] [-3.51943837e-02 3.12622848e-04 9.99380437e-01 -1.78061151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.40592 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:106.87, Y:1.99, Z:-1.80 [[ 9.92393138e-01 -1.18039599e-01 3.49644618e-02 1.06873057e+02] [ 1.17970553e-01 9.93008882e-01 4.03848991e-03 1.99304350e+00] [-3.51967229e-02 1.17007212e-04 9.99380397e-01 -1.79680921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.43592 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:106.91, Y:2.00, Z:-1.80 [[ 9.92301533e-01 -1.18795681e-01 3.50036337e-02 1.06905180e+02] [ 1.18740294e-01 9.92918584e-01 3.66432209e-03 1.99880243e+00] [-3.51910641e-02 5.20229325e-04 9.99380467e-01 -1.79727189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.46592 meters Centerline goodness : 0.998008 Centerline is valid? [True, True] Translation: X:106.94, Y:2.00, Z:-1.78 [[ 9.92259653e-01 -1.19144499e-01 3.50052784e-02 1.06935512e+02] [ 1.19089885e-01 9.92876774e-01 3.64854287e-03 2.00148407e+00] [-3.51906317e-02 5.48472680e-04 9.99380467e-01 -1.78250309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.49592 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:106.97, Y:2.00, Z:-1.80 [[ 9.92302539e-01 -1.18792144e-01 3.49871178e-02 1.06967968e+02] [ 1.18731153e-01 9.92919079e-01 3.82318403e-03 2.00431121e+00] [-3.51935410e-02 3.60305607e-04 9.99380451e-01 -1.79936501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.52592 meters Centerline goodness : 0.998254 Centerline is valid? [True, True] Translation: X:107.00, Y:2.01, Z:-1.79 [[ 9.92179649e-01 -1.19808306e-01 3.50073458e-02 1.06998750e+02] [ 1.19754828e-01 9.92796867e-01 3.62800749e-03 2.00761350e+00] [-3.51898486e-02 5.92663485e-04 9.99380470e-01 -1.78898755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.55592 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:107.03, Y:2.01, Z:-1.80 [[ 9.92165382e-01 -1.19928862e-01 3.49989044e-02 1.07030624e+02] [ 1.19872588e-01 9.92782354e-01 3.70942455e-03 2.00903341e+00] [-3.51911618e-02 5.15046633e-04 9.99380467e-01 -1.80017822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.58592 meters Centerline goodness : 0.998306 Centerline is valid? [True, True] Translation: X:107.06, Y:2.01, Z:-1.79 [[ 9.92341111e-01 -1.18463287e-01 3.50081411e-02 1.07062387e+02] [ 1.18409252e-01 9.92958279e-01 3.62010285e-03 2.01159803e+00] [-3.51904728e-02 5.52910931e-04 9.99380471e-01 -1.79188567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.61591999999999 meters Centerline goodness : 0.998954 Centerline is valid? [True, True] Translation: X:107.09, Y:2.02, Z:-1.80 [[ 9.92518586e-01 -1.16962488e-01 3.50233246e-02 1.07091847e+02] [ 1.16912716e-01 9.93136122e-01 3.47277347e-03 2.01567924e+00] [-3.51891130e-02 6.47879792e-04 9.99380461e-01 -1.80283396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.64591999999999 meters Centerline goodness : 0.998953 Centerline is valid? [True, True] Translation: X:107.12, Y:2.02, Z:-1.80 [[ 9.92783926e-01 -1.14692669e-01 3.50095308e-02 1.07125000e+02] [ 1.14636763e-01 9.93400928e-01 3.60667161e-03 2.01933681e+00] [-3.51921592e-02 4.32733679e-04 9.99380470e-01 -1.80344709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.67591999999999 meters Centerline goodness : 0.997463 Centerline is valid? [True, True] Translation: X:107.16, Y:2.02, Z:-1.79 [[ 9.93480700e-01 -1.08491014e-01 3.50113930e-02 1.07157664e+02] [ 1.08431897e-01 9.94097403e-01 3.58850318e-03 2.02104221e+00] [-3.51940552e-02 2.31243106e-04 9.99380471e-01 -1.79338396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.70591999999999 meters Centerline goodness : 0.954132 Centerline is valid? [True, True] Translation: X:107.23, Y:2.05, Z:-1.82 [[ 9.95061632e-01 -9.28767274e-02 3.50180353e-02 1.07225364e+02] [ 9.28102228e-02 9.95677582e-01 3.52343102e-03 2.05490413e+00] [-3.51939175e-02 -2.55999363e-04 9.99380469e-01 -1.81942273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.73592 meters Centerline goodness : 0.985645 Centerline is valid? [True, True] Translation: X:107.07, Y:2.08, Z:-1.81 [[ 9.99256789e-01 1.49832444e-02 3.55158133e-02 1.07073989e+02] [-1.45532005e-02 9.99817994e-01 -1.23362779e-02 2.07510879e+00] [-3.56941867e-02 1.18102407e-02 9.99292972e-01 -1.80727977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.76592 meters Centerline goodness : 0.997363 Centerline is valid? [True, True] Translation: X:107.14, Y:2.08, Z:-1.79 [[ 9.98758167e-01 3.46104349e-02 3.58363158e-02 1.07136417e+02] [-3.47010429e-02 9.99395914e-01 1.90931572e-03 2.08386700e+00] [-3.57485853e-02 -3.15050220e-03 9.99355849e-01 -1.79100357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.79592 meters Centerline goodness : 0.974096 Centerline is valid? [True, True] Translation: X:107.17, Y:2.06, Z:-1.81 [[ 9.98658813e-01 -3.74518166e-02 3.57482365e-02 1.07174353e+02] [ 3.75150790e-02 9.99295456e-01 -1.10031211e-03 2.05585254e+00] [-3.56818416e-02 2.43993430e-03 9.99360222e-01 -1.80994198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.82592 meters Centerline goodness : 0.937762 Centerline is valid? [True, False] Translation: X:107.19, Y:2.07, Z:-1.81 [[ 9.99422786e-01 -2.06600836e-02 2.69676785e-02 1.07187752e+02] [ 2.08912093e-02 9.99747160e-01 -8.31701673e-03 2.06705288e+00] [-2.67890298e-02 8.87560345e-03 9.99601706e-01 -1.80846697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.85592 meters Centerline goodness : 0.998805 Centerline is valid? [False, True] Translation: X:107.21, Y:2.07, Z:-1.81 [[ 9.99754002e-01 -6.12581182e-03 2.13169047e-02 1.07210185e+02] [ 6.15972407e-03 9.99979865e-01 -1.52556446e-03 2.06607095e+00] [-2.13071302e-02 1.65649543e-03 9.99771605e-01 -1.80564751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.88592 meters Centerline goodness : 0.934243 Centerline is valid? [True, False] Translation: X:107.21, Y:2.07, Z:-1.81 [[ 9.99758294e-01 -6.05513041e-03 2.11350066e-02 1.07210659e+02] [ 6.09559011e-03 9.99979710e-01 -1.85044777e-03 2.06767879e+00] [-2.11233731e-02 1.97883085e-03 9.99774918e-01 -1.80594341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.91592 meters Centerline goodness : 0.997860 Centerline is valid? [False, True] Translation: X:107.21, Y:2.07, Z:-1.81 [[ 9.99777774e-01 -1.81653230e-03 2.10024427e-02 1.07210939e+02] [ 1.78242662e-03 9.99997063e-01 1.64249687e-03 2.07122203e+00] [-2.10053647e-02 -1.60469655e-03 9.99778075e-01 -1.80635737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.94592 meters Centerline goodness : 0.998003 Centerline is valid? [True, True] Translation: X:107.24, Y:2.08, Z:-1.81 [[ 9.99778746e-01 4.15832253e-04 2.10306112e-02 1.07243510e+02] [-4.22956701e-04 9.99999855e-01 3.34318745e-04 2.07782025e+00] [-2.10304691e-02 -3.43139814e-04 9.99778776e-01 -1.80694337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.97592 meters Centerline goodness : 0.998555 Centerline is valid? [True, True] Translation: X:107.28, Y:2.09, Z:-1.81 [[ 9.99769475e-01 4.32305743e-03 2.10311439e-02 1.07276153e+02] [-4.33052046e-03 9.99990575e-01 3.09325673e-04 2.08706726e+00] [-2.10296085e-02 -4.00330164e-04 9.99778773e-01 -1.80702876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.00591999999999 meters Centerline goodness : 0.998454 Centerline is valid? [True, True] Translation: X:107.31, Y:2.09, Z:-1.81 [[ 9.99775675e-01 2.50474885e-03 2.10315371e-02 1.07305376e+02] [-2.51141844e-03 9.99996804e-01 2.90716841e-04 2.09190574e+00] [-2.10307417e-02 -3.43470616e-04 9.99778770e-01 -1.80656698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.03591999999999 meters Centerline goodness : 0.998205 Centerline is valid? [True, True] Translation: X:107.34, Y:2.10, Z:-1.81 [[ 9.99755414e-01 6.85667290e-03 2.10261256e-02 1.07339957e+02] [-6.86965659e-03 9.99976255e-01 5.45334563e-04 2.10251543e+00] [-2.10218871e-02 -6.89643444e-04 9.99778778e-01 -1.80679696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.06591999999999 meters Centerline goodness : 0.998605 Centerline is valid? [True, True] Translation: X:107.37, Y:2.11, Z:-1.82 [[ 9.99760489e-01 6.05333990e-03 2.10314225e-02 1.07371316e+02] [-6.06072919e-03 9.99981592e-01 2.87622176e-04 2.10698206e+00] [-2.10292942e-02 -4.15019044e-04 9.99778774e-01 -1.81649010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.09591999999999 meters Centerline goodness : 0.998854 Centerline is valid? [True, True] Translation: X:107.40, Y:2.11, Z:-1.82 [[ 9.99770287e-01 4.14448237e-03 2.10284899e-02 1.07403890e+02] [-4.15445929e-03 9.99991277e-01 4.30784141e-04 2.11165250e+00] [-2.10265211e-02 -5.18047190e-04 9.99778784e-01 -1.81620390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.12592 meters Centerline goodness : 0.998458 Centerline is valid? [True, True] Translation: X:107.43, Y:2.12, Z:-1.81 [[ 9.99774725e-01 -2.87977851e-03 2.10287080e-02 1.07433550e+02] [ 2.87158414e-03 9.99995789e-01 4.19861266e-04 2.12134807e+00] [-2.10298285e-02 -3.59380977e-04 9.99778784e-01 -1.80792899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.15592 meters Centerline goodness : 0.999402 Centerline is valid? [True, True] Translation: X:107.47, Y:2.13, Z:-1.82 [[ 9.99775660e-01 -2.56256444e-03 2.10253057e-02 1.07467187e+02] [ 2.55065542e-03 9.99996571e-01 5.93211225e-04 2.12697786e+00] [-2.10267537e-02 -5.39449834e-04 9.99778768e-01 -1.81719425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.18592 meters Centerline goodness : 0.999402 Centerline is valid? [True, True] Translation: X:107.50, Y:2.13, Z:-1.82 [[ 9.99776811e-01 -2.02775994e-03 2.10289531e-02 1.07500686e+02] [ 2.01973552e-03 9.99997879e-01 4.02821060e-04 2.12809470e+00] [-2.10297253e-02 -3.60258231e-04 9.99778786e-01 -1.81789637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.21592 meters Centerline goodness : 0.999253 Centerline is valid? [True, True] Translation: X:107.53, Y:2.13, Z:-1.81 [[ 9.99753684e-01 -7.09541267e-03 2.10291611e-02 1.07530864e+02] [ 7.08874377e-03 9.99974798e-01 3.91653791e-04 2.13452374e+00] [-2.10314101e-02 -2.42486986e-04 9.99778786e-01 -1.81337835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.24592 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:107.56, Y:2.14, Z:-1.82 [[ 9.99750662e-01 -7.51681066e-03 2.10264496e-02 1.07563947e+02] [ 7.50710885e-03 9.99971675e-01 5.40305627e-04 2.13653092e+00] [-2.10299154e-02 -3.82323062e-04 9.99778774e-01 -1.81985606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.27592 meters Centerline goodness : 0.990841 Centerline is valid? [True, True] Translation: X:107.62, Y:2.12, Z:-1.83 [[ 9.98042389e-01 -5.88995191e-02 2.10293979e-02 1.07618790e+02] [ 5.89046695e-02 9.98263542e-01 3.74972673e-04 2.12215763e+00] [-2.10149670e-02 8.64491115e-04 9.99778787e-01 -1.82926654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.30592 meters Centerline goodness : 0.991433 Centerline is valid? [True, True] Translation: X:107.65, Y:2.13, Z:-1.83 [[ 9.97781395e-01 -6.31555675e-02 2.10632712e-02 1.07649246e+02] [ 6.32163151e-02 9.97997357e-01 -2.23012278e-03 2.12735579e+00] [-2.08802443e-02 3.55671741e-03 9.99775657e-01 -1.82838143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.33592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.65, Y:2.15, Z:-1.82 [[ 9.99626128e-01 -1.74431219e-02 2.10556815e-02 1.07652548e+02] [ 1.74857356e-02 9.99845417e-01 -1.84143633e-03 2.14931929e+00] [-2.10203062e-02 2.20892195e-03 9.99776609e-01 -1.82136370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.36591999999999 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:107.68, Y:2.15, Z:-1.81 [[ 9.99527916e-01 -2.24280636e-02 2.09982542e-02 1.07681525e+02] [ 2.24222404e-02 9.99748458e-01 5.12745381e-04 2.15004784e+00] [-2.10044722e-02 -4.16754178e-05 9.99779381e-01 -1.81103532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.39591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.71, Y:2.15, Z:-1.82 [[ 9.99568023e-01 -2.05687803e-02 2.09926651e-02 1.07714885e+02] [ 2.05577031e-02 9.99788392e-01 7.43360646e-04 2.15284617e+00] [-2.10035129e-02 -3.11478554e-04 9.99779353e-01 -1.82493130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.42591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.75, Y:2.15, Z:-1.82 [[ 9.99552655e-01 -2.12967725e-02 2.09984865e-02 1.07747664e+02] [ 2.12910126e-02 9.99773197e-01 4.97850038e-04 2.15476348e+00] [-2.10043266e-02 -5.05482865e-05 9.99779384e-01 -1.82476016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.45591999999999 meters Centerline goodness : 0.836382 Centerline is valid? [True, False] Translation: X:107.75, Y:2.17, Z:-1.82 [[ 9.99822879e-01 -1.07394013e-02 1.54555816e-02 1.07751677e+02] [ 1.08943129e-02 9.99890911e-01 -9.97397222e-03 2.16681469e+00] [-1.53467811e-02 1.01405836e-02 9.99830808e-01 -1.82474531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.48592 meters Centerline goodness : 0.843875 Centerline is valid? [False, False] Translation: X:107.76, Y:2.18, Z:-1.82 [[ 9.99958058e-01 -2.38808353e-03 8.84187766e-03 1.07755853e+02] [ 2.59046499e-03 9.99733287e-01 -2.29487171e-02 2.18215144e+00] [-8.78471596e-03 2.29706592e-02 9.99697543e-01 -1.82403148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.51592 meters Centerline goodness : 0.999901 Centerline is valid? [False, True] Translation: X:107.76, Y:2.18, Z:-1.82 [[ 9.99959773e-01 -2.25756359e-03 8.68077518e-03 1.07756282e+02] [ 2.45882802e-03 9.99726781e-01 -2.32447351e-02 2.18366580e+00] [-8.62592696e-03 2.32651446e-02 9.99692116e-01 -1.82397294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.54592 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:107.79, Y:2.16, Z:-1.82 [[ 9.99954448e-01 -3.89781748e-03 8.71256426e-03 1.07785858e+02] [ 3.89806161e-03 9.99992402e-01 -1.10388617e-05 2.16471042e+00] [-8.71245504e-03 4.50004711e-05 9.99962045e-01 -1.81593640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.57592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.82, Y:2.17, Z:-1.83 [[ 9.99960585e-01 -1.70846019e-03 8.71261093e-03 1.07818104e+02] [ 1.70824215e-03 9.99998540e-01 3.24673263e-05 2.16692981e+00] [-8.71265369e-03 -1.75827973e-05 9.99962044e-01 -1.82714605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.60592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.85, Y:2.17, Z:-1.83 [[ 9.99961973e-01 3.79521944e-04 8.71254560e-03 1.07849856e+02] [-3.79426348e-04 9.99999928e-01 -1.26250767e-05 2.17356645e+00] [-8.71254977e-03 9.31882729e-06 9.99962045e-01 -1.82721506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.63592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:107.88, Y:2.18, Z:-1.81 [[ 9.99961728e-01 -7.96853099e-04 8.71254381e-03 1.07879846e+02] [ 7.97003252e-04 9.99999682e-01 -1.37620888e-05 2.17803649e+00] [-8.71253007e-03 2.07054879e-05 9.99962045e-01 -1.81484400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.66592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:107.91, Y:2.18, Z:-1.82 [[ 9.99962014e-01 2.45442579e-04 8.71264814e-03 1.07912535e+02] [-2.45852815e-04 9.99999969e-01 4.60141657e-05 2.18266702e+00] [-8.71263658e-03 -4.81544469e-05 9.99962043e-01 -1.81612812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.69592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:107.94, Y:2.19, Z:-1.81 [[ 9.99961380e-01 1.15254419e-03 8.71260637e-03 1.07943694e+02] [-1.15282665e-03 9.99999335e-01 2.73973398e-05 2.19030041e+00] [-8.71256900e-03 -3.74404065e-05 9.99962044e-01 -1.81400301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.72592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.98, Y:2.20, Z:-1.82 [[ 9.99962029e-01 1.79219952e-04 8.71259358e-03 1.07975575e+02] [-1.79419046e-04 9.99999984e-01 2.20697565e-05 2.19690223e+00] [-8.71258948e-03 -2.36321237e-05 9.99962044e-01 -1.81581067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.75591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.01, Y:2.20, Z:-1.83 [[ 9.99961981e-01 3.54568511e-04 8.71264693e-03 1.08008869e+02] [-3.54929668e-04 9.99999936e-01 3.99059003e-05 2.19936555e+00] [-8.71263223e-03 -4.29967600e-05 9.99962043e-01 -1.82917056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.78591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.04, Y:2.20, Z:-1.83 [[ 9.99959718e-01 -2.15794381e-03 8.71240156e-03 1.08041139e+02] [ 2.15829064e-03 9.99997670e-01 -3.04068012e-05 2.20133276e+00] [-8.71231565e-03 4.92094711e-05 9.99962046e-01 -1.82954674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.81591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.07, Y:2.20, Z:-1.82 [[ 9.99912121e-01 -9.99219825e-03 8.71238617e-03 1.08070162e+02] [ 9.99287645e-03 9.99950069e-01 -3.43141498e-05 2.20438834e+00] [-8.71160828e-03 1.21372933e-04 9.99962046e-01 -1.81675054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.84591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.10, Y:2.21, Z:-1.83 [[ 9.99911780e-01 -1.00259465e-02 8.71276469e-03 1.08103877e+02] [ 1.00257946e-02 9.99949739e-01 6.11061208e-05 2.20677461e+00] [-8.71293942e-03 2.62516594e-05 9.99962041e-01 -1.82982731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.87592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.14, Y:2.21, Z:-1.83 [[ 9.99868514e-01 -1.36766176e-02 8.71232147e-03 1.08136507e+02] [ 1.36774738e-02 9.99906458e-01 -3.86953297e-05 2.21187441e+00] [-8.71097728e-03 1.57852791e-04 9.99962046e-01 -1.82947211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.90592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.17, Y:2.21, Z:-1.83 [[ 9.99855005e-01 -1.46309300e-02 8.71229978e-03 1.08169667e+02] [ 1.46318606e-02 9.99892948e-01 -4.30814467e-05 2.21438691e+00] [-8.71073678e-03 1.70552356e-04 9.99962046e-01 -1.83063259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.93592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.20, Y:2.22, Z:-1.83 [[ 9.99769517e-01 -1.96216698e-02 8.71227641e-03 1.08202836e+02] [ 1.96228272e-02 9.99807453e-01 -4.73783663e-05 2.21691990e+00] [-8.70966924e-03 2.18326941e-04 9.99962046e-01 -1.83152113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.96592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.23, Y:2.22, Z:-1.83 [[ 9.99719118e-01 -2.20404686e-02 8.71225116e-03 1.08234933e+02] [ 2.20417548e-02 9.99757050e-01 -5.16388080e-05 2.21806633e+00] [-8.70899637e-03 2.43657608e-04 9.99962046e-01 -1.83084615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.99592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.27, Y:2.22, Z:-1.83 [[ 9.99546501e-01 -2.88251425e-02 8.71222755e-03 1.08267203e+02] [ 2.88267185e-02 9.99584422e-01 -5.53550920e-05 2.22110671e+00] [-8.70701132e-03 3.06474920e-04 9.99962046e-01 -1.83116482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.02592 meters Centerline goodness : 0.908025 Centerline is valid? [True, False] Translation: X:108.27, Y:2.23, Z:-1.83 [[ 9.99816405e-01 -1.89202719e-02 3.02968811e-03 1.08270067e+02] [ 1.89519797e-02 9.99762027e-01 -1.08033705e-02 2.23486017e+00] [-2.82456442e-03 1.08588056e-02 9.99937052e-01 -1.83075847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.05592 meters Centerline goodness : 1.000000 Centerline is valid? [False, True] Translation: X:108.29, Y:2.24, Z:-1.83 [[ 9.99972790e-01 -7.34938007e-03 6.37187674e-04 1.08290335e+02] [ 7.35443506e-03 9.99938247e-01 -8.33147734e-03 2.23585045e+00] [-5.75917132e-04 8.33593679e-03 9.99965090e-01 -1.82799534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.08592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.32, Y:2.23, Z:-1.83 [[ 9.99956444e-01 -9.28502330e-03 9.48119784e-04 1.08321769e+02] [ 9.28516169e-03 9.99956882e-01 -1.41663810e-04 2.22694429e+00] [-9.46763551e-04 1.50461085e-04 9.99999541e-01 -1.83062694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.11591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.35, Y:2.23, Z:-1.83 [[ 9.99926138e-01 -1.21165318e-02 9.52526347e-04 1.08354329e+02] [ 1.21165627e-02 9.99926591e-01 -2.66679864e-05 2.22550866e+00] [-9.52133300e-04 3.82073618e-05 9.99999546e-01 -1.82929920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.14591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.39, Y:2.22, Z:-1.83 [[ 9.99943733e-01 -1.05652367e-02 9.52647722e-04 1.08386637e+02] [ 1.05652640e-02 9.99944186e-01 -2.36213809e-05 2.22337012e+00] [-9.52344985e-04 3.36850265e-05 9.99999546e-01 -1.83133281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.17591999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:108.42, Y:2.22, Z:-1.83 [[ 9.99981784e-01 -5.96024155e-03 9.52706121e-04 1.08419269e+02] [ 5.96026537e-03 9.99982237e-01 -2.21659136e-05 2.21804854e+00] [-9.52557084e-04 2.78438911e-05 9.99999546e-01 -1.83145549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.20591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.45, Y:2.21, Z:-1.85 [[ 9.99969758e-01 -7.71865200e-03 9.51865559e-04 1.08450145e+02] [ 7.71869613e-03 9.99970210e-01 -4.27015094e-05 2.21488443e+00] [-9.51507605e-04 5.00473791e-05 9.99999546e-01 -1.84533438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.23592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.48, Y:2.21, Z:-1.85 [[ 9.99974717e-01 -7.04695760e-03 9.52014886e-04 1.08482608e+02] [ 7.04699798e-03 9.99975169e-01 -3.90621414e-05 2.21177166e+00] [-9.51715977e-04 4.57700008e-05 9.99999546e-01 -1.84600116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.26592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.52, Y:2.21, Z:-1.85 [[ 9.99977396e-01 -6.65598652e-03 9.51998897e-04 1.08515095e+02] [ 6.65602709e-03 9.99977848e-01 -3.94480044e-05 2.20901573e+00] [-9.51715243e-04 4.57836431e-05 9.99999546e-01 -1.84566445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.29592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.55, Y:2.21, Z:-1.85 [[ 9.99980200e-01 -6.22037766e-03 9.51982800e-04 1.08546841e+02] [ 6.22041839e-03 9.99980652e-01 -3.98327227e-05 2.20598682e+00] [-9.51716606e-04 4.57536654e-05 9.99999546e-01 -1.84608572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.32592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.58, Y:2.20, Z:-1.83 [[ 9.99976412e-01 -6.80209870e-03 9.51979357e-04 1.08577073e+02] [ 6.80213978e-03 9.99976864e-01 -3.99148377e-05 2.20150563e+00] [-9.51685828e-04 4.63893929e-05 9.99999546e-01 -1.83136953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.35592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.61, Y:2.20, Z:-1.83 [[ 9.99971066e-01 -7.54717050e-03 9.52092757e-04 1.08608419e+02] [ 7.54720935e-03 9.99971519e-01 -3.72156764e-05 2.19961839e+00] [-9.51784767e-04 4.44002429e-05 9.99999546e-01 -1.83205321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.38592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.64, Y:2.19, Z:-1.83 [[ 9.99995064e-01 -2.99435681e-03 9.52260573e-04 1.08640363e+02] [ 2.99438982e-03 9.99995516e-01 -3.32385580e-05 2.19418285e+00] [-9.52156775e-04 3.60898332e-05 9.99999546e-01 -1.83455239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.41592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:108.67, Y:2.19, Z:-1.85 [[ 9.99981491e-01 -6.00934374e-03 9.51570868e-04 1.08669779e+02] [ 6.00939360e-03 9.99981942e-01 -4.95453450e-05 2.19067489e+00] [-9.51255949e-04 5.52627919e-05 9.99999546e-01 -1.84590123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.44592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.70, Y:2.18, Z:-1.83 [[ 9.99990023e-01 -4.36447733e-03 9.51965354e-04 1.08700615e+02] [ 4.36451757e-03 9.99990475e-01 -4.02047268e-05 2.18455790e+00] [-9.51780813e-04 4.43591952e-05 9.99999546e-01 -1.83208688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.47592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.73, Y:2.18, Z:-1.85 [[ 9.99986409e-01 -5.12597686e-03 9.51881878e-04 1.08731853e+02] [ 5.12601932e-03 9.99986861e-01 -4.21743766e-05 2.18266545e+00] [-9.51653186e-04 4.70531684e-05 9.99999546e-01 -1.84580494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.50591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.76, Y:2.18, Z:-1.85 [[ 9.99997011e-01 -2.25200411e-03 9.51950112e-04 1.08763557e+02] [ 2.25204375e-03 9.99997463e-01 -4.05734433e-05 2.17888567e+00] [-9.51856326e-04 4.27171554e-05 9.99999546e-01 -1.84562296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.53591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.80, Y:2.18, Z:-1.85 [[ 9.99999543e-01 -9.15982081e-05 9.51946587e-04 1.08795026e+02] [ 9.16369519e-05 9.99999995e-01 -4.06559740e-05 2.17585190e+00] [-9.51942858e-04 4.07431889e-05 9.99999546e-01 -1.84654005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.56591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.83, Y:2.17, Z:-1.84 [[ 9.99989029e-01 4.58646574e-03 9.51944222e-04 1.08826385e+02] [-4.58642906e-03 9.99989481e-01 -4.07112715e-05 2.17094389e+00] [-9.52120930e-04 3.63448002e-05 9.99999546e-01 -1.83528010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.59591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.86, Y:2.17, Z:-1.83 [[ 9.99970290e-01 7.64945608e-03 9.51726710e-04 1.08857825e+02] [-7.64941595e-03 9.99970742e-01 -4.58017924e-05 2.17002340e+00] [-9.52049223e-04 3.85202782e-05 9.99999546e-01 -1.83449869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.62592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:108.89, Y:2.17, Z:-1.83 [[ 9.99949291e-01 1.00254276e-02 9.51806380e-04 1.08888231e+02] [-1.00253903e-02 9.99949744e-01 -4.39310010e-05 2.16651869e+00] [-9.52198972e-04 3.43865428e-05 9.99999546e-01 -1.83298934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.65592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.92, Y:2.16, Z:-1.85 [[ 9.99927976e-01 1.19639726e-02 9.51960372e-04 1.08918485e+02] [-1.19639397e-02 9.99928429e-01 -4.02933800e-05 2.16438930e+00] [-9.52374308e-04 2.89012815e-05 9.99999546e-01 -1.84584957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.68592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.95, Y:2.16, Z:-1.83 [[ 9.99888255e-01 1.49188200e-02 9.51959605e-04 1.08948860e+02] [-1.49187884e-02 9.99888708e-01 -4.03114869e-05 2.16031945e+00] [-9.52455060e-04 2.61048984e-05 9.99999546e-01 -1.83434501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.71592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.98, Y:2.16, Z:-1.83 [[ 9.99866393e-01 1.63183853e-02 9.52061758e-04 1.08979546e+02] [-1.63183566e-02 9.99866846e-01 -3.79069802e-05 2.15899269e+00] [-9.52553568e-04 2.23658323e-05 9.99999546e-01 -1.83458707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.74592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.01, Y:2.16, Z:-1.84 [[ 9.99889284e-01 1.48496939e-02 9.52064717e-04 1.09008876e+02] [-1.48496646e-02 9.99889737e-01 -3.78374334e-05 2.15667409e+00] [-9.52521613e-04 2.36954025e-05 9.99999546e-01 -1.83781020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.77592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.04, Y:2.15, Z:-1.85 [[ 9.99870644e-01 1.60557825e-02 9.52332569e-04 1.09041060e+02] [-1.60557597e-02 9.99871097e-01 -3.15263423e-05 2.15261165e+00] [-9.52715991e-04 1.62318413e-05 9.99999546e-01 -1.84522138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.80592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.07, Y:2.15, Z:-1.84 [[ 9.99884596e-01 1.51620763e-02 9.51946771e-04 1.09071482e+02] [-1.51620445e-02 9.99885049e-01 -4.05772147e-05 2.15005043e+00] [-9.52452578e-04 2.61390726e-05 9.99999546e-01 -1.83669029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.83592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.10, Y:2.15, Z:-1.85 [[ 9.99901271e-01 1.40193128e-02 9.52036907e-04 1.09101891e+02] [-1.40192826e-02 9.99901724e-01 -3.84580077e-05 2.14834789e+00] [-9.52482500e-04 2.51073363e-05 9.99999546e-01 -1.84713110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.86591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.13, Y:2.15, Z:-1.85 [[ 9.99918266e-01 1.27496828e-02 9.51945131e-04 1.09132069e+02] [-1.27496499e-02 9.99918719e-01 -4.06093765e-05 2.14616317e+00] [-9.52385513e-04 2.84690903e-05 9.99999546e-01 -1.84706448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.89591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.16, Y:2.14, Z:-1.83 [[ 9.99943950e-01 1.05446834e-02 9.51945131e-04 1.09160971e+02] [-1.05446495e-02 9.99944403e-01 -4.06093765e-05 2.14292349e+00] [-9.52320419e-04 3.05691726e-05 9.99999546e-01 -1.83273662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.92591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.19, Y:2.14, Z:-1.84 [[ 9.99937376e-01 1.11506265e-02 9.52346206e-04 1.09192102e+02] [-1.11506019e-02 9.99937830e-01 -3.11649334e-05 2.14146872e+00] [-9.52634507e-04 2.05437484e-05 9.99999546e-01 -1.83598035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.95591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.22, Y:2.14, Z:-1.84 [[ 9.99940600e-01 1.08577259e-02 9.52115049e-04 1.09222367e+02] [-1.08576960e-02 9.99941053e-01 -3.65615526e-05 2.14106825e+00] [-9.52455900e-04 2.62216051e-05 9.99999546e-01 -1.83631121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.98592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.25, Y:2.14, Z:-1.83 [[ 9.99935699e-01 1.13000913e-02 9.52183784e-04 1.09252647e+02] [-1.13000631e-02 9.99936152e-01 -3.49603456e-05 2.14010226e+00] [-9.52518044e-04 2.41983608e-05 9.99999546e-01 -1.83337137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.01592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.28, Y:2.14, Z:-1.83 [[ 9.99923872e-01 1.23021823e-02 9.52248262e-04 1.09283612e+02] [-1.23021561e-02 9.99924325e-01 -3.34562491e-05 2.13976745e+00] [-9.52587785e-04 2.17389955e-05 9.99999546e-01 -1.83446789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.04592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.32, Y:2.14, Z:-1.85 [[ 9.99857701e-01 1.68425538e-02 9.52233492e-04 1.09315350e+02] [-1.68425293e-02 9.99858154e-01 -3.37999465e-05 2.14061635e+00] [-9.52667699e-04 1.77571164e-05 9.99999546e-01 -1.84627234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.07592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.35, Y:2.14, Z:-1.85 [[ 9.99842280e-01 1.77343779e-02 9.51927598e-04 1.09345776e+02] [-1.77343470e-02 9.99842733e-01 -4.09166025e-05 2.14121233e+00] [-9.52503522e-04 2.40283348e-05 9.99999546e-01 -1.84653132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.10592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.38, Y:2.14, Z:-1.85 [[ 9.99842280e-01 1.77343779e-02 9.51927598e-04 1.09376738e+02] [-1.77343470e-02 9.99842733e-01 -4.09166025e-05 2.13988147e+00] [-9.52503522e-04 2.40283348e-05 9.99999546e-01 -1.84656085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.13592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.41, Y:2.14, Z:-1.85 [[ 9.99796882e-01 2.01317580e-02 9.51927598e-04 1.09407085e+02] [-2.01317282e-02 9.99797335e-01 -4.09166025e-05 2.14160558e+00] [-9.52558399e-04 2.17443439e-05 9.99999546e-01 -1.84694380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.16592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.44, Y:2.14, Z:-1.84 [[ 9.99772632e-01 2.13020488e-02 9.51927598e-04 1.09436805e+02] [-2.13020194e-02 9.99773085e-01 -4.09166025e-05 2.14140458e+00] [-9.52583199e-04 2.06293192e-05 9.99999546e-01 -1.83676600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.19592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.47, Y:2.14, Z:-1.83 [[ 9.99735724e-01 2.29690379e-02 9.52012937e-04 1.09467521e+02] [-2.29690113e-02 9.99736177e-01 -3.89264065e-05 2.14406015e+00] [-9.52655876e-04 1.70493233e-05 9.99999546e-01 -1.83053681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.22591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.50, Y:2.15, Z:-1.85 [[ 9.99679386e-01 2.53025459e-02 9.52276835e-04 1.09499614e+02] [-2.53025261e-02 9.99679839e-01 -3.27579371e-05 2.14542814e+00] [-9.52800813e-04 8.65242494e-06 9.99999546e-01 -1.84516098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.25591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.53, Y:2.15, Z:-1.85 [[ 9.99649498e-01 2.64570561e-02 9.51922916e-04 1.09529255e+02] [-2.64570290e-02 9.99649951e-01 -4.09792706e-05 2.14651996e+00] [-9.52673887e-04 1.57798551e-05 9.99999546e-01 -1.84539171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.28591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.56, Y:2.15, Z:-1.84 [[ 9.99610820e-01 2.78801579e-02 9.51925469e-04 1.09558458e+02] [-2.78801316e-02 9.99611273e-01 -4.09198631e-05 2.14982849e+00] [-9.52696282e-04 1.43641305e-05 9.99999546e-01 -1.83559456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.31591999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:109.59, Y:2.15, Z:-1.84 [[ 9.99533160e-01 3.05377780e-02 9.52202563e-04 1.09588689e+02] [-3.05377591e-02 9.99533613e-01 -3.44310218e-05 2.15202956e+00] [-9.52809915e-04 5.33681555e-06 9.99999546e-01 -1.83715027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.34591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.62, Y:2.16, Z:-1.85 [[ 9.99505005e-01 3.14457904e-02 9.52011000e-04 1.09619453e+02] [-3.14457676e-02 9.99505459e-01 -3.89328780e-05 2.15823939e+00] [-9.52764466e-04 8.97688980e-06 9.99999546e-01 -1.84669733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.37592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.65, Y:2.16, Z:-1.85 [[ 9.99497973e-01 3.16685311e-02 9.51944050e-04 1.09648611e+02] [-3.16685069e-02 9.99498426e-01 -4.05062653e-05 2.15968394e+00] [-9.52749354e-04 1.03392833e-05 9.99999546e-01 -1.84668397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.40592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.68, Y:2.16, Z:-1.85 [[ 9.99558211e-01 2.97065221e-02 9.51961686e-04 1.09678015e+02] [-2.97064974e-02 9.99558664e-01 -4.00874740e-05 2.16307550e+00] [-9.52732410e-04 1.17903164e-05 9.99999546e-01 -1.84665371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.43592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:109.71, Y:2.16, Z:-1.84 [[ 9.99537691e-01 3.03891043e-02 9.51979172e-04 1.09708274e+02] [-3.03890803e-02 9.99538144e-01 -3.96678343e-05 2.16476205e+00] [-9.52744965e-04 1.07197240e-05 9.99999546e-01 -1.83698958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.46592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.74, Y:2.17, Z:-1.85 [[ 9.99624619e-01 2.73809195e-02 9.51807263e-04 1.09737301e+02] [-2.73808902e-02 9.99625072e-01 -4.38058114e-05 2.16598906e+00] [-9.52649847e-04 1.77280374e-05 9.99999546e-01 -1.84843319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.49592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:109.77, Y:2.17, Z:-1.85 [[ 9.99687433e-01 2.49826125e-02 9.51996754e-04 1.09766605e+02] [-2.49825865e-02 9.99687886e-01 -3.92044213e-05 2.16879110e+00] [-9.52679051e-04 1.54088260e-05 9.99999546e-01 -1.84942125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.52592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.80, Y:2.17, Z:-1.85 [[ 9.99724559e-01 2.34499235e-02 9.52013662e-04 1.09795620e+02] [-2.34498972e-02 9.99725013e-01 -3.87894275e-05 2.17357665e+00] [-9.52661480e-04 1.64541208e-05 9.99999546e-01 -1.84771568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.55592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.82, Y:2.18, Z:-1.85 [[ 9.99732441e-01 2.31114661e-02 9.52030260e-04 1.09824609e+02] [-2.31114400e-02 9.99732894e-01 -3.83776888e-05 2.17653486e+00] [-9.52662932e-04 1.63646302e-05 9.99999546e-01 -1.84812010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.58592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:109.85, Y:2.18, Z:-1.85 [[ 9.99728386e-01 2.32861944e-02 9.52046783e-04 1.09853721e+02] [-2.32861688e-02 9.99728840e-01 -3.79633325e-05 2.17945849e+00] [-9.52672647e-04 1.57834991e-05 9.99999546e-01 -1.84848743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.61591999999999 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:109.88, Y:2.18, Z:-1.84 [[ 9.99684426e-01 2.51026306e-02 9.52063138e-04 1.09883204e+02] [-2.51026062e-02 9.99684879e-01 -3.75486434e-05 2.18461065e+00] [-9.52705693e-04 1.36375280e-05 9.99999546e-01 -1.83829900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.64591999999999 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:109.91, Y:2.19, Z:-1.85 [[ 9.99716827e-01 2.37772766e-02 9.52013248e-04 1.09912930e+02] [-2.37772504e-02 9.99717280e-01 -3.88224902e-05 2.18566689e+00] [-9.52667188e-04 1.61752394e-05 9.99999546e-01 -1.84932875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.67591999999999 meters Centerline goodness : 0.999402 Centerline is valid? [True, True] Translation: X:109.94, Y:2.19, Z:-1.84 [[ 9.99741685e-01 2.27080897e-02 9.52081244e-04 1.09944257e+02] [-2.27080647e-02 9.99742138e-01 -3.70764385e-05 2.18817182e+00] [-9.52677673e-04 1.54469387e-05 9.99999546e-01 -1.83578852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.70591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.97, Y:2.19, Z:-1.85 [[ 9.99819922e-01 1.89530174e-02 9.51925144e-04 1.09973463e+02] [-1.89529869e-02 9.99820375e-01 -4.10907450e-05 2.18902783e+00] [-9.52532948e-04 2.30415208e-05 9.99999546e-01 -1.84889320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.73592 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:110.00, Y:2.19, Z:-1.83 [[ 9.99850074e-01 1.72894114e-02 9.52093819e-04 1.10003051e+02] [-1.72893842e-02 9.99850527e-01 -3.67168976e-05 2.18921099e+00] [-9.52586320e-04 2.02502769e-05 9.99999546e-01 -1.83494835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.76592 meters Centerline goodness : 0.998856 Centerline is valid? [True, True] Translation: X:110.03, Y:2.19, Z:-1.83 [[ 9.99931975e-01 1.16249092e-02 9.52169977e-04 1.10032239e+02] [-1.16248814e-02 9.99932428e-01 -3.47345875e-05 2.19055830e+00] [-9.52509423e-04 2.36633617e-05 9.99999546e-01 -1.83393728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.79592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:110.06, Y:2.19, Z:-1.85 [[ 9.99944050e-01 1.05351164e-02 9.52513889e-04 1.10063797e+02] [-1.05350966e-02 9.99944504e-01 -2.57617588e-05 2.19362635e+00] [-9.52732431e-04 1.57254916e-05 9.99999546e-01 -1.84871279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.82592 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:110.09, Y:2.19, Z:-1.83 [[ 9.99959148e-01 8.98864659e-03 9.52089395e-04 1.10093327e+02] [-8.98861566e-03 9.99959601e-01 -3.67570952e-05 2.19260877e+00] [-9.52381328e-04 2.81976280e-05 9.99999546e-01 -1.83396454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.85592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.12, Y:2.19, Z:-1.85 [[ 9.99980483e-01 6.17467872e-03 9.52153584e-04 1.10123622e+02] [-6.17464810e-03 9.99980936e-01 -3.50864843e-05 2.19076543e+00] [-9.52352080e-04 2.92065862e-05 9.99999546e-01 -1.84954239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.88592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.15, Y:2.19, Z:-1.85 [[ 9.99998365e-01 1.53758163e-03 9.52101417e-04 1.10153960e+02] [-1.53754762e-03 9.99998817e-01 -3.64491532e-05 2.18928251e+00] [-9.52156334e-04 3.49851924e-05 9.99999546e-01 -1.84990925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.91592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.19, Y:2.19, Z:-1.85 [[ 9.99999334e-01 -6.51791214e-04 9.52101417e-04 1.10185712e+02] [ 6.51826213e-04 9.99999787e-01 -3.64491532e-05 2.18954125e+00] [-9.52077457e-04 3.70697336e-05 9.99999546e-01 -1.84963286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.94592 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:110.22, Y:2.19, Z:-1.83 [[ 9.99991712e-01 -3.95855099e-03 9.52099293e-04 1.10215525e+02] [ 3.95858753e-03 9.99992164e-01 -3.65045355e-05 2.18798654e+00] [-9.51947328e-04 4.02732014e-05 9.99999546e-01 -1.83334116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.97591999999999 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:110.25, Y:2.19, Z:-1.83 [[ 9.99987225e-01 -4.96418361e-03 9.52263624e-04 1.10246459e+02] [ 4.96421657e-03 9.99987678e-01 -3.22460643e-05 2.18522795e+00] [-9.52091814e-04 3.69728952e-05 9.99999546e-01 -1.83282247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.00591999999999 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:110.28, Y:2.18, Z:-1.83 [[ 9.99998920e-01 1.11956636e-03 9.52339111e-04 1.10278635e+02] [-1.11953800e-03 9.99999373e-01 -3.03096708e-05 2.18269169e+00] [-9.52372448e-04 2.92434582e-05 9.99999546e-01 -1.83427212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.03591999999999 meters Centerline goodness : 0.998358 Centerline is valid? [True, True] Translation: X:110.31, Y:2.18, Z:-1.83 [[ 9.99988175e-01 -4.76902426e-03 9.51833052e-04 1.10307096e+02] [ 4.76906757e-03 9.99988627e-01 -4.32440020e-05 2.18346804e+00] [-9.51615995e-04 4.77828468e-05 9.99999546e-01 -1.83271724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.06591999999999 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:110.34, Y:2.18, Z:-1.84 [[ 9.99999015e-01 -1.03132006e-03 9.52482197e-04 1.10340021e+02] [ 1.03134598e-03 9.99999468e-01 -2.67233515e-05 2.18360236e+00] [-9.52454130e-04 2.77056639e-05 9.99999546e-01 -1.83649010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.09591999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:110.37, Y:2.18, Z:-1.85 [[ 9.99999398e-01 5.46327995e-04 9.51914788e-04 1.10370326e+02] [-5.46289101e-04 9.99999850e-01 -4.11189059e-05 2.18292770e+00] [-9.51937109e-04 4.05988604e-05 9.99999546e-01 -1.84726733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.12592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:110.40, Y:2.18, Z:-1.85 [[ 9.99993713e-01 3.41581209e-03 9.52054511e-04 1.10401569e+02] [-3.41577785e-03 9.99994166e-01 -3.75790566e-05 2.18455225e+00] [-9.52177319e-04 3.43268136e-05 9.99999546e-01 -1.84660115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.15592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:110.43, Y:2.18, Z:-1.85 [[ 9.99993523e-01 3.47093038e-03 9.52052312e-04 1.10431692e+02] [-3.47089612e-03 9.99993976e-01 -3.76346834e-05 2.18411914e+00] [-9.52177204e-04 3.43299649e-05 9.99999546e-01 -1.84617079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.18592 meters Centerline goodness : 0.998308 Centerline is valid? [True, True] Translation: X:110.46, Y:2.18, Z:-1.83 [[ 9.99987577e-01 -4.89279858e-03 9.52052312e-04 1.10455681e+02] [ 4.89283663e-03 9.99988029e-01 -3.76346834e-05 2.18245777e+00] [-9.51856777e-04 4.22924522e-05 9.99999546e-01 -1.83049991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.21592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:110.49, Y:2.18, Z:-1.85 [[ 9.99998889e-01 1.14615800e-03 9.53226602e-04 1.10491404e+02] [-1.14615163e-03 9.99999343e-01 -7.22012558e-06 2.18217894e+00] [-9.53234251e-04 6.12757533e-06 9.99999546e-01 -1.84705313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.24592 meters Centerline goodness : 0.997859 Centerline is valid? [True, True] Translation: X:110.52, Y:2.18, Z:-1.83 [[ 9.99982242e-01 -5.88300437e-03 9.52005696e-04 1.10518582e+02] [ 5.88304311e-03 9.99982694e-01 -3.78933289e-05 2.18137837e+00] [-9.51766294e-04 4.34933466e-05 9.99999546e-01 -1.83229441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.27592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:110.55, Y:2.18, Z:-1.85 [[ 9.99986117e-01 -5.18252601e-03 9.52728055e-04 1.10551714e+02] [ 5.18254704e-03 9.99986570e-01 -1.96020623e-05 2.18358255e+00] [-9.52613672e-04 2.45393481e-05 9.99999546e-01 -1.84763898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.30592 meters Centerline goodness : 0.998157 Centerline is valid? [True, True] Translation: X:110.58, Y:2.18, Z:-1.83 [[ 9.99956733e-01 -9.25338355e-03 9.51974611e-04 1.10580018e+02] [ 9.25342422e-03 9.99957185e-01 -3.83197880e-05 2.18231850e+00] [-9.51579265e-04 4.71271550e-05 9.99999546e-01 -1.83390614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.33592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:110.61, Y:2.18, Z:-1.85 [[ 9.99975716e-01 -6.90366993e-03 9.52490188e-04 1.10612792e+02] [ 6.90369736e-03 9.99976169e-01 -2.55168071e-05 2.18143984e+00] [-9.52291329e-04 3.20918914e-05 9.99999546e-01 -1.84793472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.36591999999999 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:110.64, Y:2.18, Z:-1.85 [[ 9.99979693e-01 -6.30133004e-03 9.51941687e-04 1.10644746e+02] [ 6.30136995e-03 9.99980145e-01 -3.89293298e-05 2.18235966e+00] [-9.51677480e-04 4.49270760e-05 9.99999546e-01 -1.84808851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.39591999999999 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:110.68, Y:2.18, Z:-1.85 [[ 9.99985139e-01 -5.36802798e-03 9.51926049e-04 1.10677370e+02] [ 5.36806783e-03 9.99985591e-01 -3.93080405e-05 2.18392630e+00] [-9.51701326e-04 4.44174600e-05 9.99999546e-01 -1.84795110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.42591999999999 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:110.71, Y:2.19, Z:-1.85 [[ 9.99989641e-01 -4.45113529e-03 9.51910324e-04 1.10709696e+02] [ 4.45117508e-03 9.99990093e-01 -3.96852428e-05 2.18693954e+00] [-9.51724248e-04 4.39219512e-05 9.99999546e-01 -1.84771696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.45591999999999 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:110.74, Y:2.19, Z:-1.85 [[ 9.99990962e-01 -4.14371598e-03 9.51894425e-04 1.10741898e+02] [ 4.14375599e-03 9.99991414e-01 -4.00629851e-05 2.18730589e+00] [-9.51720243e-04 4.40070412e-05 9.99999546e-01 -1.84773493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.48592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:110.77, Y:2.19, Z:-1.85 [[ 9.99984372e-01 -5.50899889e-03 9.51878307e-04 1.10773768e+02] [ 5.50903988e-03 9.99984824e-01 -4.04423640e-05 2.18728503e+00] [-9.51641064e-04 4.56856676e-05 9.99999546e-01 -1.84718929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.51592 meters Centerline goodness : 0.998956 Centerline is valid? [True, True] Translation: X:110.80, Y:2.19, Z:-1.83 [[ 9.99937546e-01 -1.11354197e-02 9.51862143e-04 1.10799359e+02] [ 1.11354636e-02 9.99937998e-01 -4.08192772e-05 2.18575791e+00] [-9.51348586e-04 5.14161542e-05 9.99999546e-01 -1.83136535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.54592 meters Centerline goodness : 0.899166 Centerline is valid? [True, False] Translation: X:110.82, Y:2.19, Z:-1.83 [[ 9.99991116e-01 -4.11476918e-03 -9.14749742e-04 1.10818390e+02] [ 4.11232362e-03 9.99988008e-01 -2.65946874e-03 2.18968248e+00] [ 9.25681872e-04 2.65568337e-03 9.99996045e-01 -1.82735751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.57592 meters Centerline goodness : 0.999005 Centerline is valid? [False, True] Translation: X:110.84, Y:2.19, Z:-1.82 [[ 9.99988148e-01 2.58190291e-03 -4.12769968e-03 1.10838427e+02] [-2.60316682e-03 9.99983327e-01 -5.15447149e-03 2.19311937e+00] [ 4.11432251e-03 5.16515549e-03 9.99978197e-01 -1.82304508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.60592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:110.87, Y:2.19, Z:-1.84 [[ 9.99961455e-01 7.92116771e-03 -3.78730261e-03 1.10874215e+02] [-7.92141425e-03 9.99968624e-01 -5.00998916e-05 2.18575022e+00] [ 3.78678693e-03 8.00987534e-05 9.99992827e-01 -1.84331835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.63592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:110.90, Y:2.18, Z:-1.84 [[ 9.99980904e-01 4.89945876e-03 -3.76661533e-03 1.10903065e+02] [-4.89853206e-03 9.99987970e-01 2.55216314e-04 2.18177871e+00] [ 3.76782044e-03 -2.36760555e-04 9.99992874e-01 -1.84290073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.66592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:110.93, Y:2.18, Z:-1.84 [[ 9.99986693e-01 3.52493733e-03 -3.76671377e-03 1.10931589e+02] [-3.52400640e-03 9.99993758e-01 2.53755098e-04 2.17937033e+00] [ 3.76758473e-03 -2.40477797e-04 9.99992874e-01 -1.84244029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.69592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:110.96, Y:2.17, Z:-1.84 [[ 9.99989423e-01 2.63927310e-03 -3.76681140e-03 1.10959594e+02] [-2.63834138e-03 9.99996488e-01 2.52297439e-04 2.17382067e+00] [ 3.76746406e-03 -2.42356636e-04 9.99992874e-01 -1.84241419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.72591999999999 meters Centerline goodness : 0.998310 Centerline is valid? [True, True] Translation: X:110.98, Y:2.17, Z:-1.83 [[ 9.99990665e-01 -2.11681008e-03 -3.76690847e-03 1.10983921e+02] [ 2.11776992e-03 9.99997726e-01 2.50839743e-04 2.16933300e+00] [ 3.76636893e-03 -2.58814847e-04 9.99992874e-01 -1.82640583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.75591999999999 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:111.02, Y:2.16, Z:-1.84 [[ 9.99992861e-01 -1.98669150e-04 -3.77326939e-03 1.11019464e+02] [ 1.99254623e-04 9.99999968e-01 1.54787984e-04 2.16237139e+00] [ 3.77323852e-03 -1.55538720e-04 9.99992869e-01 -1.84256854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.78591999999999 meters Centerline goodness : 0.998603 Centerline is valid? [True, True] Translation: X:111.04, Y:2.16, Z:-1.83 [[ 9.99977783e-01 -5.49962373e-03 -3.76675400e-03 1.11044093e+02] [ 5.50061227e-03 9.99984840e-01 2.52127352e-04 2.15851170e+00] [ 3.76531029e-03 -2.72841204e-04 9.99992874e-01 -1.82534040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.81591999999999 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:111.08, Y:2.15, Z:-1.84 [[ 9.99991392e-01 1.72711745e-03 -3.77268153e-03 1.11079617e+02] [-1.72651410e-03 9.99998496e-01 1.63174565e-04 2.15233977e+00] [ 3.77295768e-03 -1.56659573e-04 9.99992870e-01 -1.83973032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.84591999999999 meters Centerline goodness : 0.998957 Centerline is valid? [True, True] Translation: X:111.10, Y:2.15, Z:-1.82 [[ 9.99990946e-01 1.98024816e-03 -3.76656555e-03 1.11104973e+02] [-1.97930579e-03 9.99998009e-01 2.53903236e-04 2.14925906e+00] [ 3.76706084e-03 -2.46445753e-04 9.99992874e-01 -1.82395215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.87592 meters Centerline goodness : 0.998956 Centerline is valid? [True, True] Translation: X:111.13, Y:2.15, Z:-1.82 [[ 9.99976125e-01 5.79040387e-03 -3.77098878e-03 1.11134889e+02] [-5.78973724e-03 9.99983222e-01 1.87671637e-04 2.14689992e+00] [ 3.77201221e-03 -1.65834122e-04 9.99992872e-01 -1.82275151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.90592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:111.17, Y:2.15, Z:-1.84 [[ 9.99905751e-01 1.32014086e-02 -3.76992443e-03 1.11167406e+02] [-1.32007346e-02 9.99912846e-01 2.03615976e-04 2.14535736e+00] [ 3.77228389e-03 -1.53831014e-04 9.99992873e-01 -1.83798511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.93592 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:111.19, Y:2.14, Z:-1.82 [[ 9.99864510e-01 1.60241735e-02 -3.76669480e-03 1.11194146e+02] [-1.60233380e-02 9.99871586e-01 2.51907710e-04 2.14301785e+00] [ 3.77024772e-03 -1.91518555e-04 9.99992874e-01 -1.82105832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.96592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:111.22, Y:2.14, Z:-1.82 [[ 9.99693338e-01 2.44749829e-02 -3.76889161e-03 1.11223956e+02] [-2.44743315e-02 9.99700435e-01 2.18851898e-04 2.13885033e+00] [ 3.77311898e-03 -1.26543682e-04 9.99992874e-01 -1.82367660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.99592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:111.25, Y:2.14, Z:-1.82 [[ 9.99695899e-01 2.43703302e-02 -3.76790840e-03 1.11252200e+02] [-2.43696225e-02 9.99702989e-01 2.33636719e-04 2.13688834e+00] [ 3.77248310e-03 -1.41743164e-04 9.99992874e-01 -1.82357184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.02592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.28, Y:2.13, Z:-1.84 [[ 9.99656896e-01 2.59208826e-02 -3.76793283e-03 1.11283712e+02] [-2.59201873e-02 9.99663988e-01 2.33268852e-04 2.13371976e+00] [ 3.77271329e-03 -1.35523292e-04 9.99992874e-01 -1.84148237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.05592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:111.31, Y:2.13, Z:-1.84 [[ 9.99616996e-01 2.74166310e-02 -3.76682965e-03 1.11311295e+02] [-2.74158837e-02 9.99624083e-01 2.49897543e-04 2.13213578e+00] [ 3.77226498e-03 -1.46530867e-04 9.99992874e-01 -1.84061721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.08592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:111.34, Y:2.13, Z:-1.82 [[ 9.99508538e-01 3.11206205e-02 -3.76694455e-03 1.11341260e+02] [-3.11199060e-02 9.99515628e-01 2.48153390e-04 2.13178131e+00] [ 3.77284263e-03 -1.30804471e-04 9.99992874e-01 -1.82299110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.11591999999999 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:111.37, Y:2.13, Z:-1.84 [[ 9.99564639e-01 2.92634145e-02 -3.76617470e-03 1.11370188e+02] [-2.92626428e-02 9.99571723e-01 2.59845500e-04 2.13073603e+00] [ 3.77216570e-03 -1.49524149e-04 9.99992874e-01 -1.83791221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.14591999999999 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:111.40, Y:2.13, Z:-1.82 [[ 9.99494828e-01 3.15578470e-02 -3.76697909e-03 1.11400482e+02] [-3.15571376e-02 9.99501919e-01 2.47607912e-04 2.12920352e+00] [ 3.77291680e-03 -1.28607750e-04 9.99992874e-01 -1.82123858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.17591999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:111.43, Y:2.13, Z:-1.84 [[ 9.99573856e-01 2.89468441e-02 -3.76649802e-03 1.11429715e+02] [-2.89460887e-02 9.99580942e-01 2.54930315e-04 2.12815217e+00] [ 3.77229907e-03 -1.45796292e-04 9.99992874e-01 -1.83679039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.20591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.46, Y:2.13, Z:-1.84 [[ 9.99601804e-01 2.79650144e-02 -3.76703853e-03 1.11458547e+02] [-2.79642831e-02 9.99608893e-01 2.46676078e-04 2.12702518e+00] [ 3.77246351e-03 -1.41235321e-04 9.99992874e-01 -1.83684512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.23592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:111.49, Y:2.12, Z:-1.84 [[ 9.99679340e-01 2.50404820e-02 -3.76713111e-03 1.11486969e+02] [-2.50397353e-02 9.99686427e-01 2.45254130e-04 2.12360691e+00] [ 3.77209111e-03 -1.50847521e-04 9.99992874e-01 -1.83879921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.26592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:111.51, Y:2.12, Z:-1.82 [[ 9.99731243e-01 2.28746501e-02 -3.76723134e-03 1.11514591e+02] [-2.28738939e-02 9.99738329e-01 2.43704693e-04 2.12085029e+00] [ 3.77182022e-03 -1.57467946e-04 9.99992874e-01 -1.82121662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.29592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:111.55, Y:2.12, Z:-1.84 [[ 9.99741855e-01 2.24056634e-02 -3.76943614e-03 1.11546588e+02] [-2.24050330e-02 9.99748954e-01 2.09386266e-04 2.11984805e+00] [ 3.77318127e-03 -1.24877873e-04 9.99992874e-01 -1.83821569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.32592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.57, Y:2.12, Z:-1.82 [[ 9.99812013e-01 1.90196274e-02 -3.76729050e-03 1.11573560e+02] [-1.90188477e-02 9.99819096e-01 2.42692737e-04 2.11828401e+00] [ 3.77122491e-03 -1.70997589e-04 9.99992874e-01 -1.81847064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.35592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:111.60, Y:2.12, Z:-1.82 [[ 9.99793605e-01 1.99634117e-02 -3.76947134e-03 1.11604408e+02] [-1.99627667e-02 9.99800702e-01 2.08637633e-04 2.11574716e+00] [ 3.77288522e-03 -1.33345494e-04 9.99992874e-01 -1.81950113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.38592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:111.63, Y:2.11, Z:-1.82 [[ 9.99826357e-01 1.82497265e-02 -3.76864360e-03 1.11632295e+02] [-1.82490210e-02 9.99833448e-01 2.21529373e-04 2.11022384e+00] [ 3.77205878e-03 -1.52716850e-04 9.99992874e-01 -1.82030053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.41592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:111.66, Y:2.11, Z:-1.82 [[ 9.99759758e-01 2.15921271e-02 -3.76907858e-03 1.11664647e+02] [-2.15914708e-02 9.99766854e-01 2.14735916e-04 2.10729492e+00] [ 3.77283644e-03 -1.33304378e-04 9.99992874e-01 -1.82445087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.44592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:111.69, Y:2.10, Z:-1.84 [[ 9.99850609e-01 1.68695984e-02 -3.76519080e-03 1.11692169e+02] [-1.68686813e-02 9.99857676e-01 2.75200035e-04 2.10280284e+00] [ 3.76929744e-03 -2.11645119e-04 9.99992874e-01 -1.84073478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.47591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.72, Y:2.10, Z:-1.83 [[ 9.99787512e-01 2.02666502e-02 -3.76742581e-03 1.11723795e+02] [-2.02658889e-02 9.99794597e-01 2.40135561e-04 2.09921143e+00] [ 3.77151872e-03 -1.63734302e-04 9.99992874e-01 -1.82702584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.50591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.75, Y:2.10, Z:-1.84 [[ 9.99863298e-01 1.60999471e-02 -3.76525134e-03 1.11751782e+02] [-1.60990284e-02 9.99870365e-01 2.74179520e-04 2.09552119e+00] [ 3.76917750e-03 -2.13525151e-04 9.99992874e-01 -1.83968692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.53591999999999 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:111.78, Y:2.09, Z:-1.82 [[ 9.99846653e-01 1.71019192e-02 -3.76749923e-03 1.11780738e+02] [-1.71011409e-02 9.99853736e-01 2.38700232e-04 2.08816650e+00] [ 3.77103041e-03 -1.74235093e-04 9.99992874e-01 -1.82185698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.56591999999999 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:111.81, Y:2.08, Z:-1.82 [[ 9.99850076e-01 1.69004941e-02 -3.76815052e-03 1.11809334e+02] [-1.68997532e-02 9.99857163e-01 2.28388385e-04 2.08322577e+00] [ 3.77147217e-03 -1.64673330e-04 9.99992874e-01 -1.82087764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.59591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.84, Y:2.08, Z:-1.84 [[ 9.99901149e-01 1.35459186e-02 -3.76821602e-03 1.11838913e+02] [-1.35451578e-02 9.99908234e-01 2.27345076e-04 2.07631879e+00] [ 3.77094982e-03 -1.76281522e-04 9.99992874e-01 -1.83748917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.62592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.87, Y:2.07, Z:-1.84 [[ 9.99922254e-01 1.18865579e-02 -3.76763081e-03 1.11867111e+02] [-1.18857503e-02 9.99929334e-01 2.36661443e-04 2.07183855e+00] [ 3.77017766e-03 -1.91861924e-04 9.99992874e-01 -1.83728546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.65592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:111.89, Y:2.07, Z:-1.82 [[ 9.99977530e-01 5.54468732e-03 -3.76772489e-03 1.11891708e+02] [-5.54384054e-03 9.99984605e-01 2.35154081e-04 2.06565558e+00] [ 3.76897074e-03 -2.14261131e-04 9.99992874e-01 -1.82018342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.68592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:111.93, Y:2.06, Z:-1.84 [[ 9.99949945e-01 9.26692115e-03 -3.77261048e-03 1.11926528e+02] [-9.26639527e-03 9.99957054e-01 1.56850201e-04 2.06160470e+00] [ 3.77390198e-03 -1.21883850e-04 9.99992871e-01 -1.83656774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.71592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:111.95, Y:2.05, Z:-1.82 [[ 9.99979343e-01 5.20755940e-03 -3.76754461e-03 1.11952557e+02] [-5.20670224e-03 9.99986417e-01 2.37284954e-04 2.05351512e+00] [ 3.76872911e-03 -2.17663570e-04 9.99992875e-01 -1.81948209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.74592 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:111.98, Y:2.05, Z:-1.82 [[ 9.99992003e-01 1.33231174e-03 -3.77072270e-03 1.11979436e+02] [-1.33161693e-03 9.99999096e-01 1.86768527e-04 2.04826776e+00] [ 3.77096813e-03 -1.81745875e-04 9.99992873e-01 -1.81959246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.77592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:112.01, Y:2.04, Z:-1.82 [[ 9.99989145e-01 2.73447822e-03 -3.77263809e-03 1.12010315e+02] [-2.73390791e-03 9.99996251e-01 1.56319691e-04 2.04300259e+00] [ 3.77305140e-03 -1.46003949e-04 9.99992871e-01 -1.82076288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.80592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:112.04, Y:2.03, Z:-1.84 [[ 9.99987856e-01 3.17351422e-03 -3.77060734e-03 1.12042448e+02] [-3.17282646e-03 9.99994949e-01 1.88368922e-04 2.03301312e+00] [ 3.77118608e-03 -1.76403152e-04 9.99992873e-01 -1.83699005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.83592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.07, Y:2.03, Z:-1.82 [[ 9.99989630e-01 2.55885598e-03 -3.76731920e-03 1.12069163e+02] [-2.55796996e-03 9.99996700e-01 2.39986343e-04 2.02693566e+00] [ 3.76792086e-03 -2.30347165e-04 9.99992875e-01 -1.81976637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.86591999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:112.10, Y:2.02, Z:-1.84 [[ 9.99978057e-01 5.44722577e-03 -3.76994513e-03 1.12101348e+02] [-5.44651593e-03 9.99985148e-01 1.98530867e-04 2.01803583e+00] [ 3.77097058e-03 -1.77993444e-04 9.99992874e-01 -1.83713028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.89591999999999 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:112.13, Y:2.01, Z:-1.82 [[ 9.99987489e-01 3.29090307e-03 -3.76732724e-03 1.12126811e+02] [-3.29002337e-03 9.99994559e-01 2.39679423e-04 2.01325847e+00] [ 3.76809551e-03 -2.27281830e-04 9.99992875e-01 -1.81874646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.92591999999999 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:112.16, Y:2.01, Z:-1.84 [[ 9.99924867e-01 1.16631845e-02 -3.77237254e-03 1.12160125e+02] [-1.16626659e-02 9.99931976e-01 1.59457091e-04 2.00666424e+00] [ 3.77397570e-03 -1.15449190e-04 9.99992872e-01 -1.83508226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.95591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.19, Y:2.00, Z:-1.84 [[ 9.99850080e-01 1.69004537e-02 -3.76727708e-03 1.12188364e+02] [-1.68996707e-02 9.99857162e-01 2.39580637e-04 1.99907736e+00] [ 3.77078799e-03 -1.75878977e-04 9.99992875e-01 -1.83549216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.98592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:112.22, Y:1.99, Z:-1.84 [[ 9.99805597e-01 1.93539284e-02 -3.76737337e-03 1.12216020e+02] [-1.93531685e-02 9.99812682e-01 2.38056781e-04 1.99477853e+00] [ 3.77127500e-03 -1.65099890e-04 9.99992875e-01 -1.83503723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.01592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.25, Y:1.99, Z:-1.84 [[ 9.99733403e-01 2.27800217e-02 -3.76748389e-03 1.12245016e+02] [-2.27792928e-02 9.99740490e-01 2.36294658e-04 1.99130964e+00] [ 3.77188899e-03 -1.50411044e-04 9.99992875e-01 -1.83512627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.04592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.27, Y:1.99, Z:-1.84 [[ 9.99516588e-01 3.08609096e-02 -3.76757393e-03 1.12273818e+02] [-3.08602434e-02 9.99523682e-01 2.34850112e-04 1.98911592e+00] [ 3.77302706e-03 -1.18468334e-04 9.99992875e-01 -1.83629252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.07592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:112.30, Y:1.99, Z:-1.84 [[ 9.99423506e-01 3.37410725e-02 -3.76767234e-03 1.12301326e+02] [-3.37404327e-02 9.99430602e-01 2.33260662e-04 1.98723533e+00] [ 3.77339750e-03 -1.06003294e-04 9.99992875e-01 -1.83615053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.10592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.33, Y:1.99, Z:-1.84 [[ 9.99240703e-01 3.87791436e-02 -3.76778455e-03 1.12329410e+02] [-3.87785465e-02 9.99247802e-01 2.31433869e-04 1.98503041e+00] [ 3.77392524e-03 -8.51489333e-05 9.99992875e-01 -1.83669974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.13592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.36, Y:1.98, Z:-1.84 [[ 9.99163407e-01 4.07220873e-02 -3.76789800e-03 1.12357673e+02] [-4.07215110e-02 9.99170509e-01 2.29571745e-04 1.98314476e+00] [ 3.77412121e-03 -7.59451867e-05 9.99992875e-01 -1.83590223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.16592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.39, Y:1.98, Z:-1.83 [[ 9.99152203e-01 4.09960666e-02 -3.76795153e-03 1.12386206e+02] [-4.09954956e-02 9.99159305e-01 2.28689770e-04 1.98220354e+00] [ 3.77415922e-03 -7.40268467e-05 9.99992875e-01 -1.83490986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.19592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.42, Y:1.98, Z:-1.83 [[ 9.99188019e-01 4.01136451e-02 -3.76805113e-03 1.12415414e+02] [-4.01130741e-02 9.99195121e-01 2.27036725e-04 1.97974521e+00] [ 3.77412558e-03 -7.57042617e-05 9.99992875e-01 -1.83439577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.22591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.44, Y:1.98, Z:-1.82 [[ 9.99235883e-01 3.89031079e-02 -3.76814183e-03 1.12444908e+02] [-3.89025340e-02 9.99242984e-01 2.25521309e-04 1.97747222e+00] [ 3.77406277e-03 -7.87587186e-05 9.99992875e-01 -1.82129742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.25591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.48, Y:1.98, Z:-1.84 [[ 9.99252798e-01 3.84661793e-02 -3.76825397e-03 1.12475280e+02] [-3.84656093e-02 9.99259900e-01 2.23635874e-04 1.97659178e+00] [ 3.77406750e-03 -7.85205879e-05 9.99992875e-01 -1.83517722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.28591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.50, Y:1.98, Z:-1.82 [[ 9.99214010e-01 3.94609050e-02 -3.76822906e-03 1.12504927e+02] [-3.94603405e-02 9.99221112e-01 2.24054829e-04 1.97759880e+00] [ 3.77413544e-03 -7.51831223e-05 9.99992875e-01 -1.82291786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.31591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.53, Y:1.98, Z:-1.83 [[ 9.99175819e-01 4.04163514e-02 -3.76841689e-03 1.12533875e+02] [-4.04158057e-02 9.99182923e-01 2.20880392e-04 1.97706245e+00] [ 3.77426499e-03 -6.83947419e-05 9.99992875e-01 -1.83312009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.34591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.56, Y:1.98, Z:-1.83 [[ 9.99132750e-01 4.14674400e-02 -3.76831501e-03 1.12562255e+02] [-4.14668953e-02 9.99139854e-01 2.22605088e-04 1.97603096e+00] [ 3.77430457e-03 -6.61517097e-05 9.99992875e-01 -1.83252531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.37592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.59, Y:1.98, Z:-1.83 [[ 9.99001905e-01 4.45083385e-02 -3.76841107e-03 1.12590897e+02] [-4.45078216e-02 9.99009011e-01 2.20966924e-04 1.97707338e+00] [ 3.77451149e-03 -5.30226110e-05 9.99992875e-01 -1.83223109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.40592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.62, Y:1.98, Z:-1.83 [[ 9.98978361e-01 4.50336913e-02 -3.76850667e-03 1.12620118e+02] [-4.50331843e-02 9.98985467e-01 2.19324178e-04 1.97623128e+00] [ 3.77456038e-03 -4.93922520e-05 9.99992875e-01 -1.83279772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.43592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.65, Y:1.97, Z:-1.83 [[ 9.99013741e-01 4.42418746e-02 -3.76860308e-03 1.12648428e+02] [-4.42413683e-02 9.99020848e-01 2.17654907e-04 1.97422436e+00] [ 3.77454251e-03 -5.07120856e-05 9.99992875e-01 -1.83360340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.46592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:112.68, Y:1.97, Z:-1.82 [[ 9.99146279e-01 4.11401341e-02 -3.76869758e-03 1.12676496e+02] [-4.11396120e-02 9.99153384e-01 2.16006179e-04 1.97248594e+00] [ 3.77439347e-03 -6.07790134e-05 9.99992875e-01 -1.82069576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.49592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.71, Y:1.97, Z:-1.83 [[ 9.99260673e-01 3.82609170e-02 -3.76964754e-03 1.12705601e+02] [-3.82604373e-02 9.99267782e-01 1.99310748e-04 1.97170688e+00] [ 3.77451314e-03 -5.49350285e-05 9.99992875e-01 -1.83286700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.52592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.73, Y:1.97, Z:-1.82 [[ 9.99293904e-01 3.73830123e-02 -3.76881099e-03 1.12734740e+02] [-3.73824709e-02 9.99301008e-01 2.14040657e-04 1.96905539e+00] [ 3.77417810e-03 -7.30020563e-05 9.99992875e-01 -1.82214005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.55592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.76, Y:1.97, Z:-1.82 [[ 9.99396575e-01 3.45294314e-02 -3.76877320e-03 1.12762087e+02] [-3.45288671e-02 9.99403678e-01 2.14707715e-04 1.96576103e+00] [ 3.77393953e-03 -8.44466857e-05 9.99992875e-01 -1.82192457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.58592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.79, Y:1.96, Z:-1.82 [[ 9.99504443e-01 3.12515618e-02 -3.76940178e-03 1.12789775e+02] [-3.12510164e-02 9.99511547e-01 2.03507897e-04 1.96402468e+00] [ 3.77392054e-03 -8.56094108e-05 9.99992875e-01 -1.81704170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.61591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.82, Y:1.96, Z:-1.83 [[ 9.99518109e-01 3.08113221e-02 -3.76989946e-03 1.12820021e+02] [-3.08108072e-02 9.99525215e-01 1.94601464e-04 1.96260148e+00] [ 3.77410550e-03 -7.83540423e-05 9.99992875e-01 -1.83130318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.64591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.85, Y:1.96, Z:-1.83 [[ 9.99555924e-01 2.95592654e-02 -3.76902795e-03 1.12847801e+02] [-2.95586827e-02 9.99563025e-01 2.10226312e-04 1.95684145e+00] [ 3.77359511e-03 -9.87254544e-05 9.99992875e-01 -1.83173360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.67591999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:112.88, Y:1.95, Z:-1.83 [[ 9.99545069e-01 2.99240608e-02 -3.76912973e-03 1.12876878e+02] [-2.99234876e-02 9.99552170e-01 2.08385301e-04 1.95289105e+00] [ 3.77367754e-03 -9.55049932e-05 9.99992875e-01 -1.83259616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.70591999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:112.91, Y:1.95, Z:-1.83 [[ 9.99448307e-01 3.29981104e-02 -3.76921849e-03 1.12905681e+02] [-3.29975652e-02 9.99455411e-01 2.06767248e-04 1.95168836e+00] [ 3.77398874e-03 -8.22781428e-05 9.99992875e-01 -1.83098513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.73592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.93, Y:1.95, Z:-1.83 [[ 9.99408044e-01 3.41958217e-02 -3.76930635e-03 1.12934061e+02] [-3.41952911e-02 9.99415149e-01 2.05152938e-04 1.95229065e+00] [ 3.77411724e-03 -7.61389688e-05 9.99992875e-01 -1.82978231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.76592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.96, Y:1.95, Z:-1.83 [[ 9.99284375e-01 3.76368255e-02 -3.76933792e-03 1.12962609e+02] [-3.76363216e-02 9.99291482e-01 2.04571229e-04 1.95446921e+00] [ 3.77436669e-03 -6.25608184e-05 9.99992875e-01 -1.82942443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.79592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.99, Y:1.95, Z:-1.83 [[ 9.99238991e-01 3.88230761e-02 -3.76942631e-03 1.12991625e+02] [-3.88225867e-02 9.99246099e-01 2.02929373e-04 1.95349360e+00] [ 3.77446288e-03 -5.64360621e-05 9.99992875e-01 -1.82907515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.82592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.02, Y:1.95, Z:-1.83 [[ 9.99198099e-01 3.98616251e-02 -3.76951521e-03 1.13020467e+02] [-3.98611494e-02 9.99205208e-01 2.01264388e-04 1.95465097e+00] [ 3.77454196e-03 -5.08457847e-05 9.99992875e-01 -1.82939497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.85592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.05, Y:1.96, Z:-1.82 [[ 9.99219071e-01 3.93324007e-02 -3.76960278e-03 1.13048391e+02] [-3.93319275e-02 9.99226180e-01 1.99610663e-04 1.95515786e+00] [ 3.77453696e-03 -5.11890378e-05 9.99992875e-01 -1.81693262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.88592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.08, Y:1.96, Z:-1.83 [[ 9.99234612e-01 3.89355061e-02 -3.77061511e-03 1.13078728e+02] [-3.89351026e-02 9.99241725e-01 1.80394591e-04 1.95571711e+00] [ 3.77477970e-03 -3.34472330e-05 9.99992875e-01 -1.83019809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.91592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.11, Y:1.95, Z:-1.83 [[ 9.99253972e-01 3.84355252e-02 -3.76968760e-03 1.13107103e+02] [-3.84350515e-02 9.99261081e-01 1.98048877e-04 1.95390099e+00] [ 3.77451422e-03 -5.30129899e-05 9.99992875e-01 -1.83009223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.94592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.14, Y:1.96, Z:-1.83 [[ 9.99329597e-01 3.64162860e-02 -3.76978577e-03 1.13136129e+02] [-3.64158051e-02 9.99336705e-01 1.96162365e-04 1.95596246e+00] [ 3.77442879e-03 -5.87510739e-05 9.99992875e-01 -1.82991279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.97591999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:113.16, Y:1.96, Z:-1.81 [[ 9.99456388e-01 3.27523464e-02 -3.76987083e-03 1.13164160e+02] [-3.27518456e-02 9.99463495e-01 1.94513775e-04 1.95848122e+00] [ 3.77421906e-03 -7.09378073e-05 9.99992875e-01 -1.81400407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.00591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.20, Y:1.96, Z:-1.83 [[ 9.99443587e-01 3.31405327e-02 -3.77119305e-03 1.13195267e+02] [-3.31401317e-02 9.99450701e-01 1.68778780e-04 1.95859914e+00] [ 3.77471496e-03 -4.37070347e-05 9.99992875e-01 -1.82908808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.03591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.22, Y:1.96, Z:-1.83 [[ 9.99498929e-01 3.14273619e-02 -3.76990196e-03 1.13223171e+02] [-3.14268541e-02 9.99506036e-01 1.93883062e-04 1.95751072e+00] [ 3.77413299e-03 -7.53097541e-05 9.99992875e-01 -1.82808902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.06591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.25, Y:1.96, Z:-1.81 [[ 9.99588070e-01 2.84513105e-02 -3.76999722e-03 1.13251501e+02] [-2.84507886e-02 9.99595176e-01 1.92012687e-04 1.95642998e+00] [ 3.77393405e-03 -8.46741979e-05 9.99992875e-01 -1.81449371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.09591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.28, Y:1.96, Z:-1.83 [[ 9.99672878e-01 2.52965253e-02 -3.77135195e-03 1.13282790e+02] [-2.52960820e-02 9.99679989e-01 1.65212450e-04 1.95545541e+00] [ 3.77432438e-03 -6.97579772e-05 9.99992875e-01 -1.82978686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.12592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:113.31, Y:1.95, Z:-1.83 [[ 9.99737155e-01 2.26143332e-02 -3.77005377e-03 1.13310997e+02] [-2.26137741e-02 9.99744258e-01 1.90855847e-04 1.95243394e+00] [ 3.77340569e-03 -1.05550537e-04 9.99992875e-01 -1.82902409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.15592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.34, Y:1.95, Z:-1.83 [[ 9.99806306e-01 1.93167292e-02 -3.77013374e-03 1.13339399e+02] [-1.93161527e-02 9.99813408e-01 1.89262905e-04 1.94867382e+00] [ 3.77308620e-03 -1.16401767e-04 9.99992875e-01 -1.82934486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.18592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.37, Y:1.94, Z:-1.83 [[ 9.99889567e-01 1.43749607e-02 -3.77021324e-03 1.13367638e+02] [-1.43743551e-02 9.99896666e-01 1.87665638e-04 1.94393085e+00] [ 3.77252134e-03 -1.33450530e-04 9.99992875e-01 -1.82779013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.21592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.40, Y:1.94, Z:-1.83 [[ 9.99916772e-01 1.23383390e-02 -3.77029154e-03 1.13395102e+02] [-1.23377249e-02 9.99923870e-01 1.86079340e-04 1.94151025e+00] [ 3.77230041e-03 -1.39547033e-04 9.99992875e-01 -1.82673072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.24592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.42, Y:1.94, Z:-1.81 [[ 9.99911703e-01 1.27424731e-02 -3.77037864e-03 1.13424912e+02] [-1.27418686e-02 9.99918802e-01 1.84297421e-04 1.93741383e+00] [ 3.77242089e-03 -1.36239478e-04 9.99992875e-01 -1.81439223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.27592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:113.45, Y:1.93, Z:-1.81 [[ 9.99925626e-01 1.15986646e-02 -3.77016967e-03 1.13451718e+02] [-1.15980359e-02 9.99932723e-01 1.88584557e-04 1.93465402e+00] [ 3.77210335e-03 -1.44843968e-04 9.99992875e-01 -1.81010185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.30592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:113.48, Y:1.93, Z:-1.81 [[ 9.99922643e-01 1.18525553e-02 -3.77153651e-03 1.13480818e+02] [-1.18520347e-02 9.99929749e-01 1.60360767e-04 1.93033834e+00] [ 3.77317225e-03 -1.15647980e-04 9.99992875e-01 -1.81214325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.33592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:113.51, Y:1.93, Z:-1.83 [[ 9.99911796e-01 1.27348869e-02 -3.77137719e-03 1.13512111e+02] [-1.27343601e-02 9.99918901e-01 1.63658443e-04 1.92727263e+00] [ 3.77315551e-03 -1.15617932e-04 9.99992875e-01 -1.82652909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.36591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.54, Y:1.93, Z:-1.83 [[ 9.99908526e-01 1.29893610e-02 -3.77049625e-03 1.13540992e+02] [-1.29887673e-02 9.99915626e-01 1.81917123e-04 1.92531713e+00] [ 3.77254111e-03 -1.32926384e-04 9.99992875e-01 -1.82645037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.39591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.57, Y:1.92, Z:-1.81 [[ 9.99923763e-01 1.17580109e-02 -3.77057213e-03 1.13569212e+02] [-1.17574144e-02 9.99930863e-01 1.80330707e-04 1.92428153e+00] [ 3.77243177e-03 -1.35984780e-04 9.99992875e-01 -1.80891796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.42591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.60, Y:1.92, Z:-1.81 [[ 9.99921448e-01 1.19529972e-02 -3.77130222e-03 1.13600045e+02] [-1.19524600e-02 9.99928553e-01 1.64963415e-04 1.92246630e+00] [ 3.77300458e-03 -1.19874117e-04 9.99992875e-01 -1.81244223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.45591999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:113.63, Y:1.92, Z:-1.81 [[ 9.99926052e-01 1.15618221e-02 -3.77030026e-03 1.13627055e+02] [-1.15612028e-02 9.99933150e-01 1.86017863e-04 1.91639777e+00] [ 3.77219892e-03 -1.42414902e-04 9.99992875e-01 -1.80797974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.48592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.66, Y:1.91, Z:-1.83 [[ 9.99927987e-01 1.13927774e-02 -3.77158730e-03 1.13658025e+02] [-1.13922595e-02 9.99935094e-01 1.58762253e-04 1.91380120e+00] [ 3.77315124e-03 -1.15783919e-04 9.99992875e-01 -1.82744307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.51592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.69, Y:1.91, Z:-1.83 [[ 9.99897579e-01 1.38062971e-02 -3.77070647e-03 1.13685581e+02] [-1.38057259e-02 9.99904681e-01 1.77476501e-04 1.91292250e+00] [ 3.77279735e-03 -1.25400984e-04 9.99992875e-01 -1.82791092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.54592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.72, Y:1.91, Z:-1.81 [[ 9.99876179e-01 1.52777129e-02 -3.77079071e-03 1.13715600e+02] [-1.52771589e-02 9.99883282e-01 1.75668414e-04 1.91260333e+00] [ 3.77303440e-03 -1.18039693e-04 9.99992875e-01 -1.81392477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.57592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.74, Y:1.91, Z:-1.81 [[ 9.99805815e-01 1.93419501e-02 -3.77113888e-03 1.13744637e+02] [-1.93414532e-02 9.99812922e-01 1.68185885e-04 1.91017414e+00] [ 3.77368643e-03 -9.52139193e-05 9.99992875e-01 -1.81213484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.60592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.77, Y:1.91, Z:-1.83 [[ 9.99751314e-01 2.19792934e-02 -3.77095634e-03 1.13774729e+02] [-2.19788004e-02 9.99758422e-01 1.72128246e-04 1.90858795e+00] [ 3.77382862e-03 -8.92043433e-05 9.99992875e-01 -1.82524340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.63592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.80, Y:1.91, Z:-1.81 [[ 9.99672261e-01 2.53209760e-02 -3.77085867e-03 1.13804821e+02] [-2.53204988e-02 9.99679370e-01 1.74242071e-04 1.90700403e+00] [ 3.77406159e-03 -7.87049424e-05 9.99992875e-01 -1.80918001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.66592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.83, Y:1.91, Z:-1.81 [[ 9.99559213e-01 2.94476163e-02 -3.77054716e-03 1.13834357e+02] [-2.94471429e-02 9.99566322e-01 1.81019264e-04 1.90695898e+00] [ 3.77424255e-03 -6.99076320e-05 9.99992875e-01 -1.81022213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.69592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.86, Y:1.91, Z:-1.81 [[ 9.99551203e-01 2.97182963e-02 -3.77030580e-03 1.13861838e+02] [-2.97178049e-02 9.99558311e-01 1.86310481e-04 1.90586061e+00] [ 3.77417733e-03 -7.41816535e-05 9.99992875e-01 -1.81281586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.72591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.89, Y:1.90, Z:-1.82 [[ 9.99620048e-01 2.73046096e-02 -3.77075071e-03 1.13891278e+02] [-2.73041381e-02 9.99627157e-01 1.76486787e-04 1.90449915e+00] [ 3.77416371e-03 -7.34626325e-05 9.99992875e-01 -1.82392314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.75591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.92, Y:1.90, Z:-1.82 [[ 9.99654930e-01 2.59961650e-02 -3.77104669e-03 1.13919006e+02] [-2.59957089e-02 9.99662040e-01 1.69918012e-04 1.90314734e+00] [ 3.77418944e-03 -7.18283461e-05 9.99992875e-01 -1.82439870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.78591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.95, Y:1.90, Z:-1.81 [[ 9.99721513e-01 2.32953849e-02 -3.77113013e-03 1.13947497e+02] [-2.32949167e-02 9.99728622e-01 1.68045453e-04 1.90079339e+00] [ 3.77402141e-03 -8.01504920e-05 9.99992875e-01 -1.81194907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.81591999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:113.98, Y:1.90, Z:-1.81 [[ 9.99716061e-01 2.35281323e-02 -3.77158051e-03 1.13977732e+02] [-2.35277040e-02 9.99723173e-01 1.57888479e-04 1.89828633e+00] [ 3.77425125e-03 -6.91070188e-05 9.99992875e-01 -1.80987945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.84591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.01, Y:1.90, Z:-1.81 [[ 9.99805867e-01 1.93393775e-02 -3.77054650e-03 1.14005136e+02] [-1.93388317e-02 9.99812971e-01 1.81160294e-04 1.89510596e+00] [ 3.77334482e-03 -1.08207160e-04 9.99992875e-01 -1.81119001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.87592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.03, Y:1.89, Z:-1.81 [[ 9.99846372e-01 1.71176155e-02 -3.77089025e-03 1.14032565e+02] [-1.71170834e-02 9.99853477e-01 1.73353924e-04 1.89280623e+00] [ 3.77330513e-03 -1.08780649e-04 9.99992875e-01 -1.80831729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.90592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.06, Y:1.89, Z:-1.82 [[ 9.99892293e-01 1.41837190e-02 -3.77142534e-03 1.14062490e+02] [-1.41832124e-02 9.99899400e-01 1.61048481e-04 1.88851285e+00] [ 3.77333020e-03 -1.07540208e-04 9.99992875e-01 -1.82490784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.93592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.09, Y:1.89, Z:-1.83 [[ 9.99912284e-01 1.26965265e-02 -3.77131051e-03 1.14090893e+02] [-1.26959994e-02 9.99919389e-01 1.63694093e-04 1.88526374e+00] [ 3.77308485e-03 -1.15799179e-04 9.99992875e-01 -1.82503709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.96592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.12, Y:1.88, Z:-1.83 [[ 9.99950323e-01 9.22650057e-03 -3.77137903e-03 1.14119518e+02] [-9.22595475e-03 9.99957427e-01 1.62100017e-04 1.88315391e+00] [ 3.77271408e-03 -1.27297392e-04 9.99992875e-01 -1.82544556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.99592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.15, Y:1.88, Z:-1.81 [[ 9.99955804e-01 8.61201316e-03 -3.77144710e-03 1.14149243e+02] [-8.61146900e-03 9.99962908e-01 1.60500364e-04 1.88180957e+00] [ 3.77268944e-03 -1.28015570e-04 9.99992875e-01 -1.80962676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.02592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.18, Y:1.88, Z:-1.83 [[ 9.99964300e-01 7.56127155e-03 -3.77159135e-03 1.14179942e+02] [-7.56073278e-03 9.99971405e-01 1.57088249e-04 1.88088876e+00] [ 3.77267129e-03 -1.28566647e-04 9.99992875e-01 -1.82580208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.05592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.21, Y:1.88, Z:-1.81 [[ 9.99964743e-01 7.50256540e-03 -3.77150197e-03 1.14209613e+02] [-7.50201824e-03 9.99971847e-01 1.59205677e-04 1.87863293e+00] [ 3.77259024e-03 -1.30906187e-04 9.99992875e-01 -1.80865326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.08592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:114.24, Y:1.88, Z:-1.83 [[ 9.99976847e-01 5.66388249e-03 -3.77179354e-03 1.14240160e+02] [-5.66334838e-03 9.99983952e-01 1.52271530e-04 1.87967744e+00] [ 3.77259546e-03 -1.30907024e-04 9.99992875e-01 -1.82512160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.11591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.27, Y:1.88, Z:-1.81 [[ 9.99969906e-01 6.77954352e-03 -3.77155317e-03 1.14270261e+02] [-6.77899572e-03 9.99977010e-01 1.58008920e-04 1.87885020e+00] [ 3.77253769e-03 -1.32436822e-04 9.99992875e-01 -1.81059982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.14591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.30, Y:1.88, Z:-1.81 [[ 9.99977896e-01 5.47570239e-03 -3.77145926e-03 1.14297609e+02] [-5.47513689e-03 9.99984998e-01 1.60250416e-04 1.87747248e+00] [ 3.77228017e-03 -1.39597618e-04 9.99992875e-01 -1.81147060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.17591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.33, Y:1.88, Z:-1.81 [[ 9.99970448e-01 6.69889726e-03 -3.77208862e-03 1.14326325e+02] [-6.69839736e-03 9.99977555e-01 1.45143927e-04 1.87545014e+00] [ 3.77297626e-03 -1.19872689e-04 9.99992875e-01 -1.81481279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.20591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.35, Y:1.88, Z:-1.81 [[ 9.99972839e-01 6.33165697e-03 -3.77241940e-03 1.14351986e+02] [-6.33118458e-03 9.99979948e-01 1.37152652e-04 1.87713393e+00] [ 3.77321216e-03 -1.13265044e-04 9.99992875e-01 -1.81318003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.23592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:114.38, Y:1.88, Z:-1.81 [[ 9.99961944e-01 7.86579819e-03 -3.77344991e-03 1.14380533e+02] [-7.86543188e-03 9.99969061e-01 1.11904592e-04 1.87723391e+00] [ 3.77421338e-03 -8.22205202e-05 9.99992874e-01 -1.80963842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.26592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:114.41, Y:1.88, Z:-1.82 [[ 9.99938239e-01 1.04538250e-02 -3.77290001e-03 1.14412320e+02] [-1.04534267e-02 9.99945354e-01 1.25268420e-04 1.87535837e+00] [ 3.77400336e-03 -8.58209496e-05 9.99992875e-01 -1.82468465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.29592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:114.44, Y:1.87, Z:-1.81 [[ 9.99947393e-01 9.53860819e-03 -3.77167601e-03 1.14439929e+02] [-9.53809117e-03 9.99954499e-01 1.55044082e-04 1.87032259e+00] [ 3.77298330e-03 -1.19061336e-04 9.99992875e-01 -1.81064033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.32592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.47, Y:1.87, Z:-1.81 [[ 9.99942858e-01 1.00024731e-02 -3.77231161e-03 1.14468613e+02] [-1.00020178e-02 9.99949969e-01 1.39551250e-04 1.86939089e+00] [ 3.77351873e-03 -1.01812548e-04 9.99992875e-01 -1.81408606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.35592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:114.50, Y:1.87, Z:-1.82 [[ 9.99918652e-01 1.21842725e-02 -3.77256462e-03 1.14497974e+02] [-1.21838560e-02 9.99925765e-01 1.33349986e-04 1.86854448e+00] [ 3.77390934e-03 -8.73747544e-05 9.99992875e-01 -1.81669042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.38592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:114.53, Y:1.87, Z:-1.83 [[ 9.99892891e-01 1.41412886e-02 -3.77244000e-03 1.14528044e+02] [-1.41408745e-02 9.99900004e-01 1.36410716e-04 1.86711088e+00] [ 3.77399179e-03 -8.30505048e-05 9.99992875e-01 -1.82758752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.41592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.56, Y:1.86, Z:-1.81 [[ 9.99872942e-01 1.54878947e-02 -3.77169820e-03 1.14556357e+02] [-1.54874219e-02 9.99880051e-01 1.54517659e-04 1.86429223e+00] [ 3.77363894e-03 -9.60841452e-05 9.99992875e-01 -1.81080552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.44592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.59, Y:1.86, Z:-1.82 [[ 9.99853025e-01 1.67241576e-02 -3.77237167e-03 1.14587489e+02] [-1.67237561e-02 9.99860139e-01 1.37940141e-04 1.86422702e+00] [ 3.77415099e-03 -7.48316435e-05 9.99992875e-01 -1.82481611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.47591999999999 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:114.61, Y:1.87, Z:-1.81 [[ 9.99838038e-01 1.75975103e-02 -3.77173888e-03 1.14614728e+02] [-1.75970564e-02 9.99845148e-01 1.53489787e-04 1.86690214e+00] [ 3.77385586e-03 -8.70934258e-05 9.99992875e-01 -1.80896745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.50591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.65, Y:1.87, Z:-1.83 [[ 9.99777497e-01 2.07537767e-02 -3.77323733e-03 1.14646437e+02] [-2.07534857e-02 9.99784616e-01 1.16257749e-04 1.86722789e+00] [ 3.77483742e-03 -3.79240548e-05 9.99992875e-01 -1.82625767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.53591999999999 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:114.67, Y:1.87, Z:-1.81 [[ 9.99854505e-01 1.66356006e-02 -3.77177722e-03 1.14673186e+02] [-1.66351440e-02 9.99861615e-01 1.52395303e-04 1.86630698e+00] [ 3.77379045e-03 -8.96290734e-05 9.99992875e-01 -1.81148847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.56591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.71, Y:1.87, Z:-1.83 [[ 9.99781363e-01 2.05665219e-02 -3.77408984e-03 1.14706502e+02] [-2.05663123e-02 9.99788487e-01 9.43495556e-05 1.86676897e+00] [ 3.77523201e-03 -1.67098173e-05 9.99992874e-01 -1.82684744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.59591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.73, Y:1.87, Z:-1.83 [[ 9.99818429e-01 1.86783803e-02 -3.77178221e-03 1.14734973e+02] [-1.86779408e-02 9.99825541e-01 1.51718344e-04 1.86888554e+00] [ 3.77395804e-03 -8.12416712e-05 9.99992875e-01 -1.82645494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.62592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.76, Y:1.87, Z:-1.81 [[ 9.99880068e-01 1.50207690e-02 -3.77185655e-03 1.14762172e+02] [-1.50203105e-02 9.99887178e-01 1.49847046e-04 1.86861119e+00] [ 3.77368182e-03 -9.31746183e-05 9.99992875e-01 -1.81108622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.65592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:114.79, Y:1.87, Z:-1.81 [[ 9.99894074e-01 1.40571170e-02 -3.77325163e-03 1.14790982e+02] [-1.40567853e-02 9.99901192e-01 1.14410126e-04 1.86730107e+00] [ 3.77448708e-03 -6.13582186e-05 9.99992875e-01 -1.81229204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.68592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.82, Y:1.87, Z:-1.82 [[ 9.99919948e-01 1.20771887e-02 -3.77345854e-03 1.14820707e+02] [-1.20768628e-02 9.99927066e-01 1.09143807e-04 1.86643536e+00] [ 3.77450148e-03 -6.35635284e-05 9.99992875e-01 -1.81503236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.71592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.85, Y:1.87, Z:-1.83 [[ 9.99927972e-01 1.13937763e-02 -3.77272814e-03 1.14850567e+02] [-1.13933751e-02 9.99935085e-01 1.27820663e-04 1.86578863e+00] [ 3.77393959e-03 -8.48273490e-05 9.99992875e-01 -1.82738714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.74592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.88, Y:1.86, Z:-1.83 [[ 9.99961675e-01 7.90066976e-03 -3.77193263e-03 1.14879866e+02] [-7.90016733e-03 9.99968782e-01 1.48083630e-04 1.86495534e+00] [ 3.77298483e-03 -1.18279055e-04 9.99992875e-01 -1.82672681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.77592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.91, Y:1.86, Z:-1.81 [[ 9.99963099e-01 7.71833173e-03 -3.77199000e-03 1.14910092e+02] [-7.71783356e-03 9.99970206e-01 1.46607454e-04 1.86307139e+00] [ 3.77300918e-03 -1.17490453e-04 9.99992875e-01 -1.81291403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.80592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.94, Y:1.86, Z:-1.81 [[ 9.99964343e-01 7.55547324e-03 -3.77195155e-03 1.14938386e+02] [-7.55497018e-03 9.99971450e-01 1.47598757e-04 1.86191178e+00] [ 3.77295903e-03 -1.19096512e-04 9.99992875e-01 -1.81280722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.83592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:114.97, Y:1.86, Z:-1.81 [[ 9.99952845e-01 8.94869968e-03 -3.77197616e-03 1.14966061e+02] [-8.94820893e-03 9.99959953e-01 1.46961409e-04 1.86068519e+00] [ 3.77314022e-03 -1.13202049e-04 9.99992875e-01 -1.80904296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.86591999999999 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:114.99, Y:1.86, Z:-1.81 [[ 9.99938378e-01 1.04406488e-02 -3.77265664e-03 1.14993896e+02] [-1.04402353e-02 9.99945491e-01 1.29291898e-04 1.86115698e+00] [ 3.77380089e-03 -8.98965082e-05 9.99992875e-01 -1.81070182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.89591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.03, Y:1.86, Z:-1.82 [[ 9.99908188e-01 1.30144540e-02 -3.77344774e-03 1.15025289e+02] [-1.30141369e-02 9.99915307e-01 1.08579014e-04 1.86066704e+00] [ 3.77454125e-03 -5.94608801e-05 9.99992875e-01 -1.82471688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.92591999999999 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:115.05, Y:1.86, Z:-1.81 [[ 9.99854149e-01 1.66568927e-02 -3.77203427e-03 1.15054291e+02] [-1.66564631e-02 9.99861261e-01 1.45278710e-04 1.86002442e+00] [ 3.77393083e-03 -8.24287715e-05 9.99992875e-01 -1.81157829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.95591999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:115.09, Y:1.86, Z:-1.83 [[ 9.99702956e-01 2.40783473e-02 -3.77268695e-03 1.15085225e+02] [-2.40780350e-02 9.99710074e-01 1.28202331e-04 1.86223299e+00] [ 3.77468005e-03 -3.73253609e-05 9.99992875e-01 -1.82596572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.98592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:115.11, Y:1.86, Z:-1.81 [[ 9.99639254e-01 2.65919902e-02 -3.77208543e-03 1.15113977e+02] [-2.65916363e-02 9.99646370e-01 1.43963306e-04 1.86257398e+00] [ 3.77457978e-03 -4.36054481e-05 9.99992875e-01 -1.81076215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.01592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.14, Y:1.86, Z:-1.81 [[ 9.99577580e-01 2.88172117e-02 -3.77229478e-03 1.15142951e+02] [-2.88168945e-02 9.99584697e-01 1.38438678e-04 1.86277590e+00] [ 3.77471755e-03 -2.96743784e-05 9.99992875e-01 -1.81264136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.04592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.17, Y:1.86, Z:-1.83 [[ 9.99443960e-01 3.31291534e-02 -3.77219882e-03 1.15173142e+02] [-3.31288572e-02 9.99451079e-01 1.40981157e-04 1.86381690e+00] [ 3.77479877e-03 -1.59341297e-05 9.99992875e-01 -1.82720509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.07592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:115.20, Y:1.86, Z:-1.81 [[ 9.99372200e-01 3.52274928e-02 -3.77215397e-03 1.15202103e+02] [-3.52272071e-02 9.99379319e-01 1.42171091e-04 1.86351276e+00] [ 3.77482100e-03 -9.19938668e-06 9.99992875e-01 -1.81324771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.10592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:115.23, Y:1.87, Z:-1.82 [[ 9.99315896e-01 3.67901268e-02 -3.77192405e-03 1.15230250e+02] [-3.67898291e-02 9.99323014e-01 1.48312226e-04 1.86524243e+00] [ 3.77482694e-03 -9.44232338e-06 9.99992875e-01 -1.81500338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.13592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:115.26, Y:1.87, Z:-1.81 [[ 9.99280618e-01 3.77361205e-02 -3.77251469e-03 1.15258958e+02] [-3.77358898e-02 9.99287739e-01 1.32329243e-04 1.86627026e+00] [ 3.77482127e-03 1.01251508e-05 9.99992875e-01 -1.81411662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.16592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:115.29, Y:1.87, Z:-1.81 [[ 9.99301509e-01 3.71788196e-02 -3.77232752e-03 1.15287255e+02] [-3.71785657e-02 9.99308629e-01 1.37431982e-04 1.86679314e+00] [ 3.77482900e-03 2.91374005e-06 9.99992875e-01 -1.81402001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.19592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:115.32, Y:1.87, Z:-1.83 [[ 9.99204143e-01 3.97095313e-02 -3.77286802e-03 1.15318559e+02] [-3.97093515e-02 9.99211265e-01 1.22582954e-04 1.86865001e+00] [ 3.77475993e-03 2.73327473e-05 9.99992875e-01 -1.82726235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.22591999999999 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:115.35, Y:1.87, Z:-1.82 [[ 9.99232441e-01 3.89910117e-02 -3.77233454e-03 1.15347445e+02] [-3.89907714e-02 9.99239561e-01 1.37246094e-04 1.86887331e+00] [ 3.77481727e-03 9.94548425e-06 9.99992875e-01 -1.81586993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.25591999999999 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:115.38, Y:1.87, Z:-1.81 [[ 9.99291229e-01 3.74540662e-02 -3.77259160e-03 1.15376958e+02] [-3.74538418e-02 9.99298350e-01 1.30132471e-04 1.86987085e+00] [ 3.77481855e-03 1.12578126e-05 9.99992875e-01 -1.81444312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.28591999999999 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:115.40, Y:1.87, Z:-1.82 [[ 9.99434877e-01 3.34020867e-02 -3.77197146e-03 1.15404565e+02] [-3.34017684e-02 9.99441994e-01 1.47378456e-04 1.86864387e+00] [ 3.77478942e-03 -2.13046522e-05 9.99992875e-01 -1.81787493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.31591999999999 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:115.43, Y:1.87, Z:-1.83 [[ 9.99591699e-01 2.83232004e-02 -3.77260549e-03 1.15434451e+02] [-2.83229132e-02 9.99598817e-01 1.29520536e-04 1.86713493e+00] [ 3.77476042e-03 -2.26164747e-05 9.99992875e-01 -1.82792481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.34591999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:115.46, Y:1.87, Z:-1.83 [[ 9.99679557e-01 2.50310295e-02 -3.77246898e-03 1.15462598e+02] [-2.50307044e-02 9.99686674e-01 1.33381451e-04 1.86621229e+00] [ 3.77462564e-03 -3.89111540e-05 9.99992875e-01 -1.82722947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.37592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:115.49, Y:1.87, Z:-1.81 [[ 9.99785050e-01 2.03868146e-02 -3.77253521e-03 1.15492123e+02] [-2.03864636e-02 9.99792166e-01 1.31481162e-04 1.86622304e+00] [ 3.77443163e-03 -5.45442480e-05 9.99992875e-01 -1.81443628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.40592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.52, Y:1.87, Z:-1.83 [[ 9.99792864e-01 1.99998662e-02 -3.77287482e-03 1.15522097e+02] [-1.99995493e-02 9.99799982e-01 1.21702505e-04 1.86535330e+00] [ 3.77455421e-03 -4.62214994e-05 9.99992875e-01 -1.82666393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.43592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:115.55, Y:1.86, Z:-1.83 [[ 9.99784240e-01 2.04264801e-02 -3.77254166e-03 1.15549920e+02] [-2.04261302e-02 9.99791356e-01 1.31276678e-04 1.86415884e+00] [ 3.77443606e-03 -5.41899263e-05 9.99992875e-01 -1.82797754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.46592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:115.58, Y:1.86, Z:-1.83 [[ 9.99728791e-01 2.29806906e-02 -3.77260626e-03 1.15578573e+02] [-2.29803659e-02 9.99735908e-01 1.29393255e-04 1.86471392e+00] [ 3.77458349e-03 -4.26622899e-05 9.99992875e-01 -1.82743763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.49592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:115.61, Y:1.87, Z:-1.81 [[ 9.99694825e-01 2.44135860e-02 -3.77266232e-03 1.15606850e+02] [-2.44132778e-02 9.99701943e-01 1.27737532e-04 1.86625861e+00] [ 3.77465638e-03 -3.55954969e-05 9.99992875e-01 -1.81400895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.52592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:115.64, Y:1.87, Z:-1.82 [[ 9.99654256e-01 2.60216703e-02 -3.77367378e-03 1.15638748e+02] [-2.60214874e-02 9.99661379e-01 9.75595904e-05 1.86626459e+00] [ 3.77493460e-03 6.70744990e-07 9.99992875e-01 -1.82454317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.55592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:115.67, Y:1.87, Z:-1.81 [[ 9.99711876e-01 2.37050965e-02 -3.77270454e-03 1.15666911e+02] [-2.37047880e-02 9.99718994e-01 1.26472268e-04 1.86656027e+00] [ 3.77464242e-03 -3.70046673e-05 9.99992875e-01 -1.81330886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.58592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.70, Y:1.87, Z:-1.82 [[ 9.99773468e-01 2.09469496e-02 -3.77339570e-03 1.15696743e+02] [-2.09466999e-02 9.99780588e-01 1.05679236e-04 1.86889716e+00] [ 3.77478143e-03 -2.66151089e-05 9.99992875e-01 -1.82316848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.61591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.73, Y:1.87, Z:-1.82 [[ 9.99846274e-01 1.71229439e-02 -3.77271763e-03 1.15725160e+02] [-1.71225903e-02 9.99853390e-01 1.25984630e-04 1.86962263e+00] [ 3.77432174e-03 -6.13665643e-05 9.99992875e-01 -1.82334734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.64591999999999 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:115.75, Y:1.87, Z:-1.81 [[ 9.99913083e-01 1.26330086e-02 -3.77277188e-03 1.15752968e+02] [-1.26326294e-02 9.99920197e-01 1.24338699e-04 1.86920170e+00] [ 3.77404157e-03 -7.66678625e-05 9.99992875e-01 -1.80916724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.67591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.78, Y:1.87, Z:-1.82 [[ 9.99917389e-01 1.22870708e-02 -3.77388362e-03 1.15784567e+02] [-1.22868181e-02 9.99924510e-01 9.01414139e-05 1.87043854e+00] [ 3.77470630e-03 -4.37649456e-05 9.99992875e-01 -1.82190954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.70591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.81, Y:1.87, Z:-1.82 [[ 9.99943370e-01 9.95100996e-03 -3.77279639e-03 1.15813826e+02] [-9.95061521e-03 9.99950484e-01 1.23385865e-04 1.87246882e+00] [ 3.77383739e-03 -8.58372322e-05 9.99992875e-01 -1.82131061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.73592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.84, Y:1.87, Z:-1.82 [[ 9.99957358e-01 8.42902445e-03 -3.77284885e-03 1.15842045e+02] [-8.42862501e-03 9.99964471e-01 1.21760557e-04 1.87095690e+00] [ 3.77374112e-03 -8.99554363e-05 9.99992875e-01 -1.82242418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.76592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.87, Y:1.87, Z:-1.82 [[ 9.99948237e-01 9.44929039e-03 -3.77290735e-03 1.15871344e+02] [-9.44890515e-03 9.99955351e-01 1.19920055e-04 1.86974505e+00] [ 3.77387205e-03 -8.42640040e-05 9.99992875e-01 -1.82235753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.79592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.90, Y:1.87, Z:-1.82 [[ 9.99931223e-01 1.11046494e-02 -3.77293493e-03 1.15899841e+02] [-1.11042792e-02 9.99938339e-01 1.19045729e-04 1.87426582e+00] [ 3.77402425e-03 -7.71418184e-05 9.99992875e-01 -1.82199746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.82592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.93, Y:1.88, Z:-1.82 [[ 9.99918909e-01 1.21630760e-02 -3.77298480e-03 1.15928028e+02] [-1.21627194e-02 9.99926024e-01 1.17443583e-04 1.87500892e+00] [ 3.77413417e-03 -7.15443042e-05 9.99992875e-01 -1.82270320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.85592 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:115.95, Y:1.87, Z:-1.81 [[ 9.99945636e-01 9.72056027e-03 -3.77304143e-03 1.15953691e+02] [-9.72019326e-03 9.99952751e-01 1.15595193e-04 1.87358204e+00] [ 3.77398681e-03 -7.89142165e-05 9.99992875e-01 -1.80838133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.88592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.99, Y:1.87, Z:-1.82 [[ 9.99895159e-01 1.39793431e-02 -3.77468822e-03 1.15987221e+02] [-1.39792123e-02 9.99902284e-01 6.10236462e-05 1.87477097e+00] [ 3.77517244e-03 -8.25008026e-06 9.99992874e-01 -1.82213714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.91592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.02, Y:1.88, Z:-1.82 [[ 9.99903651e-01 1.33586132e-02 -3.77302227e-03 1.16015336e+02] [-1.33582725e-02 9.99910768e-01 1.15462679e-04 1.87757078e+00] [ 3.77422802e-03 -6.50504944e-05 9.99992875e-01 -1.82084268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.94592 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:116.04, Y:1.88, Z:-1.81 [[ 9.99944360e-01 9.85091300e-03 -3.77307760e-03 1.16042332e+02] [-9.85055436e-03 9.99951476e-01 1.13625591e-04 1.88325263e+00] [ 3.77401383e-03 -7.64523630e-05 9.99992875e-01 -1.80669421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.97591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.07, Y:1.88, Z:-1.82 [[ 9.99948800e-01 9.38891480e-03 -3.77430463e-03 1.16074479e+02] [-9.38870815e-03 9.99955922e-01 7.24658664e-05 1.88399739e+00] [ 3.77481864e-03 -3.70263116e-05 9.99992875e-01 -1.82350131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.00591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.10, Y:1.89, Z:-1.82 [[ 9.99964349e-01 7.55409687e-03 -3.77305839e-03 1.16102909e+02] [-7.55372127e-03 9.99971464e-01 1.13789140e-04 1.88517456e+00] [ 3.77381030e-03 -8.52844520e-05 9.99992876e-01 -1.82226271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.03591999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:116.13, Y:1.89, Z:-1.82 [[ 9.99982536e-01 4.54867424e-03 -3.77310591e-03 1.16130830e+02] [-4.54828328e-03 9.99989650e-01 1.12191258e-04 1.88745001e+00] [ 3.77357718e-03 -9.50281444e-05 9.99992876e-01 -1.82212380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.06591999999999 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:116.16, Y:1.89, Z:-1.81 [[ 9.99992842e-01 -2.80679241e-04 -3.77315937e-03 1.16157421e+02] [ 2.81097659e-04 9.99999954e-01 1.10363406e-04 1.88962970e+00] [ 3.77312822e-03 -1.11423243e-04 9.99992876e-01 -1.80611183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.09591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.19, Y:1.89, Z:-1.82 [[ 9.99992824e-01 3.23993713e-04 -3.77455532e-03 1.16189995e+02] [-3.23761421e-04 9.99999946e-01 6.21523497e-05 1.88891738e+00] [ 3.77457525e-03 -6.09298483e-05 9.99992874e-01 -1.82259049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.12592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:116.22, Y:1.89, Z:-1.81 [[ 9.99975737e-01 -5.85558530e-03 -3.77316492e-03 1.16217141e+02] [ 5.85604158e-03 9.99982847e-01 1.09892076e-04 1.88902396e+00] [ 3.77245672e-03 -1.31985221e-04 9.99992876e-01 -1.80779111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.15592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:116.25, Y:1.89, Z:-1.82 [[ 9.99981107e-01 -4.85122911e-03 -3.77505925e-03 1.16250453e+02] [ 4.85143163e-03 9.99988231e-01 4.44915825e-05 1.88965909e+00] [ 3.77479898e-03 -6.28051838e-05 9.99992873e-01 -1.82299701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.18592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:116.28, Y:1.88, Z:-1.82 [[ 9.99925181e-01 -1.16359835e-02 -3.77311758e-03 1.16279628e+02] [ 1.16364838e-02 9.99932288e-01 1.10682540e-04 1.88483744e+00] [ 3.77157419e-03 -1.54580080e-04 9.99992876e-01 -1.82471258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.21592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.31, Y:1.88, Z:-1.83 [[ 9.99883339e-01 -1.48010707e-02 -3.77312712e-03 1.16308693e+02] [ 1.48015923e-02 9.99890444e-01 1.10356302e-04 1.88061908e+00] [ 3.77108036e-03 -1.66191717e-04 9.99992876e-01 -1.82577138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.24592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.34, Y:1.88, Z:-1.83 [[ 9.99826528e-01 -1.82394618e-02 -3.77313967e-03 1.16338726e+02] [ 1.82400062e-02 9.99833631e-01 1.09925675e-04 1.87647400e+00] [ 3.77050695e-03 -1.78728696e-04 9.99992876e-01 -1.82581807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.27592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.37, Y:1.87, Z:-1.83 [[ 9.99714077e-01 -2.36120069e-02 -3.77314596e-03 1.16368366e+02] [ 2.36125887e-02 9.99721178e-01 1.09709140e-04 1.86958406e+00] [ 3.76950347e-03 -1.98771515e-04 9.99992876e-01 -1.82588701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.30592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.40, Y:1.87, Z:-1.83 [[ 9.99665834e-01 -2.55731002e-02 -3.77315215e-03 1.16399094e+02] [ 2.55736951e-02 9.99672934e-01 1.09495985e-04 1.86500783e+00] [ 3.76911793e-03 -2.05952838e-04 9.99992876e-01 -1.82539869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.33592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.43, Y:1.86, Z:-1.83 [[ 9.99627334e-01 -2.70362154e-02 -3.77315215e-03 1.16429555e+02] [ 2.70368207e-02 9.99634432e-01 1.09495985e-04 1.85674584e+00] [ 3.76881245e-03 -2.11469218e-04 9.99992876e-01 -1.82606586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.36591999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:116.46, Y:1.85, Z:-1.81 [[ 9.99629971e-01 -2.69385325e-02 -3.77315215e-03 1.16457625e+02] [ 2.69391371e-02 9.99637070e-01 1.09495985e-04 1.85181850e+00] [ 3.76883310e-03 -2.11100932e-04 9.99992876e-01 -1.81216143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.39591999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:116.49, Y:1.85, Z:-1.81 [[ 9.99695871e-01 -2.43704979e-02 -3.77416842e-03 1.16487763e+02] [ 2.43709530e-02 9.99702981e-01 7.46309263e-05 1.84769475e+00] [ 3.77122863e-03 -1.66588310e-04 9.99992875e-01 -1.80913873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.42591999999999 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:116.52, Y:1.84, Z:-1.81 [[ 9.99721128e-01 -2.33114219e-02 -3.77408306e-03 1.16517218e+02] [ 2.33118803e-02 9.99728238e-01 7.75110209e-05 1.84037772e+00] [ 3.77125052e-03 -1.65470378e-04 9.99992875e-01 -1.81057489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.45591999999999 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:116.55, Y:1.83, Z:-1.81 [[ 9.99781521e-01 -2.05587385e-02 -3.77478719e-03 1.16547375e+02] [ 2.05590888e-02 9.99788638e-01 5.40017810e-05 1.83414999e+00] [ 3.77287913e-03 -1.31596168e-04 9.99992874e-01 -1.81030311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.48592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:116.58, Y:1.83, Z:-1.81 [[ 9.99832730e-01 -1.78959526e-02 -3.77455176e-03 1.16575817e+02] [ 1.78963128e-02 9.99839846e-01 6.16831043e-05 1.82830107e+00] [ 3.77284338e-03 -1.29223346e-04 9.99992874e-01 -1.80732707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.51592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:116.61, Y:1.82, Z:-1.81 [[ 9.99866054e-01 -1.59256946e-02 -3.77436828e-03 1.16605424e+02] [ 1.59260634e-02 9.99873170e-01 6.76696582e-05 1.82226342e+00] [ 3.77281189e-03 -1.27771423e-04 9.99992875e-01 -1.80734033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.54592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.64, Y:1.81, Z:-1.82 [[ 9.99917876e-01 -1.22474415e-02 -3.77390748e-03 1.16637256e+02] [ 1.22478399e-02 9.99924989e-01 8.24873984e-05 1.81347629e+00] [ 3.77261414e-03 -1.28702839e-04 9.99992875e-01 -1.82470171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.57592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.67, Y:1.81, Z:-1.82 [[ 9.99963532e-01 -7.66161118e-03 -3.77275574e-03 1.16665397e+02] [ 7.66211461e-03 9.99970638e-01 1.19001774e-04 1.80765566e+00] [ 3.77173322e-03 -1.47904721e-04 9.99992876e-01 -1.82339301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.60592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:116.69, Y:1.80, Z:-1.82 [[ 9.99982133e-01 -4.63688002e-03 -3.77277303e-03 1.16694196e+02] [ 4.63735987e-03 9.99989240e-01 1.18451100e-04 1.80474036e+00] [ 3.77218319e-03 -1.35944690e-04 9.99992876e-01 -1.82417533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.63592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.72, Y:1.80, Z:-1.82 [[ 9.99990341e-01 -2.25498238e-03 -3.77278691e-03 1.16722379e+02] [ 2.25544363e-03 9.99997450e-01 1.18007266e-04 1.80211982e+00] [ 3.77251118e-03 -1.26515434e-04 9.99992876e-01 -1.82302763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.66592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:116.75, Y:1.80, Z:-1.81 [[ 9.99991996e-01 1.33199886e-03 -3.77284184e-03 1.16750334e+02] [-1.33156983e-03 9.99999107e-01 1.16224183e-04 1.79953633e+00] [ 3.77299328e-03 -1.11199450e-04 9.99992876e-01 -1.80896523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.69592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:116.78, Y:1.80, Z:-1.81 [[ 9.99976969e-01 5.64079209e-03 -3.77393628e-03 1.16780024e+02] [-5.64053040e-03 9.99984089e-01 7.99823106e-05 1.79846933e+00] [ 3.77432740e-03 -5.86934662e-05 9.99992875e-01 -1.81128267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.72591999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:116.81, Y:1.80, Z:-1.81 [[ 9.99978123e-01 5.43321576e-03 -3.77270684e-03 1.16808321e+02] [-5.43279878e-03 9.99985235e-01 1.20764734e-04 1.79749702e+00] [ 3.77330727e-03 -1.00265735e-04 9.99992876e-01 -1.81117922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.75591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.83, Y:1.80, Z:-1.81 [[ 9.99975211e-01 5.94500382e-03 -3.77273668e-03 1.16834859e+02] [-5.94459424e-03 9.99982324e-01 1.19767209e-04 1.79566957e+00] [ 3.77338201e-03 -9.73368513e-05 9.99992876e-01 -1.81025484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.78591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.87, Y:1.79, Z:-1.82 [[ 9.99970535e-01 6.68501792e-03 -3.77353213e-03 1.16865739e+02] [-6.68471532e-03 9.99977653e-01 9.27975655e-05 1.79493219e+00] [ 3.77406815e-03 -6.75698432e-05 9.99992876e-01 -1.82276977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.81591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.89, Y:1.80, Z:-1.82 [[ 9.99966252e-01 7.29792697e-03 -3.77299979e-03 1.16894326e+02] [-7.29756043e-03 9.99973366e-01 1.10907433e-04 1.79772001e+00] [ 3.77370870e-03 -8.33699965e-05 9.99992876e-01 -1.82270866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.84591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.92, Y:1.80, Z:-1.82 [[ 9.99966726e-01 7.23260614e-03 -3.77304725e-03 1.16921856e+02] [-7.23224531e-03 9.99973841e-01 1.09268540e-04 1.79798553e+00] [ 3.77373885e-03 -8.19773011e-05 9.99992876e-01 -1.82357511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.87592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.95, Y:1.80, Z:-1.82 [[ 9.99960370e-01 8.06364516e-03 -3.77310068e-03 1.16949365e+02] [-8.06329733e-03 9.99967485e-01 1.07391366e-04 1.79785678e+00] [ 3.77384397e-03 -7.69634774e-05 9.99992876e-01 -1.82349288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.90592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:116.98, Y:1.80, Z:-1.81 [[ 9.99948986e-01 9.36961613e-03 -3.77315352e-03 1.16978418e+02] [-9.36928471e-03 9.99956102e-01 1.05501518e-04 1.79795831e+00] [ 3.77397640e-03 -7.01443863e-05 9.99992876e-01 -1.81224986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.93592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.01, Y:1.80, Z:-1.82 [[ 9.99957275e-01 8.43870995e-03 -3.77310680e-03 1.17007638e+02] [-8.43836558e-03 9.99964391e-01 1.07181088e-04 1.79788468e+00] [ 3.77387691e-03 -7.53376537e-05 9.99992876e-01 -1.82254015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.96592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.04, Y:1.80, Z:-1.82 [[ 9.99963294e-01 7.69249898e-03 -3.77320536e-03 1.17036668e+02] [-7.69216284e-03 9.99970410e-01 1.03591105e-04 1.79635007e+00] [ 3.77389059e-03 -7.45631924e-05 9.99992876e-01 -1.82319685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.99592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.06, Y:1.79, Z:-1.82 [[ 9.99967150e-01 7.17361722e-03 -3.77324978e-03 1.17064631e+02] [-7.17328359e-03 9.99974266e-01 1.01946938e-04 1.79449005e+00] [ 3.77388401e-03 -7.48769979e-05 9.99992876e-01 -1.82325858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.02592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:117.09, Y:1.79, Z:-1.81 [[ 9.99965898e-01 7.34609339e-03 -3.77329971e-03 1.17094063e+02] [-7.34576808e-03 9.99973014e-01 1.00064375e-04 1.79282546e+00] [ 3.77393297e-03 -7.23431777e-05 9.99992876e-01 -1.80986655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.05592 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:117.12, Y:1.79, Z:-1.81 [[ 9.99966029e-01 7.32821597e-03 -3.77344729e-03 1.17122642e+02] [-7.32791161e-03 9.99973146e-01 9.44765786e-05 1.79142998e+00] [ 3.77403831e-03 -6.68218808e-05 9.99992876e-01 -1.80605790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.08592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.15, Y:1.79, Z:-1.82 [[ 9.99946109e-01 9.67156723e-03 -3.77364217e-03 1.17152613e+02] [-9.67130762e-03 9.99953228e-01 8.70377086e-05 1.79022067e+00] [ 3.77430746e-03 -5.05369637e-05 9.99992876e-01 -1.82093374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.11591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.18, Y:1.79, Z:-1.82 [[ 9.99941292e-01 1.01574676e-02 -3.77333284e-03 1.17181001e+02] [-1.01571669e-02 9.99948410e-01 9.88461463e-05 1.78937742e+00] [ 3.77414220e-03 -6.05139718e-05 9.99992876e-01 -1.82043159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.14591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.21, Y:1.79, Z:-1.82 [[ 9.99919057e-01 1.21507358e-02 -3.77338174e-03 1.17209984e+02] [-1.21504565e-02 9.99926176e-01 9.69425262e-05 1.78904950e+00] [ 3.77428110e-03 -5.10863686e-05 9.99992876e-01 -1.82020369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.17591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.24, Y:1.79, Z:-1.82 [[ 9.99897661e-01 1.37995741e-02 -3.77342396e-03 1.17238611e+02] [-1.37993128e-02 9.99904780e-01 9.52704513e-05 1.78926102e+00] [ 3.77437935e-03 -4.31900437e-05 9.99992876e-01 -1.81934930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.20591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.27, Y:1.79, Z:-1.82 [[ 9.99868667e-01 1.57610399e-02 -3.77346550e-03 1.17266849e+02] [-1.57607990e-02 9.99875787e-01 9.35956474e-05 1.78979591e+00] [ 3.77447195e-03 -3.41105240e-05 9.99992876e-01 -1.81816639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.23592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.29, Y:1.79, Z:-1.82 [[ 9.99806259e-01 1.93185132e-02 -3.77351244e-03 1.17294774e+02] [-1.93183049e-02 9.99813380e-01 9.16631804e-05 1.79455871e+00] [ 3.77457903e-03 -1.87475577e-05 9.99992876e-01 -1.81835978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.26592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.32, Y:1.80, Z:-1.82 [[ 9.99789259e-01 2.01791298e-02 -3.77355860e-03 1.17323234e+02] [-2.01789349e-02 9.99796381e-01 8.97220644e-05 1.79712051e+00] [ 3.77460074e-03 -1.35567629e-05 9.99992876e-01 -1.81824955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.29592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:117.35, Y:1.80, Z:-1.80 [[ 9.99834288e-01 1.78088679e-02 -3.77360397e-03 1.17351948e+02] [-1.78086635e-02 9.99841409e-01 8.77713425e-05 1.80174328e+00] [ 3.77456862e-03 -2.05539546e-05 9.99992876e-01 -1.80369770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.32592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.38, Y:1.80, Z:-1.82 [[ 9.99857949e-01 1.64267792e-02 -3.77390502e-03 1.17381689e+02] [-1.64266147e-02 9.99865071e-01 7.45622621e-05 1.80301593e+00] [ 3.77462063e-03 -1.25591866e-05 9.99992876e-01 -1.81549353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.35592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.41, Y:1.80, Z:-1.81 [[ 9.99942264e-01 1.00612737e-02 -3.77364343e-03 1.17410439e+02] [-1.00610207e-02 9.99949383e-01 8.60361567e-05 1.80441191e+00] [ 3.77431805e-03 -4.80644848e-05 9.99992876e-01 -1.81421823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.38592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.44, Y:1.81, Z:-1.81 [[ 9.99967281e-01 7.15510190e-03 -3.77368109e-03 1.17439075e+02] [-7.15483451e-03 9.99974400e-01 8.43510699e-05 1.80601014e+00] [ 3.77418803e-03 -5.73482463e-05 9.99992876e-01 -1.81427918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.41592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:117.47, Y:1.81, Z:-1.81 [[ 9.99982211e-01 4.61919375e-03 -3.77371729e-03 1.17466912e+02] [-4.61891454e-03 9.99989329e-01 8.26994938e-05 1.80811991e+00] [ 3.77405902e-03 -6.52675450e-05 9.99992876e-01 -1.81398001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.44592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:117.50, Y:1.81, Z:-1.81 [[ 9.99989453e-01 2.61781441e-03 -3.77375774e-03 1.17495228e+02] [-2.61752808e-03 9.99996571e-01 8.08101693e-05 1.81315359e+00] [ 3.77395635e-03 -7.09314001e-05 9.99992876e-01 -1.81497849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.47591999999999 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:117.52, Y:1.82, Z:-1.82 [[ 9.99984241e-01 4.15634862e-03 -3.77379687e-03 1.17524240e+02] [-4.15608030e-03 9.99991360e-01 7.89395298e-05 1.81678906e+00] [ 3.77409237e-03 -6.32540830e-05 9.99992876e-01 -1.81502410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.50591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.55, Y:1.82, Z:-1.82 [[ 9.99981419e-01 4.78756128e-03 -3.77383059e-03 1.17553041e+02] [-4.78730367e-03 9.99988538e-01 7.72931365e-05 1.81827798e+00] [ 3.77415738e-03 -5.92252272e-05 9.99992876e-01 -1.81538638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.53591999999999 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:117.58, Y:1.82, Z:-1.80 [[ 9.99973487e-01 6.22764585e-03 -3.77386375e-03 1.17583438e+02] [-6.22740474e-03 9.99980607e-01 7.56388519e-05 1.82006697e+00] [ 3.77426161e-03 -5.21354695e-05 9.99992876e-01 -1.80389339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.56591999999999 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:117.61, Y:1.82, Z:-1.80 [[ 9.99971727e-01 6.50424948e-03 -3.77354202e-03 1.17612481e+02] [-6.50394944e-03 9.99978845e-01 9.17775895e-05 1.82449874e+00] [ 3.77405914e-03 -6.72320682e-05 9.99992876e-01 -1.80383087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.59591999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:117.64, Y:1.83, Z:-1.82 [[ 9.99978684e-01 5.32837782e-03 -3.77354676e-03 1.17642389e+02] [-5.32807032e-03 9.99985802e-01 9.15370641e-05 1.82775087e+00] [ 3.77398092e-03 -7.14293904e-05 9.99992876e-01 -1.81616683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.62592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:117.67, Y:1.83, Z:-1.82 [[ 9.99982612e-01 4.53143387e-03 -3.77390297e-03 1.17670275e+02] [-4.53119001e-03 9.99989731e-01 7.31632726e-05 1.83003789e+00] [ 3.77419575e-03 -5.60617290e-05 9.99992876e-01 -1.81536085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.65592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:117.70, Y:1.83, Z:-1.82 [[ 9.99988181e-01 3.06524668e-03 -3.77393848e-03 1.17698721e+02] [-3.06499948e-03 9.99995300e-01 7.12828479e-05 1.83322496e+00] [ 3.77413925e-03 -5.97148859e-05 9.99992876e-01 -1.81604888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.68592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.73, Y:1.84, Z:-1.80 [[ 9.99992541e-01 8.21329032e-04 -3.77396868e-03 1.17729111e+02] [-8.21072032e-04 9.99999660e-01 6.96467912e-05 1.83845578e+00] [ 3.77402460e-03 -6.65475716e-05 9.99992876e-01 -1.80329192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.71592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.76, Y:1.84, Z:-1.82 [[ 9.99992019e-01 -1.31132940e-03 -3.77400970e-03 1.17759694e+02] [ 1.31159322e-03 9.99999138e-01 6.74298682e-05 1.83967405e+00] [ 3.77391802e-03 -7.23792956e-05 9.99992876e-01 -1.81649961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.74592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.79, Y:1.84, Z:-1.82 [[ 9.99984160e-01 -4.17574042e-03 -3.77396966e-03 1.17788863e+02] [ 4.17603282e-03 9.99991278e-01 6.96006208e-05 1.84186615e+00] [ 3.77364611e-03 -8.53597395e-05 9.99992876e-01 -1.81761871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.77592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.82, Y:1.84, Z:-1.82 [[ 9.99971437e-01 -6.54847702e-03 -3.77397802e-03 1.17817727e+02] [ 6.54878459e-03 9.99978554e-01 6.91444227e-05 1.84184005e+00] [ 3.77344430e-03 -9.38574169e-05 9.99992876e-01 -1.81808177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.80592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.85, Y:1.84, Z:-1.82 [[ 9.99964566e-01 -7.52493861e-03 -3.77398626e-03 1.17846161e+02] [ 7.52525142e-03 9.99971683e-01 6.86916818e-05 1.84109122e+00] [ 3.77336249e-03 -9.70894433e-05 9.99992876e-01 -1.81672925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.83592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.88, Y:1.84, Z:-1.82 [[ 9.99959493e-01 -8.17130132e-03 -3.77399442e-03 1.17875205e+02] [ 8.17161702e-03 9.99966609e-01 6.82406112e-05 1.84230752e+00] [ 3.77331079e-03 -9.90774840e-05 9.99992876e-01 -1.81600679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.86591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.90, Y:1.85, Z:-1.81 [[ 9.99971778e-01 -6.49613021e-03 -3.77400256e-03 1.17903831e+02] [ 6.49643228e-03 9.99978896e-01 6.77874708e-05 1.84620270e+00] [ 3.77348255e-03 -9.23031098e-05 9.99992876e-01 -1.81454260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.89591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.93, Y:1.85, Z:-1.81 [[ 9.99973204e-01 -6.27288538e-03 -3.77401060e-03 1.17932334e+02] [ 6.27318417e-03 9.99980321e-01 6.73364750e-05 1.84586162e+00] [ 3.77351394e-03 -9.10097342e-05 9.99992876e-01 -1.81405567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.92591999999999 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:117.96, Y:1.84, Z:-1.80 [[ 9.99976380e-01 -5.74415129e-03 -3.77401860e-03 1.17960757e+02] [ 5.74444461e-03 9.99983498e-01 6.68854016e-05 1.84457870e+00] [ 3.77357212e-03 -8.85634625e-05 9.99992876e-01 -1.79979729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.95591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.99, Y:1.84, Z:-1.82 [[ 9.99982362e-01 -4.58597302e-03 -3.77423550e-03 1.17991852e+02] [ 4.58621149e-03 9.99989482e-01 5.45318193e-05 1.84437598e+00] [ 3.77394572e-03 -7.18402997e-05 9.99992876e-01 -1.81517869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.98592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:118.02, Y:1.84, Z:-1.81 [[ 9.99986989e-01 -3.43203590e-03 -3.77402585e-03 1.18021015e+02] [ 3.43231108e-03 9.99994107e-01 6.64403218e-05 1.84472920e+00] [ 3.77377559e-03 -7.93930881e-05 9.99992876e-01 -1.81354207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.01592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:118.05, Y:1.85, Z:-1.80 [[ 9.99992261e-01 1.11148279e-03 -3.77403382e-03 1.18053136e+02] [-1.11124167e-03 9.99999380e-01 6.59847657e-05 1.84552232e+00] [ 3.77410482e-03 -6.17903914e-05 9.99992876e-01 -1.80226421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.04592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.08, Y:1.85, Z:-1.81 [[ 9.99990521e-01 -2.17271385e-03 -3.77326034e-03 1.18080096e+02] [ 2.17314307e-03 9.99997633e-01 1.09656140e-04 1.84526535e+00] [ 3.77301315e-03 -1.17854935e-04 9.99992875e-01 -1.81261998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.07592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.11, Y:1.85, Z:-1.80 [[ 9.99990916e-01 -1.98091565e-03 -3.77402919e-03 1.18107830e+02] [ 1.98117525e-03 9.99998035e-01 6.50478536e-05 1.84714346e+00] [ 3.77389292e-03 -7.25242760e-05 9.99992876e-01 -1.79975081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.10592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.14, Y:1.85, Z:-1.81 [[ 9.99992870e-01 1.20348003e-04 -3.77442622e-03 1.18139543e+02] [-1.20191499e-04 9.99999992e-01 4.16912424e-05 1.84770740e+00] [ 3.77443121e-03 -4.12372912e-05 9.99992876e-01 -1.81288258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.13592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:118.17, Y:1.85, Z:-1.81 [[ 9.99992878e-01 2.71936016e-05 -3.77403374e-03 1.18168446e+02] [-2.69499323e-05 9.99999998e-01 6.46155281e-05 1.84739209e+00] [ 3.77403548e-03 -6.45133579e-05 9.99992876e-01 -1.81163163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.16592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.20, Y:1.85, Z:-1.81 [[ 9.99992090e-01 -1.25568004e-03 -3.77404155e-03 1.18197103e+02] [ 1.25593111e-03 9.99999209e-01 6.41560608e-05 1.84687246e+00] [ 3.77395800e-03 -6.88954895e-05 9.99992876e-01 -1.81216016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.19592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.23, Y:1.85, Z:-1.81 [[ 9.99990560e-01 -2.15331272e-03 -3.77404931e-03 1.18225390e+02] [ 2.15356845e-03 9.99997679e-01 6.36959323e-05 1.84696671e+00] [ 3.77390340e-03 -7.18230045e-05 9.99992876e-01 -1.81151230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.22591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.25, Y:1.85, Z:-1.81 [[ 9.99987669e-01 -3.22775340e-03 -3.77405901e-03 1.18254194e+02] [ 3.22801459e-03 9.99994788e-01 6.31162283e-05 1.84716652e+00] [ 3.77383561e-03 -7.52981676e-05 9.99992876e-01 -1.81174119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.25591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.28, Y:1.85, Z:-1.81 [[ 9.99983101e-01 -4.42205935e-03 -3.77406658e-03 1.18283289e+02] [ 4.42232732e-03 9.99990219e-01 6.26600195e-05 1.84557530e+00] [ 3.77375258e-03 -7.93491184e-05 9.99992876e-01 -1.81271808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.28591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.31, Y:1.84, Z:-1.81 [[ 9.99977512e-01 -5.54363701e-03 -3.77407415e-03 1.18312078e+02] [ 5.54391122e-03 9.99984630e-01 6.22006279e-05 1.84398915e+00] [ 3.77367133e-03 -8.31223612e-05 9.99992876e-01 -1.81307684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.31591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.34, Y:1.84, Z:-1.80 [[ 9.99919155e-01 -1.21424417e-02 -3.77408162e-03 1.18338901e+02] [ 1.21427612e-02 9.99926272e-01 6.17440134e-05 1.84145095e+00] [ 3.77305365e-03 -1.07566794e-04 9.99992876e-01 -1.79888482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.34591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.37, Y:1.84, Z:-1.81 [[ 9.99941711e-01 -1.01155610e-02 -3.77494468e-03 1.18372026e+02] [ 1.01156604e-02 9.99948835e-01 7.24541868e-06 1.84002725e+00] [ 3.77467824e-03 -4.54310548e-05 9.99992875e-01 -1.81384024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.37592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.40, Y:1.83, Z:-1.81 [[ 9.99916796e-01 -1.23351954e-02 -3.77406745e-03 1.18400711e+02] [ 1.23355144e-02 9.99923913e-01 6.12755237e-05 1.83464436e+00] [ 3.77302445e-03 -1.07825489e-04 9.99992876e-01 -1.81325722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.40592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.43, Y:1.83, Z:-1.81 [[ 9.99910626e-01 -1.28255915e-02 -3.77407286e-03 1.18428996e+02] [ 1.28259128e-02 9.99917743e-01 6.09406380e-05 1.83261363e+00] [ 3.77298081e-03 -1.09341121e-04 9.99992876e-01 -1.81287202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.43592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.46, Y:1.83, Z:-1.80 [[ 9.99910848e-01 -1.28083197e-02 -3.77408012e-03 1.18458193e+02] [ 1.28086391e-02 9.99917964e-01 6.04878858e-05 1.83015010e+00] [ 3.77299576e-03 -1.08823323e-04 9.99992876e-01 -1.79907178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.46592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.49, Y:1.83, Z:-1.80 [[ 9.99929743e-01 -1.12366368e-02 -3.77460287e-03 1.18486688e+02] [ 1.12368222e-02 9.99936865e-01 2.79089487e-05 1.82911876e+00] [ 3.77405096e-03 -7.03215291e-05 9.99992876e-01 -1.79911078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.49592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.52, Y:1.83, Z:-1.81 [[ 9.99962508e-01 -7.79320148e-03 -3.77460957e-03 1.18518577e+02] [ 7.79336078e-03 9.99969631e-01 2.74946355e-05 1.82864618e+00] [ 3.77428067e-03 -5.69104989e-05 9.99992876e-01 -1.81307343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.52592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.55, Y:1.83, Z:-1.81 [[ 9.99974358e-01 -6.08610523e-03 -3.77404851e-03 1.18547851e+02] [ 6.08638170e-03 9.99981476e-01 6.17732591e-05 1.82834341e+00] [ 3.77360264e-03 -8.47419748e-05 9.99992876e-01 -1.81216926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.55592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.58, Y:1.83, Z:-1.81 [[ 9.99973971e-01 -6.14925501e-03 -3.77405593e-03 1.18576373e+02] [ 6.14953020e-03 9.99981090e-01 6.13162435e-05 1.82724566e+00] [ 3.77360751e-03 -8.45233184e-05 9.99992876e-01 -1.81154128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.58592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.61, Y:1.83, Z:-1.81 [[ 9.99968316e-01 -7.00887842e-03 -3.77406328e-03 1.18605130e+02] [ 7.00915801e-03 9.99975434e-01 6.08603596e-05 1.82636494e+00] [ 3.77354400e-03 -8.73114372e-05 9.99992876e-01 -1.81109721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.61591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.63, Y:1.83, Z:-1.81 [[ 9.99967462e-01 -7.12958340e-03 -3.77407060e-03 1.18634431e+02] [ 7.12986212e-03 9.99974580e-01 6.04030946e-05 1.82586005e+00] [ 3.77354402e-03 -8.73097323e-05 9.99992876e-01 -1.81098653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.64591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.66, Y:1.83, Z:-1.81 [[ 9.99964918e-01 -7.47793761e-03 -3.77407784e-03 1.18663188e+02] [ 7.47821709e-03 9.99972036e-01 5.99475333e-05 1.82510583e+00] [ 3.77352401e-03 -8.81688036e-05 9.99992876e-01 -1.81093184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.67591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.69, Y:1.83, Z:-1.81 [[ 9.99966109e-01 -7.31695663e-03 -3.77408501e-03 1.18691809e+02] [ 7.31723325e-03 9.99973227e-01 5.94923732e-05 1.82626641e+00] [ 3.77354866e-03 -8.71062172e-05 9.99992876e-01 -1.81230956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.70591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.72, Y:1.83, Z:-1.81 [[ 9.99962074e-01 -7.84905375e-03 -3.77409218e-03 1.18720488e+02] [ 7.84933243e-03 9.99969192e-01 5.90342936e-05 1.82713992e+00] [ 3.77351254e-03 -8.86561588e-05 9.99992876e-01 -1.81217650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.73592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.75, Y:1.83, Z:-1.80 [[ 9.99966666e-01 -7.24042810e-03 -3.77409917e-03 1.18749088e+02] [ 7.24070075e-03 9.99973784e-01 5.85836045e-05 1.82876590e+00] [ 3.77357606e-03 -8.59087744e-05 9.99992876e-01 -1.79882892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.76592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.78, Y:1.83, Z:-1.79 [[ 9.99966223e-01 -7.30120782e-03 -3.77440669e-03 1.18777396e+02] [ 7.30140563e-03 9.99973344e-01 3.86313165e-05 1.82905431e+00] [ 3.77402402e-03 -6.61884859e-05 9.99992876e-01 -1.79376925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.79592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.81, Y:1.83, Z:-1.81 [[ 9.99972732e-01 -6.34722506e-03 -3.77475720e-03 1.18809767e+02] [ 6.34733017e-03 9.99979855e-01 1.58653886e-05 1.83109607e+00] [ 3.77458045e-03 -3.98245862e-05 9.99992875e-01 -1.81146818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.82592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.84, Y:1.83, Z:-1.80 [[ 9.99922294e-01 -1.18811511e-02 -3.77407648e-03 1.18837033e+02] [ 1.18814593e-02 9.99929411e-01 5.92360035e-05 1.83149800e+00] [ 3.77310628e-03 -1.04072936e-04 9.99992876e-01 -1.79525555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.85592 meters Centerline goodness : 0.967208 Centerline is valid? [True, True] Translation: X:118.87, Y:1.87, Z:-1.81 [[ 9.97264159e-01 7.38237551e-02 -3.77504870e-03 1.18874249e+02] [-7.38242984e-02 9.97271263e-01 -4.57823342e-06 1.87412016e+00] [ 3.76440960e-03 2.83256030e-04 9.99992874e-01 -1.81429984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.88592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.90, Y:1.83, Z:-1.80 [[ 9.99805518e-01 -1.93569518e-02 -3.77298883e-03 1.18896193e+02] [ 1.93575703e-02 9.99812617e-01 1.27493967e-04 1.82716356e+00] [ 3.76981394e-03 -2.00505068e-04 9.99992874e-01 -1.79668171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.91592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:118.93, Y:1.82, Z:-1.81 [[ 9.99725569e-01 -2.31201030e-02 -3.77448614e-03 1.18927890e+02] [ 2.31203657e-02 9.99732688e-01 2.59601773e-05 1.82371800e+00] [ 3.77287698e-03 -1.13220553e-04 9.99992876e-01 -1.81094823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.94592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.96, Y:1.82, Z:-1.81 [[ 9.99654558e-01 -2.60100110e-02 -3.77402824e-03 1.18958368e+02] [ 2.60104094e-02 9.99661670e-01 5.65304525e-05 1.82241664e+00] [ 3.77128102e-03 -1.54674944e-04 9.99992877e-01 -1.81153969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.97591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.99, Y:1.82, Z:-1.81 [[ 9.99615883e-01 -2.74562193e-02 -3.77402824e-03 1.18989571e+02] [ 2.74566281e-02 9.99622994e-01 5.65304525e-05 1.82066281e+00] [ 3.77105330e-03 -1.60130828e-04 9.99992877e-01 -1.81179332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.00591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.02, Y:1.81, Z:-1.80 [[ 9.99579032e-01 -2.87665697e-02 -3.77402498e-03 1.19018847e+02] [ 2.87669886e-02 9.99586143e-01 5.67473890e-05 1.81482260e+00] [ 3.77083064e-03 -1.65290834e-04 9.99992877e-01 -1.79689287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.03591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.05, Y:1.81, Z:-1.81 [[ 9.99725773e-01 -2.31113026e-02 -3.77454825e-03 1.19051181e+02] [ 2.31115502e-02 9.99732892e-01 2.20052283e-05 1.81056954e+00] [ 3.77303147e-03 -1.09234855e-04 9.99992876e-01 -1.81067870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.06591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.08, Y:1.81, Z:-1.80 [[ 9.99818212e-01 -1.86895695e-02 -3.77398449e-03 1.19080952e+02] [ 1.86899230e-02 9.99825326e-01 5.84229682e-05 1.80975708e+00] [ 3.77223337e-03 -1.28947827e-04 9.99992877e-01 -1.79700441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.09591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.11, Y:1.81, Z:-1.79 [[ 9.99892754e-01 -1.41504774e-02 -3.77420205e-03 1.19110873e+02] [ 1.41507456e-02 9.99899872e-01 4.43510682e-05 1.80854291e+00] [ 3.77319656e-03 -9.77540847e-05 9.99992877e-01 -1.79219409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.12592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.14, Y:1.81, Z:-1.81 [[ 9.99943087e-01 -9.97895126e-03 -3.77402830e-03 1.19141105e+02] [ 9.97923207e-03 9.99950205e-01 5.55823484e-05 1.80675185e+00] [ 3.77328571e-03 -9.32410892e-05 9.99992877e-01 -1.81239331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.15592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.17, Y:1.81, Z:-1.81 [[ 9.99958425e-01 -8.30097131e-03 -3.77399032e-03 1.19169652e+02] [ 8.30124949e-03 9.99965542e-01 5.80512497e-05 1.80615001e+00] [ 3.77337839e-03 -8.93776715e-05 9.99992877e-01 -1.81170137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.18592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:119.20, Y:1.81, Z:-1.80 [[ 9.99980017e-01 -5.07180594e-03 -3.77399725e-03 1.19199629e+02] [ 5.07205942e-03 9.99987135e-01 5.75971462e-05 1.80795862e+00] [ 3.77365658e-03 -7.67379335e-05 9.99992877e-01 -1.79744791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.21592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:119.23, Y:1.81, Z:-1.80 [[ 9.99961937e-01 -7.86668394e-03 -3.77367571e-03 1.19227159e+02] [ 7.86703712e-03 9.99969051e-01 7.87559608e-05 1.80788974e+00] [ 3.77293937e-03 -1.08440610e-04 9.99992877e-01 -1.79762461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.24592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.26, Y:1.81, Z:-1.81 [[ 9.99972609e-01 -6.36678476e-03 -3.77430975e-03 1.19258820e+02] [ 6.36696704e-03 9.99979730e-01 3.62821955e-05 1.80732941e+00] [ 3.77400224e-03 -6.03121074e-05 9.99992877e-01 -1.80891544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.27592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.29, Y:1.81, Z:-1.81 [[ 9.99953415e-01 -8.88399310e-03 -3.77399618e-03 1.19287340e+02] [ 8.88427159e-03 9.99960532e-01 5.70318255e-05 1.80596960e+00] [ 3.77334056e-03 -9.05583757e-05 9.99992877e-01 -1.80805634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.30592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.32, Y:1.81, Z:-1.81 [[ 9.99941483e-01 -1.01384553e-02 -3.77400303e-03 1.19315916e+02] [ 1.01387410e-02 9.99948600e-01 5.65748947e-05 1.80522963e+00] [ 3.77323547e-03 -9.48352232e-05 9.99992877e-01 -1.80775907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.33592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.34, Y:1.80, Z:-1.81 [[ 9.99937228e-01 -1.05497332e-02 -3.77400978e-03 1.19344619e+02] [ 1.05500201e-02 9.99944345e-01 5.61211113e-05 1.80368238e+00] [ 3.77320768e-03 -9.59334674e-05 9.99992877e-01 -1.80745642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.36591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.37, Y:1.80, Z:-1.81 [[ 9.99938507e-01 -1.04277675e-02 -3.77402009e-03 1.19373423e+02] [ 1.04280509e-02 9.99945625e-01 5.54192870e-05 1.80200651e+00] [ 3.77323697e-03 -9.47715528e-05 9.99992877e-01 -1.80631530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.39591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.40, Y:1.80, Z:-1.81 [[ 9.99942392e-01 -1.00483775e-02 -3.77402685e-03 1.19402012e+02] [ 1.00486564e-02 9.99949509e-01 5.49544983e-05 1.80300788e+00] [ 3.77328410e-03 -9.28752317e-05 9.99992877e-01 -1.80582167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.42591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.43, Y:1.80, Z:-1.81 [[ 9.99948961e-01 -9.37184243e-03 -3.77403341e-03 1.19430439e+02] [ 9.37211484e-03 9.99956079e-01 5.45003904e-05 1.80482482e+00] [ 3.77335689e-03 -8.98682833e-05 9.99992877e-01 -1.80604923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.45591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.46, Y:1.80, Z:-1.81 [[ 9.99942659e-01 -1.00217203e-02 -3.77403998e-03 1.19458979e+02] [ 1.00219956e-02 9.99949777e-01 5.40419892e-05 1.80431396e+00] [ 3.77330884e-03 -9.18623023e-05 9.99992877e-01 -1.80564552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.48592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.49, Y:1.80, Z:-1.81 [[ 9.99928331e-01 -1.13617872e-02 -3.77404646e-03 1.19487683e+02] [ 1.13620703e-02 9.99935448e-01 5.35853789e-05 1.80076813e+00] [ 3.77319401e-03 -9.64625196e-05 9.99992877e-01 -1.80618429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.51592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.52, Y:1.80, Z:-1.81 [[ 9.99906107e-01 -1.31731832e-02 -3.77405281e-03 1.19516818e+02] [ 1.31734775e-02 9.99913225e-01 5.31343013e-05 1.79757913e+00] [ 3.77302537e-03 -1.02846712e-04 9.99992877e-01 -1.80615977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.54592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.55, Y:1.80, Z:-1.81 [[ 9.99823018e-01 -1.84306482e-02 -3.77405755e-03 1.19546055e+02] [ 1.84309786e-02 9.99830134e-01 5.27951941e-05 1.79614613e+00] [ 3.77244342e-03 -1.22345425e-04 9.99992877e-01 -1.80540013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.57592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.58, Y:1.80, Z:-1.80 [[ 9.99761765e-01 -2.14981347e-02 -3.77406381e-03 1.19575834e+02] [ 2.14984853e-02 9.99768879e-01 5.23441153e-05 1.79601466e+00] [ 3.77206625e-03 -1.33468300e-04 9.99992877e-01 -1.80491551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.60592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.61, Y:1.79, Z:-1.80 [[ 9.99591171e-01 -2.83416276e-02 -3.77406689e-03 1.19606073e+02] [ 2.83420260e-02 9.99598283e-01 5.21208258e-05 1.79102687e+00] [ 3.77107360e-03 -1.59064219e-04 9.99992877e-01 -1.80456196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.63592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.64, Y:1.79, Z:-1.80 [[ 9.99507425e-01 -3.11554665e-02 -3.77406689e-03 1.19636734e+02] [ 3.11558849e-02 9.99514536e-01 5.21208258e-05 1.78777386e+00] [ 3.77061087e-03 -1.69679546e-04 9.99992877e-01 -1.80428873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.66592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.66, Y:1.79, Z:-1.79 [[ 9.99359370e-01 -3.55894012e-02 -3.77406689e-03 1.19664561e+02] [ 3.55898512e-02 9.99366479e-01 5.21208258e-05 1.78573887e+00] [ 3.76982100e-03 -1.86405915e-04 9.99992877e-01 -1.78893865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.69592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.70, Y:1.79, Z:-1.81 [[ 9.99347774e-01 -3.59134944e-02 -3.77471528e-03 1.19697841e+02] [ 3.59137712e-02 9.99354892e-01 5.55183800e-06 1.78502179e+00] [ 3.77208080e-03 -1.41112478e-04 9.99992876e-01 -1.80554790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.72591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.73, Y:1.78, Z:-1.81 [[ 9.99276415e-01 -3.78470935e-02 -3.77401476e-03 1.19729010e+02] [ 3.78475677e-02 9.99283523e-01 5.42687545e-05 1.77752080e+00] [ 3.76925685e-03 -1.97066765e-04 9.99992877e-01 -1.80524985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.75591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.76, Y:1.77, Z:-1.79 [[ 9.99198192e-01 -3.98588690e-02 -3.77401009e-03 1.19757433e+02] [ 3.98593587e-02 9.99205298e-01 5.45912397e-05 1.77387779e+00] [ 3.76883494e-03 -2.04977090e-04 9.99992877e-01 -1.79224778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.78591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.79, Y:1.77, Z:-1.81 [[ 9.99201890e-01 -3.97660135e-02 -3.77454281e-03 1.19790311e+02] [ 3.97663653e-02 9.99209005e-01 1.81693715e-05 1.77116237e+00] [ 3.77083465e-03 -1.68254719e-04 9.99992876e-01 -1.80512026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.81591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.82, Y:1.77, Z:-1.81 [[ 9.99135058e-01 -4.14112635e-02 -3.77396498e-03 1.19821451e+02] [ 4.14117719e-02 9.99142163e-01 5.66585090e-05 1.76588246e+00] [ 3.76838123e-03 -2.12896080e-04 9.99992877e-01 -1.80596375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.84591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.85, Y:1.76, Z:-1.79 [[ 9.99098355e-01 -4.22875204e-02 -3.77396175e-03 1.19851241e+02] [ 4.22880359e-02 9.99105459e-01 5.68726209e-05 1.76091115e+00] [ 3.76818079e-03 -2.16414772e-04 9.99992877e-01 -1.79200780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.87592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:119.88, Y:1.76, Z:-1.79 [[ 9.98987479e-01 -4.48304932e-02 -3.77418506e-03 1.19881682e+02] [ 4.48309715e-02 9.98994586e-01 4.22010881e-05 1.75926186e+00] [ 3.76849855e-03 -2.11358742e-04 9.99992877e-01 -1.78919176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.90592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.92, Y:1.76, Z:-1.80 [[ 9.99184478e-01 -4.02011208e-02 -3.77487131e-03 1.19915841e+02] [ 4.02014017e-02 9.99191597e-01 -1.46829491e-06 1.75665112e+00] [ 3.77187871e-03 -1.50288020e-04 9.99992875e-01 -1.80451683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.93592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:119.94, Y:1.75, Z:-1.79 [[ 9.99152388e-01 -4.09910236e-02 -3.77382521e-03 1.19943314e+02] [ 4.09915496e-02 9.99159491e-01 6.21018012e-05 1.75252878e+00] [ 3.76810766e-03 -2.16744106e-04 9.99992877e-01 -1.79007906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.96592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.98, Y:1.75, Z:-1.80 [[ 9.99272674e-01 -3.79456777e-02 -3.77474584e-03 1.19976684e+02] [ 3.79459668e-02 9.99279792e-01 4.95251275e-06 1.74949083e+00] [ 3.77183931e-03 -1.48185291e-04 9.99992876e-01 -1.80375357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.99592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.01, Y:1.75, Z:-1.79 [[ 9.99327955e-01 -3.64608893e-02 -3.77378258e-03 1.20005526e+02] [ 3.64613858e-02 9.99335061e-01 6.28192782e-05 1.74516472e+00] [ 3.76898280e-03 -2.00374403e-04 9.99992877e-01 -1.78979598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.02592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.04, Y:1.74, Z:-1.79 [[ 9.99401871e-01 -3.43752132e-02 -3.77426088e-03 1.20036085e+02] [ 3.43755862e-02 9.99408984e-01 3.39738351e-05 1.74449636e+00] [ 3.77086238e-03 -1.63695945e-04 9.99992877e-01 -1.78701100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.05592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.07, Y:1.74, Z:-1.79 [[ 9.99563841e-01 -2.92896199e-02 -3.77433503e-03 1.20066852e+02] [ 2.92899402e-02 9.99570957e-01 2.95970425e-05 1.74083058e+00] [ 3.77184879e-03 -1.40134181e-04 9.99992877e-01 -1.78805090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.08592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.10, Y:1.74, Z:-1.79 [[ 9.99638627e-01 -2.66152342e-02 -3.77416197e-03 1.20096590e+02] [ 2.66155733e-02 9.99645742e-01 3.96418024e-05 1.73791723e+00] [ 3.77176987e-03 -1.40078962e-04 9.99992877e-01 -1.78945019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.11591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.13, Y:1.73, Z:-1.80 [[ 9.99657042e-01 -2.59144081e-02 -3.77384425e-03 1.20127345e+02] [ 2.59148112e-02 9.99664153e-01 5.79403502e-05 1.73414914e+00] [ 3.77107533e-03 -1.55718940e-04 9.99992877e-01 -1.80473083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.14591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.16, Y:1.73, Z:-1.81 [[ 9.99661752e-01 -2.57320950e-02 -3.77370352e-03 1.20156664e+02] [ 2.57325271e-02 9.99668862e-01 6.59882493e-05 1.73149657e+00] [ 3.77075589e-03 -1.63072857e-04 9.99992877e-01 -1.80546857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.17591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.19, Y:1.72, Z:-1.81 [[ 9.99638870e-01 -2.66061643e-02 -3.77370734e-03 1.20186538e+02] [ 2.66066018e-02 9.99645980e-01 6.57692461e-05 1.72485767e+00] [ 3.77062150e-03 -1.66151023e-04 9.99992877e-01 -1.80501530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.20591999999999 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:120.22, Y:1.72, Z:-1.79 [[ 9.99657466e-01 -2.58980674e-02 -3.77371118e-03 1.20215576e+02] [ 2.58984991e-02 9.99664575e-01 6.55482833e-05 1.72142403e+00] [ 3.77074781e-03 -1.63259286e-04 9.99992877e-01 -1.79023010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.23592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:120.25, Y:1.72, Z:-1.80 [[ 9.99624471e-01 -2.71417053e-02 -3.77411266e-03 1.20246938e+02] [ 2.71420587e-02 9.99631586e-01 4.24286015e-05 1.71666833e+00] [ 3.77157064e-03 -1.44849856e-04 9.99992877e-01 -1.80464964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.26592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:120.28, Y:1.71, Z:-1.80 [[ 9.99634338e-01 -2.67759060e-02 -3.77370423e-03 1.20275430e+02] [ 2.67763450e-02 9.99641447e-01 6.58388478e-05 1.71329505e+00] [ 3.77058826e-03 -1.66860780e-04 9.99992877e-01 -1.80486855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.29592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:120.30, Y:1.71, Z:-1.80 [[ 9.99667205e-01 -2.55193644e-02 -3.77371188e-03 1.20304389e+02] [ 2.55197927e-02 9.99674315e-01 6.53971961e-05 1.70950003e+00] [ 3.77081395e-03 -1.61679777e-04 9.99992877e-01 -1.80494820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.32592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:120.33, Y:1.70, Z:-1.81 [[ 9.99715532e-01 -2.35502257e-02 -3.77371949e-03 1.20333143e+02] [ 2.35506384e-02 9.99722643e-01 6.49552386e-05 1.70416936e+00] [ 3.77114311e-03 -1.53810264e-04 9.99992877e-01 -1.80555566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.35592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.36, Y:1.70, Z:-1.80 [[ 9.99760747e-01 -2.15454844e-02 -3.77372708e-03 1.20361949e+02] [ 2.15458812e-02 9.99767858e-01 6.45112942e-05 1.70194279e+00] [ 3.77146111e-03 -1.45804135e-04 9.99992877e-01 -1.80456140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.38592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:120.39, Y:1.70, Z:-1.80 [[ 9.99881705e-01 -1.49108864e-02 -3.77373463e-03 1.20390477e+02] [ 1.49112343e-02 9.99888819e-01 6.40664237e-05 1.69933531e+00] [ 3.77235978e-03 -1.20329886e-04 9.99992877e-01 -1.80474937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.41592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:120.42, Y:1.70, Z:-1.80 [[ 9.99964339e-01 -7.55504535e-03 -3.77374224e-03 1.20419665e+02] [ 7.55533920e-03 9.99971456e-01 6.36153833e-05 1.69918659e+00] [ 3.77315390e-03 -9.21250173e-05 9.99992877e-01 -1.80437044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.44592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:120.45, Y:1.70, Z:-1.79 [[ 9.99985907e-01 -3.73420255e-03 -3.77376873e-03 1.20449820e+02] [ 3.73446312e-03 9.99993025e-01 6.20029313e-05 1.70018389e+00] [ 3.77351088e-03 -7.60950577e-05 9.99992877e-01 -1.79449716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.47591999999999 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:120.48, Y:1.70, Z:-1.80 [[ 9.99989616e-01 -2.55509086e-03 -3.77356624e-03 1.20478219e+02] [ 2.55538966e-03 9.99996732e-01 7.43633545e-05 1.70110899e+00] [ 3.77336391e-03 -8.40055145e-05 9.99992877e-01 -1.80311507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.50591999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:120.51, Y:1.70, Z:-1.81 [[ 9.99991929e-01 -1.37887846e-03 -3.77377880e-03 1.20507076e+02] [ 1.37911951e-03 9.99999047e-01 6.12719134e-05 1.70188689e+00] [ 3.77369072e-03 -6.64759108e-05 9.99992877e-01 -1.80518041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.53591999999999 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:120.54, Y:1.70, Z:-1.81 [[ 9.99991654e-01 -1.56541098e-03 -3.77378638e-03 1.20535547e+02] [ 1.56565158e-03 9.99998773e-01 6.08015396e-05 1.70137677e+00] [ 3.77368656e-03 -6.67094667e-05 9.99992877e-01 -1.80507291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.56591999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.56, Y:1.70, Z:-1.81 [[ 9.99990712e-01 -2.08198179e-03 -3.77379759e-03 1.20564769e+02] [ 2.08222341e-03 9.99997830e-01 6.00975995e-05 1.70341246e+00] [ 3.77366428e-03 -6.79549310e-05 9.99992877e-01 -1.80566881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.59591999999999 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:120.59, Y:1.70, Z:-1.79 [[ 9.99984490e-01 -4.09606335e-03 -3.77380501e-03 1.20592660e+02] [ 4.09631753e-03 9.99991608e-01 5.96276518e-05 1.70313889e+00] [ 3.77352910e-03 -7.50854306e-05 9.99992877e-01 -1.79093318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.62592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:120.62, Y:1.70, Z:-1.79 [[ 9.99982078e-01 -4.64744106e-03 -3.77416273e-03 1.20621616e+02] [ 4.64761323e-03 9.99989199e-01 3.68488890e-05 1.70256785e+00] [ 3.77395072e-03 -5.43890773e-05 9.99992877e-01 -1.79184525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.65592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:120.65, Y:1.70, Z:-1.81 [[ 9.99969163e-01 -6.88693286e-03 -3.77405815e-03 1.20652731e+02] [ 6.88714589e-03 9.99976282e-01 4.34516479e-05 1.69881951e+00] [ 3.77366939e-03 -6.94427971e-05 9.99992877e-01 -1.80523659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.68592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:120.68, Y:1.70, Z:-1.79 [[ 9.99945748e-01 -9.70878464e-03 -3.77377839e-03 1.20681114e+02] [ 9.70908324e-03 9.99952864e-01 6.08126212e-05 1.69753593e+00] [ 3.77301009e-03 -9.74492505e-05 9.99992877e-01 -1.79139344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.71592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.71, Y:1.70, Z:-1.80 [[ 9.99972161e-01 -6.43676684e-03 -3.77427163e-03 1.20712658e+02] [ 6.43692566e-03 9.99979282e-01 2.99329771e-05 1.69740501e+00] [ 3.77400076e-03 -5.42268497e-05 9.99992877e-01 -1.80490485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.74592 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:120.74, Y:1.69, Z:-1.79 [[ 9.99969901e-01 -6.77913870e-03 -3.77376245e-03 1.20741241e+02] [ 6.77941824e-03 9.99977018e-01 6.12861503e-05 1.69492269e+00] [ 3.77326025e-03 -8.68682196e-05 9.99992877e-01 -1.79207626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.77592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:120.77, Y:1.69, Z:-1.80 [[ 9.99982265e-01 -4.60714858e-03 -3.77399818e-03 1.20772569e+02] [ 4.60735795e-03 9.99989385e-01 4.67861430e-05 1.68989242e+00] [ 3.77374257e-03 -6.41734738e-05 9.99992877e-01 -1.80429537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.80592 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:120.80, Y:1.69, Z:-1.79 [[ 9.99982251e-01 -4.61038334e-03 -3.77376120e-03 1.20800702e+02] [ 4.61064772e-03 9.99989369e-01 6.13607909e-05 1.68808230e+00] [ 3.77343818e-03 -7.87591853e-05 9.99992877e-01 -1.79372213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.83592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:120.83, Y:1.68, Z:-1.80 [[ 9.99990026e-01 -2.38856942e-03 -3.77393979e-03 1.20831229e+02] [ 2.38877607e-03 9.99997146e-01 5.02490203e-05 1.68474455e+00] [ 3.77380899e-03 -5.92636162e-05 9.99992877e-01 -1.80216597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.86591999999999 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:120.86, Y:1.68, Z:-1.80 [[ 9.99991760e-01 -1.49638567e-03 -3.77376824e-03 1.20859869e+02] [ 1.49662608e-03 9.99998878e-01 6.08822406e-05 1.68227348e+00] [ 3.77367291e-03 -6.65296589e-05 9.99992877e-01 -1.80228562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.89591999999999 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:120.89, Y:1.68, Z:-1.80 [[ 9.99992374e-01 1.00567308e-03 -3.77377577e-03 1.20887429e+02] [-1.00545226e-03 9.99999493e-01 6.04122135e-05 1.68037381e+00] [ 3.77383461e-03 -5.66174014e-05 9.99992877e-01 -1.80276079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.92591999999999 meters Centerline goodness : 0.954525 Centerline is valid? [True, True] Translation: X:120.93, Y:1.72, Z:-1.81 [[ 9.94887558e-01 1.00918311e-01 -3.77380541e-03 1.20933013e+02] [-1.00918810e-01 9.94894663e-01 5.85000093e-05 1.72481713e+00] [ 3.76044258e-03 3.22647019e-04 9.99992877e-01 -1.80861636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.95591999999999 meters Centerline goodness : 0.999301 Centerline is valid? [True, True] Translation: X:120.95, Y:1.68, Z:-1.79 [[ 9.99988351e-01 3.01532825e-03 -3.76898746e-03 1.20946149e+02] [-3.01404650e-03 9.99995398e-01 3.45712706e-04 1.67665758e+00] [ 3.77001255e-03 -3.34348776e-04 9.99992838e-01 -1.78744598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.98592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:120.98, Y:1.67, Z:-1.80 [[ 9.99957899e-01 8.36439976e-03 -3.77319010e-03 1.20975902e+02] [-8.36428665e-03 9.99965018e-01 4.57561414e-05 1.67383869e+00] [ 3.77344083e-03 -1.41941714e-05 9.99992880e-01 -1.80026152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.01592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:121.01, Y:1.67, Z:-1.79 [[ 9.99942019e-01 1.00857641e-02 -3.77310429e-03 1.21005305e+02] [-1.00856397e-02 9.99949137e-01 5.19844759e-05 1.67348694e+00] [ 3.77343668e-03 -1.39272912e-05 9.99992880e-01 -1.78860783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.04592 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:121.03, Y:1.67, Z:-1.79 [[ 9.99928300e-01 1.13647661e-02 -3.77308262e-03 1.21034289e+02] [-1.13646449e-02 9.99935419e-01 5.35678905e-05 1.67494544e+00] [ 3.77344774e-03 -1.06843056e-05 9.99992880e-01 -1.78616541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.07592 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:121.06, Y:1.68, Z:-1.80 [[ 9.99932773e-01 1.09641922e-02 -3.77304819e-03 1.21063794e+02] [-1.09640585e-02 9.99939891e-01 5.61309539e-05 1.67502291e+00] [ 3.77343683e-03 -1.47592594e-05 9.99992880e-01 -1.79767663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.10592 meters Centerline goodness : 0.999254 Centerline is valid? [True, True] Translation: X:121.09, Y:1.67, Z:-1.79 [[ 9.99924260e-01 1.17148837e-02 -3.77313284e-03 1.21092649e+02] [-1.17147796e-02 9.99931378e-01 4.97053721e-05 1.67461895e+00] [ 3.77345621e-03 -5.50018802e-06 9.99992880e-01 -1.78763588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.13592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:121.12, Y:1.67, Z:-1.80 [[ 9.99921757e-01 1.19265695e-02 -3.77318566e-03 1.21122849e+02] [-1.19264822e-02 9.99928876e-01 4.56366299e-05 1.67446496e+00] [ 3.77346158e-03 -6.32227438e-07 9.99992880e-01 -1.79898490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.16592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:121.15, Y:1.68, Z:-1.80 [[ 9.99897450e-01 1.38149642e-02 -3.77314736e-03 1.21151342e+02] [-1.38148791e-02 9.99904569e-01 4.86090075e-05 1.67545475e+00] [ 3.77345882e-03 3.52155204e-06 9.99992880e-01 -1.79873509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.19592 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:121.18, Y:1.68, Z:-1.79 [[ 9.99890718e-01 1.42939036e-02 -3.77316863e-03 1.21180200e+02] [-1.42938284e-02 9.99897837e-01 4.68977174e-05 1.67619924e+00] [ 3.77345351e-03 7.04043278e-06 9.99992880e-01 -1.78584542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.22591999999999 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:121.21, Y:1.68, Z:-1.80 [[ 9.99837806e-01 1.76104034e-02 -3.77310948e-03 1.21209991e+02] [-1.76103336e-02 9.99844925e-01 5.17399539e-05 1.67964033e+00] [ 3.77343552e-03 1.47141546e-05 9.99992880e-01 -1.79844755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.25591999999999 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:121.24, Y:1.68, Z:-1.79 [[ 9.99816991e-01 1.87549410e-02 -3.77318850e-03 1.21239463e+02] [-1.87549042e-02 9.99824110e-01 4.51339483e-05 1.68135924e+00] [ 3.77337132e-03 2.56401005e-05 9.99992880e-01 -1.79323683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.28591999999999 meters Centerline goodness : 0.999452 Centerline is valid? [True, True] Translation: X:121.27, Y:1.68, Z:-1.79 [[ 9.99743064e-01 2.23510122e-02 -3.77333771e-03 1.21269026e+02] [-2.23510481e-02 9.99750184e-01 3.26354816e-05 1.68436395e+00] [ 3.77312451e-03 5.17109566e-05 9.99992880e-01 -1.78710408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.31591999999999 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:121.30, Y:1.69, Z:-1.80 [[ 9.99686825e-01 2.47389469e-02 -3.77315279e-03 1.21298837e+02] [-2.47389409e-02 9.99693944e-01 4.82794929e-05 1.68657255e+00] [ 3.77319238e-03 4.50794310e-05 9.99992880e-01 -1.79949513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.34591999999999 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:121.33, Y:1.69, Z:-1.80 [[ 9.99655688e-01 2.59666842e-02 -3.77320823e-03 1.21327619e+02] [-2.59667050e-02 9.99662807e-01 4.34675943e-05 1.68962869e+00] [ 3.77306464e-03 5.45251572e-05 9.99992880e-01 -1.79937728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.37592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:121.36, Y:1.70, Z:-1.80 [[ 9.99659885e-01 2.58045780e-02 -3.77322741e-03 1.21356986e+02] [-2.58046042e-02 9.99667005e-01 4.17333978e-05 1.69764749e+00] [ 3.77304786e-03 5.56474363e-05 9.99992880e-01 -1.79874807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.40592 meters Centerline goodness : 0.999452 Centerline is valid? [True, True] Translation: X:121.39, Y:1.70, Z:-1.79 [[ 9.99721079e-01 2.33136573e-02 -3.77324454e-03 1.21386380e+02] [-2.33136719e-02 9.99728199e-01 4.01228095e-05 1.70232211e+00] [ 3.77315437e-03 4.78565666e-05 9.99992880e-01 -1.78598641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.43592 meters Centerline goodness : 0.999502 Centerline is valid? [True, True] Translation: X:121.42, Y:1.70, Z:-1.80 [[ 9.99714236e-01 2.36052854e-02 -3.77329796e-03 1.21416649e+02] [-2.36053216e-02 9.99721355e-01 3.49677507e-05 1.70387204e+00] [ 3.77307197e-03 5.41121536e-05 9.99992880e-01 -1.79994240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.46592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:121.45, Y:1.71, Z:-1.80 [[ 9.99734832e-01 2.27162693e-02 -3.77325959e-03 1.21445988e+02] [-2.27162850e-02 9.99741951e-01 3.87082177e-05 1.70587346e+00] [ 3.77316521e-03 4.70164866e-05 9.99992880e-01 -1.80085804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.49592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.47, Y:1.71, Z:-1.80 [[ 9.99772547e-01 2.09908693e-02 -3.77326896e-03 1.21473664e+02] [-2.09908762e-02 9.99779667e-01 3.77723363e-05 1.71106091e+00] [ 3.77323046e-03 4.14404768e-05 9.99992880e-01 -1.80169736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.52592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.50, Y:1.71, Z:-1.80 [[ 9.99763277e-01 2.14278562e-02 -3.77328761e-03 1.21501481e+02] [-2.14278736e-02 9.99770396e-01 3.58063330e-05 1.71257394e+00] [ 3.77318851e-03 4.50556734e-05 9.99992880e-01 -1.80153410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.55592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:121.53, Y:1.72, Z:-1.80 [[ 9.99764993e-01 2.13476205e-02 -3.77330517e-03 1.21529762e+02] [-2.13476448e-02 9.99772112e-01 3.38491686e-05 1.71551891e+00] [ 3.77316788e-03 4.67099647e-05 9.99992880e-01 -1.80107257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.58592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:121.56, Y:1.72, Z:-1.80 [[ 9.99749060e-01 2.20812072e-02 -3.77331333e-03 1.21558803e+02] [-2.20812402e-02 9.99756179e-01 3.29139410e-05 1.71771866e+00] [ 3.77312010e-03 5.04137563e-05 9.99992880e-01 -1.80013818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.61591999999999 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:121.59, Y:1.72, Z:-1.80 [[ 9.99680760e-01 2.49827880e-02 -3.77332755e-03 1.21587455e+02] [-2.49828482e-02 9.99687879e-01 3.11933580e-05 1.72287155e+00] [ 3.77292912e-03 6.30850695e-05 9.99992880e-01 -1.79895764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.64591999999999 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:121.62, Y:1.72, Z:-1.79 [[ 9.99675590e-01 2.51888058e-02 -3.77334094e-03 1.21616984e+02] [-2.51888739e-02 9.99682710e-01 2.94798864e-05 1.72486156e+00] [ 3.77288626e-03 6.55758861e-05 9.99992880e-01 -1.78805670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.67591999999999 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:121.65, Y:1.73, Z:-1.80 [[ 9.99649106e-01 2.62188323e-02 -3.77332271e-03 1.21646519e+02] [-2.62188987e-02 9.99656225e-01 3.18678910e-05 1.72997379e+00] [ 3.77286107e-03 6.70756572e-05 9.99992880e-01 -1.80133213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.70591999999999 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:121.68, Y:1.73, Z:-1.79 [[ 9.99677960e-01 2.50945908e-02 -3.77335501e-03 1.21675154e+02] [-2.50946660e-02 9.99685079e-01 2.74228585e-05 1.73369130e+00] [ 3.77285487e-03 6.72770564e-05 9.99992880e-01 -1.79087278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.73592 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:121.70, Y:1.74, Z:-1.79 [[ 9.99662604e-01 2.56990088e-02 -3.77345420e-03 1.21704967e+02] [-2.56991412e-02 9.99669722e-01 1.34014553e-05 1.74217652e+00] [ 3.77255231e-03 8.35775985e-05 9.99992880e-01 -1.79086984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.76592 meters Centerline goodness : 0.998608 Centerline is valid? [True, True] Translation: X:121.73, Y:1.75, Z:-1.79 [[ 9.99657758e-01 2.58868213e-02 -3.77339596e-03 1.21734410e+02] [-2.58869227e-02 9.99664877e-01 2.19485254e-05 1.74651918e+00] [ 3.77269959e-03 7.57405961e-05 9.99992880e-01 -1.78848363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.79592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:121.76, Y:1.75, Z:-1.80 [[ 9.99622058e-01 2.72305580e-02 -3.77336542e-03 1.21764061e+02] [-2.72306516e-02 9.99629177e-01 2.65686995e-05 1.75185647e+00] [ 3.77268965e-03 7.61925411e-05 9.99992880e-01 -1.80075887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.82592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:121.79, Y:1.76, Z:-1.80 [[ 9.99593039e-01 2.82757372e-02 -3.77337695e-03 1.21792453e+02] [-2.82758449e-02 9.99600158e-01 2.48164790e-05 1.76231385e+00] [ 3.77256990e-03 8.18890418e-05 9.99992880e-01 -1.80272893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.85592 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:121.82, Y:1.77, Z:-1.79 [[ 9.99677093e-01 2.51291094e-02 -3.77338879e-03 1.21820719e+02] [-2.51292020e-02 9.99684211e-01 2.28628089e-05 1.76731466e+00] [ 3.77277171e-03 7.19668229e-05 9.99992880e-01 -1.78843364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.88592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:121.85, Y:1.78, Z:-1.80 [[ 9.99702617e-01 2.40923003e-02 -3.77354157e-03 1.21852587e+02] [-2.40924860e-02 9.99709734e-01 -3.76938973e-06 1.77890618e+00] [ 3.77235542e-03 9.46822662e-05 9.99992880e-01 -1.80118051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.91592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:121.88, Y:1.78, Z:-1.80 [[ 9.99754063e-01 2.18534927e-02 -3.77339078e-03 1.21880265e+02] [-2.18535652e-02 9.99761182e-01 2.20429389e-05 1.78406918e+00] [ 3.77297134e-03 6.04245237e-05 9.99992880e-01 -1.80116496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.94592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:121.91, Y:1.79, Z:-1.80 [[ 9.99871421e-01 1.55853471e-02 -3.77340115e-03 1.21908421e+02] [-1.55853822e-02 9.99878540e-01 2.00971246e-05 1.79038750e+00] [ 3.77325605e-03 3.87153585e-05 9.99992880e-01 -1.80225779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.97591999999999 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:121.94, Y:1.79, Z:-1.80 [[ 9.99925087e-01 1.16439384e-02 -3.77341051e-03 1.21936706e+02] [-1.16439528e-02 9.99932207e-01 1.81504294e-05 1.79351008e+00] [ 3.77336604e-03 2.57883441e-05 9.99992880e-01 -1.80288261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.00592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.97, Y:1.80, Z:-1.80 [[ 9.99959270e-01 8.19879177e-03 -3.77341878e-03 1.21965132e+02] [-8.19878890e-03 9.99966389e-01 1.62282700e-05 1.79774449e+00] [ 3.77342500e-03 1.47098550e-05 9.99992880e-01 -1.80250381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.03592 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:121.99, Y:1.81, Z:-1.79 [[ 9.99990303e-01 2.27035482e-03 -3.77342524e-03 1.21993326e+02] [-2.27031608e-03 9.99997423e-01 1.45514694e-05 1.80537879e+00] [ 3.77344855e-03 -5.98446027e-06 9.99992880e-01 -1.78966994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.06592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:122.02, Y:1.81, Z:-1.80 [[ 9.99992313e-01 1.06467288e-03 -3.77351674e-03 1.22024939e+02] [-1.06471350e-03 9.99999433e-01 -8.75565284e-06 1.80633895e+00] [ 3.77350528e-03 1.27732998e-05 9.99992880e-01 -1.80244649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.09592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:122.05, Y:1.81, Z:-1.80 [[ 9.99985189e-01 -3.92213281e-03 -3.77341910e-03 1.22054235e+02] [ 3.92221850e-03 9.99992308e-01 1.53092396e-05 1.80938057e+00] [ 3.77333003e-03 -3.01091871e-05 9.99992881e-01 -1.80303834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.12592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.08, Y:1.81, Z:-1.80 [[ 9.99975349e-01 -5.92134563e-03 -3.77342095e-03 1.22083411e+02] [ 5.92144378e-03 9.99982468e-01 1.48389949e-05 1.81193422e+00] [ 3.77326693e-03 -3.71827291e-05 9.99992881e-01 -1.80298572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.15592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:122.11, Y:1.81, Z:-1.80 [[ 9.99946212e-01 -9.66096275e-03 -3.77342272e-03 1.22112051e+02] [ 9.66108577e-03 9.99953331e-01 1.43749538e-05 1.81282851e+00] [ 3.77310774e-03 -5.08295411e-05 9.99992881e-01 -1.80376370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.18592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:122.14, Y:1.81, Z:-1.80 [[ 9.99934553e-01 -1.08005156e-02 -3.77342442e-03 1.22140404e+02] [ 1.08006450e-02 9.99941671e-01 1.39130822e-05 1.81185383e+00] [ 3.77305406e-03 -5.46675893e-05 9.99992881e-01 -1.80324219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.21592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:122.17, Y:1.81, Z:-1.80 [[ 9.99897071e-01 -1.38423021e-02 -3.77342607e-03 1.22170109e+02] [ 1.38424514e-02 9.99904189e-01 1.34515434e-05 1.81425894e+00] [ 3.77287833e-03 -6.56836258e-05 9.99992881e-01 -1.80232549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.24592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:122.20, Y:1.82, Z:-1.80 [[ 9.99868364e-01 -1.57802467e-02 -3.77342687e-03 1.22199524e+02] [ 1.57804090e-02 9.99875482e-01 1.32236174e-05 1.81544446e+00] [ 3.77274833e-03 -7.27680958e-05 9.99992881e-01 -1.80270138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.27592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:122.23, Y:1.81, Z:-1.80 [[ 9.99849302e-01 -1.69450293e-02 -3.77342765e-03 1.22229659e+02] [ 1.69451990e-02 9.99856420e-01 1.29956913e-05 1.81416411e+00] [ 3.77266565e-03 -7.69352152e-05 9.99992881e-01 -1.80372213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.30592000000001 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:122.26, Y:1.81, Z:-1.81 [[ 9.99827555e-01 -1.81829800e-02 -3.77342765e-03 1.22260454e+02] [ 1.81831585e-02 9.99834673e-01 1.29956913e-05 1.81007346e+00] [ 3.77256750e-03 -8.16062834e-05 9.99992881e-01 -1.80618164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.33592000000002 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:122.29, Y:1.81, Z:-1.81 [[ 9.99814207e-01 -1.89027280e-02 -3.77342765e-03 1.22290466e+02] [ 1.89029116e-02 9.99821324e-01 1.29956913e-05 1.81005443e+00] [ 3.77250778e-03 -8.43220462e-05 9.99992881e-01 -1.80531540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.36592000000002 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:122.32, Y:1.81, Z:-1.80 [[ 9.99839619e-01 -1.75070976e-02 -3.77342804e-03 1.22320890e+02] [ 1.75072708e-02 9.99846736e-01 1.28832078e-05 1.81186830e+00] [ 3.77262416e-03 -7.89435681e-05 9.99992881e-01 -1.80475876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.39592000000002 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:122.35, Y:1.81, Z:-1.79 [[ 9.99841103e-01 -1.74220905e-02 -3.77342804e-03 1.22349624e+02] [ 1.74222632e-02 9.99848221e-01 1.28832078e-05 1.81112258e+00] [ 3.77263086e-03 -7.86228170e-05 9.99992881e-01 -1.78847116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.42592000000002 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:122.38, Y:1.81, Z:-1.80 [[ 9.99879487e-01 -1.50589608e-02 -3.77356909e-03 1.22381479e+02] [ 1.50589619e-02 9.99886607e-01 -2.81283028e-05 1.81122365e+00] [ 3.77356478e-03 -2.87011201e-05 9.99992880e-01 -1.80403026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.45592000000002 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:122.41, Y:1.81, Z:-1.80 [[ 9.99878582e-01 -1.51189195e-02 -3.77341216e-03 1.22411626e+02] [ 1.51190801e-02 9.99885700e-01 1.40425103e-05 1.81105100e+00] [ 3.77276855e-03 -7.10913260e-05 9.99992881e-01 -1.80392484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.48592000000002 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:122.44, Y:1.81, Z:-1.80 [[ 9.99917924e-01 -1.22436755e-02 -3.77341299e-03 1.22441293e+02] [ 1.22438148e-02 9.99925042e-01 1.38156321e-05 1.81328140e+00] [ 3.77296099e-03 -6.00154681e-05 9.99992881e-01 -1.80345526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.51592000000002 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:122.47, Y:1.82, Z:-1.80 [[ 9.99936028e-01 -1.06631126e-02 -3.77341381e-03 1.22470786e+02] [ 1.06632398e-02 9.99943146e-01 1.35881089e-05 1.81516193e+00] [ 3.77305439e-03 -5.38240560e-05 9.99992881e-01 -1.80315811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.54592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:122.50, Y:1.82, Z:-1.80 [[ 9.99949367e-01 -9.32873178e-03 -3.77341462e-03 1.22499893e+02] [ 9.32884861e-03 9.99956485e-01 1.33600212e-05 1.81793994e+00] [ 3.77312579e-03 -4.85609584e-05 9.99992881e-01 -1.80211007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.57592 meters Centerline goodness : 0.986256 Centerline is valid? [True, True] Translation: X:122.52, Y:1.84, Z:-1.80 [[ 9.99255746e-01 3.83889908e-02 -3.77341619e-03 1.22518360e+02] [-3.83892155e-02 9.99262862e-01 1.29009595e-05 1.84388761e+00] [ 3.77112992e-03 1.31967129e-04 9.99992881e-01 -1.80055657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.60592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:122.56, Y:1.82, Z:-1.79 [[ 9.99930517e-01 -1.11677653e-02 -3.77387427e-03 1.22559241e+02] [ 1.11670473e-02 9.99937624e-01 -2.11284340e-04 1.82266254e+00] [ 3.77599844e-03 1.69126627e-04 9.99992857e-01 -1.79237405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.63592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:122.59, Y:1.83, Z:-1.80 [[ 9.99947903e-01 -9.48441250e-03 -3.77309462e-03 1.22589856e+02] [ 9.48440467e-03 9.99955022e-01 -1.99658896e-05 1.82508763e+00] [ 3.77311428e-03 -1.58207069e-05 9.99992882e-01 -1.80036670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.66592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:122.62, Y:1.83, Z:-1.80 [[ 9.99929726e-01 -1.12387150e-02 -3.77294399e-03 1.22618571e+02] [ 1.12388548e-02 9.99936842e-01 1.58628311e-05 1.82701393e+00] [ 3.77252742e-03 -5.82652860e-05 9.99992882e-01 -1.79943080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.69592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.65, Y:1.83, Z:-1.80 [[ 9.99882132e-01 -1.48824574e-02 -3.77294586e-03 1.22648503e+02] [ 1.48826214e-02 9.99889248e-01 1.54038266e-05 1.82901408e+00] [ 3.77229875e-03 -7.15533358e-05 9.99992882e-01 -1.80034318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.72592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.68, Y:1.83, Z:-1.80 [[ 9.99810031e-01 -1.91224180e-02 -3.77294678e-03 1.22679137e+02] [ 1.91226113e-02 9.99817146e-01 1.51757671e-05 1.83218635e+00] [ 3.77196668e-03 -8.73214791e-05 9.99992882e-01 -1.80027058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.75592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:122.71, Y:1.83, Z:-1.78 [[ 9.99752408e-01 -2.19291541e-02 -3.77294678e-03 1.22707797e+02] [ 2.19293675e-02 9.99759522e-01 1.51757671e-05 1.83456700e+00] [ 3.77170668e-03 -9.79103460e-05 9.99992882e-01 -1.78490395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.78592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.74, Y:1.84, Z:-1.80 [[ 9.99717148e-01 -2.34816678e-02 -3.77307899e-03 1.22740397e+02] [ 2.34817664e-02 9.99724265e-01 -1.81729277e-05 1.83668886e+00] [ 3.77246535e-03 -7.04307717e-05 9.99992882e-01 -1.80122228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.81592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.77, Y:1.84, Z:-1.80 [[ 9.99585163e-01 -2.85528634e-02 -3.77292085e-03 1.22772736e+02] [ 2.85531306e-02 9.99592276e-01 1.69751790e-05 1.83686187e+00] [ 3.77089785e-03 -1.24696839e-04 9.99992882e-01 -1.80176846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.84592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.81, Y:1.84, Z:-1.80 [[ 9.99453478e-01 -3.28406727e-02 -3.77291326e-03 1.22805017e+02] [ 3.28409763e-02 9.99460589e-01 1.85215232e-05 1.83610939e+00] [ 3.77026985e-03 -1.42417556e-04 9.99992882e-01 -1.80254686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.87592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.84, Y:1.84, Z:-1.80 [[ 9.99370756e-01 -3.52683467e-02 -3.77290512e-03 1.22837948e+02] [ 3.52686733e-02 9.99377867e-01 2.00524450e-05 1.83616420e+00] [ 3.76985066e-03 -1.53105185e-04 9.99992882e-01 -1.80221561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.90592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.87, Y:1.84, Z:-1.80 [[ 9.99306495e-01 -3.70444850e-02 -3.77289517e-03 1.22870799e+02] [ 3.70448308e-02 9.99313604e-01 2.17759389e-05 1.83616849e+00] [ 3.76949880e-03 -1.61527100e-04 9.99992882e-01 -1.80316325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.93592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.90, Y:1.84, Z:-1.80 [[ 9.99088101e-01 -4.25291774e-02 -3.77288439e-03 1.22903193e+02] [ 4.25295687e-02 9.99095208e-01 2.35062865e-05 1.83506544e+00] [ 3.76847102e-03 -1.83943997e-04 9.99992882e-01 -1.80296542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.96592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.94, Y:1.83, Z:-1.80 [[ 9.99037634e-01 -4.36986454e-02 -3.77287451e-03 1.22936238e+02] [ 4.36990506e-02 9.99044740e-01 2.49981032e-05 1.83401507e+00] [ 3.76817805e-03 -1.89845080e-04 9.99992882e-01 -1.80274537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.99592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:122.97, Y:1.83, Z:-1.80 [[ 9.98955978e-01 -4.55271188e-02 -3.77286248e-03 1.22968132e+02] [ 4.55275434e-02 9.98963083e-01 2.66986490e-05 1.82931736e+00] [ 3.76773482e-03 -1.98439935e-04 9.99992882e-01 -1.80198658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.02592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.00, Y:1.83, Z:-1.80 [[ 9.98906822e-01 -4.65932024e-02 -3.77285134e-03 1.23000941e+02] [ 4.65936402e-02 9.98913926e-01 2.81888586e-05 1.82651232e+00] [ 3.76744034e-03 -2.03948921e-04 9.99992882e-01 -1.80202071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.05592000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.03, Y:1.82, Z:-1.78 [[ 9.98872484e-01 -4.73236306e-02 -3.77283794e-03 1.23029582e+02] [ 4.73240800e-02 9.98879588e-01 2.98814421e-05 1.82398589e+00] [ 3.76719670e-03 -2.08393835e-04 9.99992882e-01 -1.78357566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.08592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.06, Y:1.82, Z:-1.80 [[ 9.98770664e-01 -4.94259551e-02 -3.77309488e-03 1.23063086e+02] [ 4.94262966e-02 9.98777774e-01 -2.73865597e-06 1.81915212e+00] [ 3.76861866e-03 -1.83754817e-04 9.99992882e-01 -1.79962966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.11592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.10, Y:1.81, Z:-1.80 [[ 9.98816365e-01 -4.84936575e-02 -3.77280606e-03 1.23095218e+02] [ 4.84941219e-02 9.98823467e-01 3.16691314e-05 1.81232773e+00] [ 3.76683148e-03 -2.14590564e-04 9.99992882e-01 -1.80047973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.14592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.12, Y:1.81, Z:-1.79 [[ 9.98721437e-01 -5.04108846e-02 -3.77280160e-03 1.23123121e+02] [ 5.04113646e-02 9.98728538e-01 3.21912469e-05 1.80737811e+00] [ 3.76638184e-03 -2.22342166e-04 9.99992882e-01 -1.78748210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.17592000000002 meters Centerline goodness : 0.935232 Centerline is valid? [True, False] Translation: X:123.13, Y:1.81, Z:-1.79 [[ 9.99321281e-01 -3.64433074e-02 -5.37233177e-03 1.23125057e+02] [ 3.64118802e-02 9.99319827e-01 -5.83598994e-03 1.81302632e+00] [ 5.58136043e-03 5.63641224e-03 9.99968539e-01 -1.78862728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.20592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [False, True] Translation: X:123.13, Y:1.81, Z:-1.79 [[ 9.99780652e-01 -2.01614921e-02 -5.67110447e-03 1.23125425e+02] [ 2.01123995e-02 9.99760871e-01 -8.58439261e-03 1.81412256e+00] [ 5.84282251e-03 8.46845012e-03 9.99947072e-01 -1.78941491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.23592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.16, Y:1.80, Z:-1.80 [[ 9.99901037e-01 -1.29941868e-02 -5.39146206e-03 1.23157497e+02] [ 1.29943980e-02 9.99915569e-01 4.14076155e-06 1.80455590e+00] [ 5.39095305e-03 -7.41991555e-05 9.99985466e-01 -1.80286237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.26592000000002 meters Centerline goodness : 0.979170 Centerline is valid? [True, True] Translation: X:123.16, Y:1.83, Z:-1.80 [[ 9.98793432e-01 4.88126286e-02 -5.38580669e-03 1.23163461e+02] [-4.88123857e-02 9.98807949e-01 1.76608114e-04 1.82915802e+00] [ 5.38800724e-03 8.64990489e-05 9.99985481e-01 -1.80425741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.29592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.22, Y:1.80, Z:-1.80 [[ 9.99957589e-01 -7.45946343e-03 -5.40159914e-03 1.23216041e+02] [ 7.45768184e-03 9.99972130e-01 -3.49893476e-04 1.79716252e+00] [ 5.40405861e-03 3.09595228e-04 9.99985350e-01 -1.80107411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.32592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.24, Y:1.79, Z:-1.80 [[ 9.99961449e-01 -6.93677346e-03 -5.38346762e-03 1.23244473e+02] [ 6.93785974e-03 9.99975916e-01 1.83132714e-04 1.79244666e+00] [ 5.38206762e-03 -2.20475397e-04 9.99985492e-01 -1.80414249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.35592 meters Centerline goodness : 0.834576 Centerline is valid? [True, False] Translation: X:123.27, Y:1.80, Z:-1.80 [[ 9.99959213e-01 -3.79925281e-03 -8.19373048e-03 1.23265555e+02] [ 3.74797289e-03 9.99973353e-01 -6.26473521e-03 1.79622602e+00] [ 8.21731346e-03 6.23376982e-03 9.99946807e-01 -1.80019853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.38592 meters Centerline goodness : 1.000000 Centerline is valid? [False, True] Translation: X:123.29, Y:1.80, Z:-1.80 [[ 9.99956945e-01 1.16684994e-03 -9.20575683e-03 1.23288454e+02] [-1.26808869e-03 9.99938703e-01 -1.09991696e-02 1.79836583e+00] [ 9.19235817e-03 1.10103698e-02 9.99897131e-01 -1.79979721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.41592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.32, Y:1.79, Z:-1.80 [[ 9.99960385e-01 1.82695666e-03 -8.71151317e-03 1.23316534e+02] [-1.82682202e-03 9.99998331e-01 2.34126498e-05 1.78561490e+00] [ 8.71154140e-03 -7.49733818e-06 9.99962054e-01 -1.80150286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.44592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.34, Y:1.78, Z:-1.80 [[ 9.99960106e-01 2.01750389e-03 -8.70154182e-03 1.23344250e+02] [-2.01544462e-03 9.99997939e-01 2.45418411e-04 1.78354467e+00] [ 8.70201902e-03 -2.27871144e-04 9.99962111e-01 -1.80158981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.47592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.38, Y:1.78, Z:-1.81 [[ 9.99938475e-01 6.87929062e-03 -8.70181259e-03 1.23378215e+02] [-6.87746752e-03 9.99976321e-01 2.39414092e-04 1.78134741e+00] [ 8.70325355e-03 -1.79552928e-04 9.99962110e-01 -1.81417598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.50592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.40, Y:1.78, Z:-1.80 [[ 9.99959644e-01 2.26114857e-03 -8.69472195e-03 1.23401941e+02] [-2.25779625e-03 9.99997373e-01 3.95355182e-04 1.77740251e+00] [ 8.69559306e-03 -3.75708316e-04 9.99962122e-01 -1.79718111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.53592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:123.43, Y:1.78, Z:-1.80 [[ 9.99943378e-01 6.12141016e-03 -8.70460198e-03 1.23433156e+02] [-6.12010916e-03 9.99981256e-01 1.76090204e-04 1.77552286e+00] [ 8.70551675e-03 -1.22807119e-04 9.99962099e-01 -1.80170091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.56592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.46, Y:1.77, Z:-1.80 [[ 9.99955023e-01 3.76947701e-03 -8.70304902e-03 1.23461618e+02] [-3.76779111e-03 9.99992880e-01 2.10101086e-04 1.77225245e+00] [ 8.70377902e-03 -1.77300365e-04 9.99962106e-01 -1.79662368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.59592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:123.49, Y:1.77, Z:-1.80 [[ 9.99943087e-01 6.16905051e-03 -8.70428541e-03 1.23491694e+02] [-6.16768772e-03 9.99980963e-01 1.83400006e-04 1.77128625e+00] [ 8.70525111e-03 -1.29704254e-04 9.99962100e-01 -1.79542284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.62592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:123.53, Y:1.77, Z:-1.81 [[ 9.99895799e-01 1.15172607e-02 -8.70306632e-03 1.23526077e+02] [-1.15158712e-02 9.99933668e-01 2.09753629e-04 1.77246977e+00] [ 8.70490482e-03 -1.09508381e-04 9.99962106e-01 -1.80997701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.65592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.55, Y:1.77, Z:-1.81 [[ 9.99878758e-01 1.29185034e-02 -8.69378948e-03 1.23554197e+02] [-1.29154470e-02 9.99916509e-01 4.07616887e-04 1.77098747e+00] [ 8.69832942e-03 -2.95283290e-04 9.99962125e-01 -1.80980487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.68592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.58, Y:1.77, Z:-1.81 [[ 9.99857540e-01 1.44676829e-02 -8.69397823e-03 1.23583079e+02] [-1.44647203e-02 9.99895299e-01 4.03550425e-04 1.76945001e+00] [ 8.69890640e-03 -2.77736972e-04 9.99962125e-01 -1.80958723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.71592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:123.61, Y:1.77, Z:-1.81 [[ 9.99842745e-01 1.54563008e-02 -8.69414268e-03 1.23611432e+02] [-1.54534066e-02 9.99880509e-01 3.99975801e-04 1.76765679e+00] [ 8.69928596e-03 -2.65558780e-04 9.99962125e-01 -1.80939306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.74592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.64, Y:1.77, Z:-1.81 [[ 9.99813166e-01 1.72638715e-02 -8.69430609e-03 1.23639955e+02] [-1.72610767e-02 9.99850938e-01 3.96391738e-04 1.76567907e+00] [ 8.69985335e-03 -2.46244595e-04 9.99962125e-01 -1.80956324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.77592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.67, Y:1.76, Z:-1.81 [[ 9.99791196e-01 1.84924746e-02 -8.69446748e-03 1.23668549e+02] [-1.84897573e-02 9.99828973e-01 3.92819631e-04 1.76493238e+00] [ 8.70024469e-03 -2.31979015e-04 9.99962125e-01 -1.80854100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.80592000000001 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:123.70, Y:1.76, Z:-1.79 [[ 9.99811227e-01 1.73756593e-02 -8.69462968e-03 1.23695129e+02] [-1.73729312e-02 9.99849003e-01 3.89196027e-04 1.76441009e+00] [ 8.70007936e-03 -2.38071354e-04 9.99962125e-01 -1.79333237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.83592000000002 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:123.73, Y:1.76, Z:-1.80 [[ 9.99770617e-01 1.95714217e-02 -8.69902515e-03 1.23726778e+02] [-1.95696377e-02 9.99808454e-01 2.90160886e-04 1.76405824e+00] [ 8.70303775e-03 -1.19857558e-04 9.99962121e-01 -1.79538930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.86592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.76, Y:1.76, Z:-1.81 [[ 9.99788385e-01 1.86430018e-02 -8.69620303e-03 1.23758407e+02] [-1.86406308e-02 9.99826186e-01 3.53632003e-04 1.76084092e+00] [ 8.70128427e-03 -1.91454459e-04 9.99962125e-01 -1.81002716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.89592000000002 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:123.79, Y:1.76, Z:-1.79 [[ 9.99826540e-01 1.64709403e-02 -8.69473510e-03 1.23785849e+02] [-1.64682003e-02 9.99864315e-01 3.86642520e-04 1.75796566e+00] [ 8.69992372e-03 -2.43388813e-04 9.99962125e-01 -1.79384516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.92592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.82, Y:1.76, Z:-1.81 [[ 9.99889807e-01 1.20301293e-02 -8.69769717e-03 1.23817842e+02] [-1.20278029e-02 9.99927612e-01 3.19735342e-04 1.75622115e+00] [ 8.70091402e-03 -2.15085922e-04 9.99962123e-01 -1.81053638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.95592000000002 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:123.84, Y:1.75, Z:-1.79 [[ 9.99925914e-01 8.51866842e-03 -8.69473388e-03 1.23843764e+02] [-8.51563004e-03 9.99963667e-01 3.86413158e-04 1.75302669e+00] [ 8.69770969e-03 -3.12343393e-04 9.99962125e-01 -1.78970353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.98592000000002 meters Centerline goodness : 0.998956 Centerline is valid? [True, True] Translation: X:123.87, Y:1.75, Z:-1.79 [[ 9.99956625e-01 3.32640457e-03 -8.69960243e-03 1.23871078e+02] [-3.32412662e-03 9.99994437e-01 2.76292447e-04 1.74845162e+00] [ 8.70047310e-03 -2.47361883e-04 9.99962120e-01 -1.79032358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.01592000000002 meters Centerline goodness : 0.999254 Centerline is valid? [True, True] Translation: X:123.90, Y:1.75, Z:-1.81 [[ 9.99955816e-01 3.55806592e-03 -8.70094520e-03 1.23904497e+02] [-3.55606269e-03 9.99993647e-01 2.45690810e-04 1.74665025e+00] [ 8.70176411e-03 -2.14738848e-04 9.99962116e-01 -1.80953882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.04592 meters Centerline goodness : 0.998557 Centerline is valid? [True, True] Translation: X:123.93, Y:1.74, Z:-1.79 [[ 9.99960983e-01 1.56032180e-03 -8.69472965e-03 1.23929911e+02] [-1.55702630e-03 9.99998713e-01 3.85779322e-04 1.74419152e+00] [ 8.69532041e-03 -3.72226347e-04 9.99962126e-01 -1.79099117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.07592 meters Centerline goodness : 0.997911 Centerline is valid? [True, True] Translation: X:123.96, Y:1.74, Z:-1.79 [[ 9.99958096e-01 2.84862815e-03 -8.70007559e-03 1.23960684e+02] [-2.84643765e-03 9.99995914e-01 2.64151594e-04 1.74009551e+00] [ 8.70079251e-03 -2.39376303e-04 9.99962119e-01 -1.79072214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.10592 meters Centerline goodness : 0.997167 Centerline is valid? [True, True] Translation: X:123.99, Y:1.74, Z:-1.79 [[ 9.99954587e-01 3.89611159e-03 -8.69742293e-03 1.23988409e+02] [-3.89343685e-03 9.99992368e-01 3.24443190e-04 1.73693692e+00] [ 8.69862062e-03 -2.90565589e-04 9.99962124e-01 -1.78811524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.13592 meters Centerline goodness : 0.997813 Centerline is valid? [True, True] Translation: X:124.02, Y:1.74, Z:-1.81 [[ 9.99942019e-01 6.34825582e-03 -8.69817226e-03 1.24020594e+02] [-6.34582200e-03 9.99979818e-01 3.07378464e-04 1.73521189e+00] [ 8.69994803e-03 -2.52163589e-04 9.99962123e-01 -1.80798302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.16592 meters Centerline goodness : 0.997861 Centerline is valid? [True, True] Translation: X:124.05, Y:1.73, Z:-1.81 [[ 9.99936071e-01 7.22873607e-03 -8.69479027e-03 1.24048881e+02] [-7.22567028e-03 9.99973821e-01 3.83963526e-04 1.73463176e+00] [ 8.69733822e-03 -3.21113292e-04 9.99962126e-01 -1.80762991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.19592 meters Centerline goodness : 0.996066 Centerline is valid? [True, True] Translation: X:124.08, Y:1.73, Z:-1.79 [[ 9.99925443e-01 8.57363827e-03 -8.69484569e-03 1.24075748e+02] [-8.57063418e-03 9.99963198e-01 3.82704543e-04 1.73158623e+00] [ 8.69780687e-03 -3.08155669e-04 9.99962126e-01 -1.78973918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.22592 meters Centerline goodness : 0.996114 Centerline is valid? [True, True] Translation: X:124.10, Y:1.73, Z:-1.79 [[ 9.99926859e-01 8.40304790e-03 -8.69860858e-03 1.24103317e+02] [-8.40078546e-03 9.99964669e-01 2.96597592e-04 1.72825064e+00] [ 8.70079357e-03 -2.23500754e-04 9.99962122e-01 -1.79000085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.25592 meters Centerline goodness : 0.988238 Centerline is valid? [True, True] Translation: X:124.17, Y:1.74, Z:-1.80 [[ 9.98149695e-01 6.01789442e-02 -8.69946767e-03 1.24172826e+02] [-6.01788158e-02 9.98187574e-01 2.76767713e-04 1.74439760e+00] [ 8.70035612e-03 2.47268054e-04 9.99962121e-01 -1.79737623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.28592 meters Centerline goodness : 0.996769 Centerline is valid? [True, True] Translation: X:124.16, Y:1.72, Z:-1.81 [[ 9.99922066e-01 9.02402445e-03 -8.62718770e-03 1.24160869e+02] [-9.00858412e-03 9.99957753e-01 1.82691795e-03 1.71746590e+00] [ 8.64330938e-03 -1.74905683e-03 9.99961116e-01 -1.80889164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.31592 meters Centerline goodness : 0.995277 Centerline is valid? [True, True] Translation: X:124.19, Y:1.72, Z:-1.79 [[ 9.99923784e-01 8.77332215e-03 -8.68643598e-03 1.24187690e+02] [-8.77063044e-03 9.99961477e-01 3.47920599e-04 1.71758984e+00] [ 8.68915377e-03 -2.71708562e-04 9.99962212e-01 -1.78955796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.34592 meters Centerline goodness : 0.994854 Centerline is valid? [True, True] Translation: X:124.22, Y:1.72, Z:-1.79 [[ 9.99879982e-01 1.28255266e-02 -8.69060452e-03 1.24217367e+02] [-1.28238984e-02 9.99917741e-01 2.43060308e-04 1.71788143e+00] [ 8.69300701e-03 -1.31583708e-04 9.99962206e-01 -1.78937957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.37592 meters Centerline goodness : 0.994854 Centerline is valid? [True, True] Translation: X:124.25, Y:1.72, Z:-1.79 [[ 9.99879960e-01 1.28281410e-02 -8.68934814e-03 1.24245669e+02] [-1.28262391e-02 9.99917703e-01 2.74575395e-04 1.71670468e+00] [ 8.69215533e-03 -1.63090777e-04 9.99962209e-01 -1.78913818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.40592 meters Centerline goodness : 0.994675 Centerline is valid? [True, True] Translation: X:124.27, Y:1.72, Z:-1.79 [[ 9.99893816e-01 1.16983600e-02 -8.68932242e-03 1.24273376e+02] [-1.16964098e-02 9.99931557e-01 2.75220043e-04 1.71650357e+00] [ 8.69194732e-03 -1.73556944e-04 9.99962209e-01 -1.78872846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.43592 meters Centerline goodness : 0.995121 Centerline is valid? [True, True] Translation: X:124.30, Y:1.71, Z:-1.79 [[ 9.99911102e-01 1.01111243e-02 -8.69212056e-03 1.24300318e+02] [-1.01097187e-02 9.99948874e-01 2.05642579e-04 1.71470188e+00] [ 8.69375545e-03 -1.17749404e-04 9.99962202e-01 -1.78943937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.46592 meters Centerline goodness : 0.994925 Centerline is valid? [True, True] Translation: X:124.33, Y:1.71, Z:-1.79 [[ 9.99848540e-01 1.50751977e-02 -8.69691784e-03 1.24334190e+02] [-1.50750247e-02 9.99886362e-01 8.54504944e-05 1.71445720e+00] [ 8.69721772e-03 4.56686994e-05 9.99962177e-01 -1.78831483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.49592 meters Centerline goodness : 0.997008 Centerline is valid? [True, True] Translation: X:124.37, Y:1.72, Z:-1.81 [[ 9.99838470e-01 1.57321899e-02 -8.69086463e-03 1.24367250e+02] [-1.57307418e-02 9.99876237e-01 2.34960605e-04 1.71883860e+00] [ 8.69348547e-03 -9.82089045e-05 9.99962206e-01 -1.80668571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.52592 meters Centerline goodness : 0.995119 Centerline is valid? [True, True] Translation: X:124.39, Y:1.72, Z:-1.79 [[ 9.99897794e-01 1.13557648e-02 -8.68606374e-03 1.24394291e+02] [-1.13531258e-02 9.99935489e-01 3.53070955e-04 1.72054914e+00] [ 8.68951279e-03 -2.54420895e-04 9.99962213e-01 -1.78672549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.55592000000001 meters Centerline goodness : 0.996919 Centerline is valid? [True, True] Translation: X:124.43, Y:1.72, Z:-1.81 [[ 9.99875106e-01 1.31999078e-02 -8.69103780e-03 1.24427057e+02] [-1.31984068e-02 9.99912871e-01 2.30038874e-04 1.72238125e+00] [ 8.69331705e-03 -1.15302291e-04 9.99962206e-01 -1.80584363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.58592000000002 meters Centerline goodness : 0.996916 Centerline is valid? [True, True] Translation: X:124.46, Y:1.72, Z:-1.81 [[ 9.99922108e-01 8.96284436e-03 -8.68589886e-03 1.24455415e+02] [-8.96009344e-03 9.99959794e-01 3.55573855e-04 1.72282410e+00] [ 8.68873659e-03 -2.77719693e-04 9.99962214e-01 -1.80584352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.61592000000002 meters Centerline goodness : 0.994534 Centerline is valid? [True, True] Translation: X:124.49, Y:1.72, Z:-1.79 [[ 9.99908175e-01 1.04016219e-02 -8.68606437e-03 1.24487061e+02] [-1.03989607e-02 9.99945868e-01 3.51483691e-04 1.72268289e+00] [ 8.68925017e-03 -2.61125374e-04 9.99962214e-01 -1.78868171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.64592000000002 meters Centerline goodness : 0.994833 Centerline is valid? [True, True] Translation: X:124.51, Y:1.72, Z:-1.79 [[ 9.99961859e-01 -9.35752301e-04 -8.68354399e-03 1.24512881e+02] [ 9.39383719e-04 9.99999473e-01 4.14126096e-04 1.72386953e+00] [ 8.68315190e-03 -4.22267481e-04 9.99962212e-01 -1.78595174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.67592000000002 meters Centerline goodness : 0.997068 Centerline is valid? [True, True] Translation: X:124.55, Y:1.72, Z:-1.80 [[ 9.99957815e-01 -2.97491438e-03 -8.69013336e-03 1.24546328e+02] [ 2.97719097e-03 9.99995537e-01 2.49050200e-04 1.72302399e+00] [ 8.68935368e-03 -2.74911880e-04 9.99962209e-01 -1.80454228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.70592000000002 meters Centerline goodness : 0.996617 Centerline is valid? [True, True] Translation: X:124.58, Y:1.72, Z:-1.81 [[ 9.99906682e-01 -1.05441556e-02 -8.68610981e-03 1.24575287e+02] [ 1.05475855e-02 9.99944312e-01 3.49149048e-04 1.71982330e+00] [ 8.68194461e-03 -4.40733952e-04 9.99962214e-01 -1.80583554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.73592000000002 meters Centerline goodness : 0.994018 Centerline is valid? [True, True] Translation: X:124.60, Y:1.72, Z:-1.79 [[ 9.99891694e-01 -1.18806754e-02 -8.68614901e-03 1.24602645e+02] [ 1.18841471e-02 9.99929320e-01 3.48171118e-04 1.71642642e+00] [ 8.68139856e-03 -4.51360881e-04 9.99962214e-01 -1.78536077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.76592000000002 meters Centerline goodness : 0.995028 Centerline is valid? [True, True] Translation: X:124.63, Y:1.71, Z:-1.79 [[ 9.99759928e-01 -2.01145664e-02 -8.68854382e-03 1.24629581e+02] [ 2.01178283e-02 9.99797574e-01 2.88188706e-04 1.71086827e+00] [ 8.68098824e-03 -4.62914153e-04 9.99962212e-01 -1.78758940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.79592 meters Centerline goodness : 0.990568 Centerline is valid? [True, True] Translation: X:124.65, Y:1.73, Z:-1.80 [[ 9.99877146e-01 1.30433917e-02 -8.69264108e-03 1.24648761e+02] [-1.30422711e-02 9.99914929e-01 1.85592067e-04 1.72794746e+00] [ 8.69432234e-03 -7.21974854e-05 9.99962201e-01 -1.80242701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.82592 meters Centerline goodness : 0.995265 Centerline is valid? [True, True] Translation: X:124.69, Y:1.71, Z:-1.79 [[ 9.99827239e-01 -1.64203843e-02 -8.70992326e-03 1.24691167e+02] [ 1.64190471e-02 9.99865173e-01 -2.25019279e-04 1.70582998e+00] [ 8.71244383e-03 8.19717647e-05 9.99962043e-01 -1.78899722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.85592 meters Centerline goodness : 0.995123 Centerline is valid? [True, True] Translation: X:124.72, Y:1.70, Z:-1.79 [[ 9.99843980e-01 -1.53792962e-02 -8.68863980e-03 1.24719409e+02] [ 1.53821107e-02 9.99881655e-01 2.57196061e-04 1.70131527e+00] [ 8.68365605e-03 -3.90805553e-04 9.99962220e-01 -1.78765224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.88592 meters Centerline goodness : 0.995121 Centerline is valid? [True, True] Translation: X:124.75, Y:1.70, Z:-1.79 [[ 9.99863693e-01 -1.40395016e-02 -8.68842395e-03 1.24749452e+02] [ 1.40423078e-02 9.99901368e-01 2.62052912e-04 1.69986244e+00] [ 8.68388789e-03 -3.84022715e-04 9.99962221e-01 -1.78688343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.91592 meters Centerline goodness : 0.996909 Centerline is valid? [True, True] Translation: X:124.78, Y:1.70, Z:-1.80 [[ 9.99871508e-01 -1.34727574e-02 -8.68634595e-03 1.24782108e+02] [ 1.34759462e-02 9.99909148e-01 3.08676774e-04 1.69818404e+00] [ 8.68139805e-03 -4.25693842e-04 9.99962225e-01 -1.80320567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.94592 meters Centerline goodness : 0.995275 Centerline is valid? [True, True] Translation: X:124.81, Y:1.69, Z:-1.79 [[ 9.99913049e-01 -9.92493889e-03 -8.68272070e-03 1.24809780e+02] [ 9.92869409e-03 9.99950633e-01 3.89492959e-04 1.69344428e+00] [ 8.67842637e-03 -4.75667170e-04 9.99962229e-01 -1.78642413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.97592 meters Centerline goodness : 0.995868 Centerline is valid? [True, True] Translation: X:124.84, Y:1.69, Z:-1.79 [[ 9.99916029e-01 -9.61741811e-03 -8.68563798e-03 1.24838458e+02] [ 9.62059722e-03 9.99953668e-01 3.24312040e-04 1.69029871e+00] [ 8.68211651e-03 -4.07845832e-04 9.99962227e-01 -1.78731718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.00592 meters Centerline goodness : 0.997312 Centerline is valid? [True, True] Translation: X:124.87, Y:1.69, Z:-1.80 [[ 9.99936149e-01 -7.22960327e-03 -8.68514264e-03 1.24870365e+02] [ 7.23278855e-03 9.99973787e-01 3.35397145e-04 1.68820169e+00] [ 8.68249019e-03 -3.98193530e-04 9.99962227e-01 -1.80126409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.03592 meters Centerline goodness : 0.995369 Centerline is valid? [True, True] Translation: X:124.90, Y:1.69, Z:-1.79 [[ 9.99939865e-01 -6.69892976e-03 -8.68275555e-03 1.24896604e+02] [ 6.70255698e-03 9.99977462e-01 3.88717764e-04 1.68516502e+00] [ 8.67995586e-03 -4.46891052e-04 9.99962229e-01 -1.78587283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.06592 meters Centerline goodness : 0.997015 Centerline is valid? [True, True] Translation: X:124.93, Y:1.68, Z:-1.80 [[ 9.99953372e-01 -4.21811291e-03 -8.68686014e-03 1.24928738e+02] [ 4.22084880e-03 9.99991048e-01 2.96636044e-04 1.68473699e+00] [ 8.68553113e-03 -3.33288136e-04 9.99962225e-01 -1.80126563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.09592 meters Centerline goodness : 0.997165 Centerline is valid? [True, True] Translation: X:124.96, Y:1.68, Z:-1.80 [[ 9.99960952e-01 -1.64491326e-03 -8.68270488e-03 1.24957119e+02] [ 1.64835553e-03 9.99998566e-01 3.89310571e-04 1.68148808e+00] [ 8.68205205e-03 -4.03607554e-04 9.99962229e-01 -1.80086322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.12592 meters Centerline goodness : 0.996166 Centerline is valid? [True, True] Translation: X:124.98, Y:1.67, Z:-1.78 [[ 9.99871033e-01 -1.35101828e-02 -8.68285859e-03 1.24975367e+02] [ 1.35140412e-02 9.99908607e-01 3.85851796e-04 1.67031181e+00] [ 8.67685210e-03 -5.03142542e-04 9.99962229e-01 -1.78050359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.15592 meters Centerline goodness : 0.994379 Centerline is valid? [True, True] Translation: X:125.02, Y:1.68, Z:-1.78 [[ 9.99938409e-01 6.88622434e-03 -8.70388146e-03 1.25017733e+02] [-6.88732996e-03 9.99976277e-01 -9.70580577e-05 1.67730336e+00] [ 8.70300662e-03 1.56998583e-04 9.99962116e-01 -1.78349568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.18592 meters Centerline goodness : 0.994268 Centerline is valid? [True, True] Translation: X:125.04, Y:1.67, Z:-1.79 [[ 9.99953405e-01 4.22317339e-03 -8.68063875e-03 1.25044476e+02] [-4.21975715e-03 9.99991012e-01 4.11824621e-04 1.67290326e+00] [ 8.68229994e-03 -3.75175244e-04 9.99962238e-01 -1.78622279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.21592 meters Centerline goodness : 0.994026 Centerline is valid? [True, True] Translation: X:125.07, Y:1.67, Z:-1.79 [[ 9.99959937e-01 2.16981874e-03 -8.68422883e-03 1.25071505e+02] [-2.16701229e-03 9.99997597e-01 3.32562869e-04 1.66841079e+00] [ 8.68492956e-03 -3.13730715e-04 9.99962236e-01 -1.78809869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.24592 meters Centerline goodness : 0.993575 Centerline is valid? [True, True] Translation: X:125.10, Y:1.67, Z:-1.79 [[ 9.99945375e-01 5.81238062e-03 -8.68697412e-03 1.25103300e+02] [-5.81023940e-03 9.99983084e-01 2.71703106e-04 1.66654783e+00] [ 8.68840641e-03 -2.21214865e-04 9.99962231e-01 -1.78911076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.27592 meters Centerline goodness : 0.993727 Centerline is valid? [True, True] Translation: X:125.13, Y:1.66, Z:-1.79 [[ 9.99959572e-01 2.34373145e-03 -8.68104441e-03 1.25128347e+02] [-2.34032394e-03 9.99997180e-01 4.02659941e-04 1.66465168e+00] [ 8.68196366e-03 -3.82327206e-04 9.99962238e-01 -1.78528884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.30592000000001 meters Centerline goodness : 0.993678 Centerline is valid? [True, True] Translation: X:125.16, Y:1.66, Z:-1.78 [[ 9.99952590e-01 4.39880981e-03 -8.68722870e-03 1.25158516e+02] [-4.39666437e-03 9.99990299e-01 2.66047351e-04 1.66247801e+00] [ 8.68831472e-03 -2.27839909e-04 9.99962230e-01 -1.78437091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.33592000000002 meters Centerline goodness : 0.994371 Centerline is valid? [True, True] Translation: X:125.19, Y:1.66, Z:-1.79 [[ 9.99918910e-01 9.31221643e-03 -8.68658641e-03 1.25189677e+02] [-9.31013386e-03 9.99956621e-01 2.80153291e-04 1.65892384e+00] [ 8.68881843e-03 -1.99257291e-04 9.99962232e-01 -1.78959725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.36592000000002 meters Centerline goodness : 0.994020 Centerline is valid? [True, True] Translation: X:125.22, Y:1.66, Z:-1.79 [[ 9.99931052e-01 7.90783205e-03 -8.68082606e-03 1.25215504e+02] [-7.90460596e-03 9.99968676e-01 4.05880935e-04 1.65570362e+00] [ 8.68376377e-03 -3.37234441e-04 9.99962239e-01 -1.78764037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.39592000000002 meters Centerline goodness : 0.997212 Centerline is valid? [True, True] Translation: X:125.25, Y:1.65, Z:-1.80 [[ 9.99929029e-01 8.15583938e-03 -8.68437816e-03 1.25246583e+02] [-8.15330181e-03 9.99966708e-01 3.27563914e-04 1.65391291e+00] [ 8.68676060e-03 -2.56734310e-04 9.99962236e-01 -1.80367426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.42592000000002 meters Centerline goodness : 0.967789 Centerline is valid? [True, True] Translation: X:125.22, Y:1.66, Z:-1.81 [[ 9.99454243e-01 3.18724359e-02 -8.68127448e-03 1.25220814e+02] [-3.18702013e-02 9.99491938e-01 3.95662693e-04 1.65835747e+00] [ 8.68947458e-03 -1.18772792e-04 9.99962239e-01 -1.81043308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.45592000000002 meters Centerline goodness : 0.995072 Centerline is valid? [True, True] Translation: X:125.29, Y:1.66, Z:-1.79 [[ 9.99881444e-01 1.26708806e-02 -8.74907987e-03 1.25293448e+02] [-1.26798804e-02 9.99919133e-01 -9.73949222e-04 1.65853751e+00] [ 8.73603156e-03 1.08477104e-03 9.99961252e-01 -1.78537511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.48592000000002 meters Centerline goodness : 0.995168 Centerline is valid? [True, True] Translation: X:125.32, Y:1.65, Z:-1.78 [[ 9.99918569e-01 9.35808057e-03 -8.67646473e-03 1.25321788e+02] [-9.35575900e-03 9.99956186e-01 3.08121147e-04 1.65466618e+00] [ 8.67896800e-03 -2.26921143e-04 9.99962311e-01 -1.78367313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.51592000000002 meters Centerline goodness : 0.998205 Centerline is valid? [True, True] Translation: X:125.36, Y:1.65, Z:-1.80 [[ 9.99889930e-01 1.20338459e-02 -8.67834626e-03 1.25357340e+02] [-1.20319128e-02 9.99927576e-01 2.74927712e-04 1.65222227e+00] [ 8.68102618e-03 -1.70480345e-04 9.99962305e-01 -1.80356654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.54592 meters Centerline goodness : 0.995816 Centerline is valid? [True, True] Translation: X:125.38, Y:1.65, Z:-1.78 [[ 9.99943630e-01 6.13576210e-03 -8.66545242e-03 1.25383450e+02] [-6.13166852e-03 9.99981077e-01 4.98890467e-04 1.64571372e+00] [ 8.66834951e-03 -4.45728663e-04 9.99962330e-01 -1.78339389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.57592 meters Centerline goodness : 0.998258 Centerline is valid? [True, True] Translation: X:125.40, Y:1.63, Z:-1.78 [[ 9.99769211e-01 -1.96556157e-02 -8.67068373e-03 1.25400526e+02] [ 1.96598918e-02 9.99806642e-01 4.08202386e-04 1.62742154e+00] [ 8.66098371e-03 -5.78572881e-04 9.99962326e-01 -1.78382178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.60592 meters Centerline goodness : 0.996212 Centerline is valid? [True, True] Translation: X:125.44, Y:1.64, Z:-1.78 [[ 9.99959154e-01 2.45278456e-03 -8.69913287e-03 1.25442341e+02] [-2.45371791e-03 9.99996985e-01 -9.66212931e-05 1.63793013e+00] [ 8.69886965e-03 1.17962565e-04 9.99962157e-01 -1.78351622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.63592 meters Centerline goodness : 0.997294 Centerline is valid? [True, True] Translation: X:125.46, Y:1.63, Z:-1.78 [[ 9.99895976e-01 -1.15268547e-02 -8.67001712e-03 1.25464531e+02] [ 1.15307013e-02 9.99933442e-01 3.93800728e-04 1.62778597e+00] [ 8.66490078e-03 -4.93731140e-04 9.99962337e-01 -1.78344809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.66592 meters Centerline goodness : 0.998254 Centerline is valid? [True, True] Translation: X:125.50, Y:1.63, Z:-1.80 [[ 9.99959313e-01 -2.44381659e-03 -8.68330190e-03 1.25501378e+02] [ 2.44535235e-03 9.99996996e-01 1.66250697e-04 1.62793598e+00] [ 8.68286953e-03 -1.87477666e-04 9.99962286e-01 -1.80134930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.69592 meters Centerline goodness : 0.928138 Centerline is valid? [True, False] Translation: X:125.50, Y:1.62, Z:-1.80 [[ 9.99958208e-01 -2.60846469e-03 -8.76234259e-03 1.25501624e+02] [ 2.61929367e-03 9.99995820e-01 1.22460617e-03 1.62262787e+00] [ 8.75911162e-03 -1.24750614e-03 9.99960860e-01 -1.80164635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.72592 meters Centerline goodness : 0.998605 Centerline is valid? [False, True] Translation: X:125.52, Y:1.62, Z:-1.80 [[ 9.99933784e-01 9.36039504e-04 -1.14696053e-02 1.25523365e+02] [-9.83463307e-04 9.99990989e-01 -4.12979485e-03 1.62192111e+00] [ 1.14656363e-02 4.14080133e-03 9.99925694e-01 -1.79884384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.75592 meters Centerline goodness : 0.998655 Centerline is valid? [True, True] Translation: X:125.55, Y:1.61, Z:-1.80 [[ 9.99937760e-01 1.27217882e-04 -1.11561173e-02 1.25551578e+02] [-1.19178978e-04 9.99999733e-01 7.21244508e-04 1.60846240e+00] [ 1.11562061e-02 -7.19870044e-04 9.99937508e-01 -1.79804893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.78592 meters Centerline goodness : 0.995406 Centerline is valid? [True, True] Translation: X:125.58, Y:1.60, Z:-1.78 [[ 9.99934072e-01 2.71779694e-03 -1.11563926e-02 1.25578221e+02] [-2.70996622e-03 9.99996071e-01 7.16961715e-04 1.60035398e+00] [ 1.11582973e-02 -6.86681000e-04 9.99937508e-01 -1.77819874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.81592 meters Centerline goodness : 0.995304 Centerline is valid? [True, True] Translation: X:125.64, Y:1.59, Z:-1.79 [[ 9.99937425e-01 -7.16719089e-04 -1.11638827e-02 1.25639750e+02] [ 7.23455931e-04 9.99999559e-01 5.99422979e-04 1.59458410e+00] [ 1.11634482e-02 -6.07462047e-04 9.99937502e-01 -1.79389007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.84592 meters Centerline goodness : 0.770450 Centerline is valid? [True, False] Translation: X:125.64, Y:1.59, Z:-1.79 [[ 9.99936454e-01 -8.70030890e-04 -1.12397335e-02 1.25639876e+02] [ 8.98412520e-04 9.99996420e-01 2.52031370e-03 1.58550528e+00] [ 1.12375005e-02 -2.53025146e-03 9.99933656e-01 -1.79410281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.87592 meters Centerline goodness : 0.995765 Centerline is valid? [False, True] Translation: X:125.65, Y:1.58, Z:-1.80 [[ 9.99920684e-01 -3.01811802e-03 -1.22276697e-02 1.25645468e+02] [ 3.02605170e-03 9.99995223e-01 6.30380782e-04 1.58434061e+00] [ 1.22257087e-02 -6.67332344e-04 9.99925041e-01 -1.79859410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.90592 meters Centerline goodness : 0.711863 Centerline is valid? [True, False] Translation: X:125.67, Y:1.59, Z:-1.80 [[ 9.99895748e-01 1.26359817e-03 -1.43838958e-02 1.25667596e+02] [-1.33379552e-03 9.99987244e-01 -4.87172749e-03 1.58597287e+00] [ 1.43775564e-02 4.89040478e-03 9.99884678e-01 -1.79603135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.93592 meters Centerline goodness : 0.998555 Centerline is valid? [False, True] Translation: X:125.67, Y:1.58, Z:-1.80 [[ 9.99895505e-01 1.16346664e-03 -1.44092392e-02 1.25667638e+02] [-1.20118053e-03 9.99995875e-01 -2.60896308e-03 1.57555858e+00] [ 1.44061443e-02 2.62599855e-03 9.99892778e-01 -1.79580971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.96592 meters Centerline goodness : 0.721244 Centerline is valid? [True, False] Translation: X:125.67, Y:1.57, Z:-1.80 [[ 9.99894758e-01 1.08538587e-03 -1.44670563e-02 1.25667744e+02] [-1.10040202e-03 9.99998864e-01 -1.03003510e-03 1.56825422e+00] [ 1.44659219e-02 1.04584628e-03 9.99894816e-01 -1.79573483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.99592 meters Centerline goodness : 0.771764 Centerline is valid? [False, False] Translation: X:125.66, Y:1.57, Z:-1.80 [[ 9.99999683e-01 7.91643835e-04 8.17027586e-05 1.25661891e+02] [-7.91371949e-04 9.99994321e-01 -3.27579701e-03 1.56687849e+00] [-8.42955591e-05 3.27573132e-03 9.99994631e-01 -1.79656570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.02592 meters Centerline goodness : 0.773437 Centerline is valid? [False, False] Translation: X:125.66, Y:1.56, Z:-1.80 [[ 9.99999738e-01 7.20748579e-04 -6.73455745e-05 1.25662283e+02] [-7.20920052e-04 9.99996407e-01 -2.58181932e-03 1.56352726e+00] [ 6.54844899e-05 2.58186720e-03 9.99996665e-01 -1.79680074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.05592000000001 meters Centerline goodness : 0.719304 Centerline is valid? [False, False] Translation: X:125.66, Y:1.56, Z:-1.80 [[ 9.99999797e-01 5.76015610e-04 -2.71735171e-04 1.25662792e+02] [-5.76319117e-04 9.99999209e-01 -1.11816824e-03 1.55668872e+00] [ 2.71090874e-04 1.11832462e-03 9.99999338e-01 -1.79731148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.08592000000002 meters Centerline goodness : 0.899442 Centerline is valid? [False, False] Translation: X:125.68, Y:1.56, Z:-1.79 [[ 9.99981433e-01 3.20961690e-03 -5.17997299e-03 1.25684903e+02] [-3.25242905e-03 9.99960449e-01 -8.27778668e-03 1.56259503e+00] [ 5.15319959e-03 8.29448048e-03 9.99952322e-01 -1.79337893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.11592000000002 meters Centerline goodness : 0.997756 Centerline is valid? [False, True] Translation: X:125.69, Y:1.56, Z:-1.80 [[ 9.99976729e-01 1.38262340e-03 -6.68061388e-03 1.25691546e+02] [-1.45256013e-03 9.99944079e-01 -1.04751219e-02 1.56433856e+00] [ 6.66575714e-03 1.04845821e-02 9.99922818e-01 -1.79802408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.14592000000002 meters Centerline goodness : 0.701841 Centerline is valid? [True, False] Translation: X:125.69, Y:1.56, Z:-1.80 [[ 9.99974801e-01 1.42879126e-03 -6.95377469e-03 1.25692253e+02] [-1.49883296e-03 9.99948095e-01 -1.00777055e-02 1.56261736e+00] [ 6.93901482e-03 1.00878741e-02 9.99925040e-01 -1.79814680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.17592000000002 meters Centerline goodness : 0.807857 Centerline is valid? [False, False] Translation: X:125.69, Y:1.56, Z:-1.79 [[ 9.99978591e-01 -4.85582251e-04 -6.52543758e-03 1.25688269e+02] [ 4.06136249e-04 9.99925853e-01 -1.21706309e-02 1.56274759e+00] [ 6.53086358e-03 1.21677201e-02 9.99904643e-01 -1.79386977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.20592000000002 meters Centerline goodness : 0.994862 Centerline is valid? [False, True] Translation: X:125.71, Y:1.57, Z:-1.79 [[ 9.99927409e-01 6.62403646e-03 -1.00647509e-02 1.25708810e+02] [-6.77573291e-03 9.99862827e-01 -1.51134624e-02 1.56741882e+00] [ 9.96325818e-03 1.51805613e-02 9.99835128e-01 -1.78861112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.23592000000002 meters Centerline goodness : 0.974014 Centerline is valid? [True, True] Translation: X:125.78, Y:1.53, Z:-1.82 [[ 9.99551717e-01 -2.82848410e-02 -9.81495258e-03 1.25780116e+02] [ 2.82858244e-02 9.99599875e-01 -3.86365755e-05 1.53188411e+00] [ 9.81211821e-03 -2.39004770e-04 9.99951831e-01 -1.81742188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.26592000000002 meters Centerline goodness : 0.974014 Centerline is valid? [True, True] Translation: X:125.81, Y:1.53, Z:-1.82 [[ 9.99399934e-01 -3.32564342e-02 -9.68409697e-03 1.25809017e+02] [ 3.32801845e-02 9.99443411e-01 2.30172808e-03 1.52714402e+00] [ 9.60215963e-03 -2.62263543e-03 9.99950459e-01 -1.81715435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.29592 meters Centerline goodness : 0.995171 Centerline is valid? [True, True] Translation: X:125.79, Y:1.55, Z:-1.79 [[ 9.99948048e-01 3.14893514e-03 -9.69457144e-03 1.25788804e+02] [-3.13314905e-03 9.99993742e-01 1.64310095e-03 1.54693529e+00] [ 9.69968479e-03 -1.61264105e-03 9.99951657e-01 -1.78907534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.32592 meters Centerline goodness : 0.991583 Centerline is valid? [True, True] Translation: X:125.85, Y:1.53, Z:-1.80 [[ 9.99605068e-01 -2.63717133e-02 -9.70778609e-03 1.25849257e+02] [ 2.63725831e-02 9.99652182e-01 -3.84245988e-05 1.52814770e+00] [ 9.70542287e-03 -2.17609972e-04 9.99952878e-01 -1.79582492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.35592 meters Centerline goodness : 0.871389 Centerline is valid? [True, False] Translation: X:125.85, Y:1.54, Z:-1.79 [[ 9.99727580e-01 -2.00367531e-02 -1.19705661e-02 1.25851422e+02] [ 1.98484139e-02 9.99680501e-01 -1.56504410e-02 1.54326388e+00] [ 1.22803256e-02 1.54085808e-02 9.99805866e-01 -1.79488957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.38592 meters Centerline goodness : 0.988927 Centerline is valid? [False, True] Translation: X:125.87, Y:1.54, Z:-1.79 [[ 9.99854449e-01 -7.90324328e-03 -1.51201973e-02 1.25873494e+02] [ 7.70898405e-03 9.99887550e-01 -1.28630971e-02 1.54359750e+00] [ 1.52201572e-02 1.27446635e-02 9.99802941e-01 -1.79147626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.41592 meters Centerline goodness : 0.989888 Centerline is valid? [True, True] Translation: X:125.91, Y:1.54, Z:-1.79 [[ 9.99873044e-01 -4.22506446e-03 -1.53637710e-02 1.25905599e+02] [ 4.12919328e-03 9.99971840e-01 -6.26645810e-03 1.53905423e+00] [ 1.53898146e-02 6.20222256e-03 9.99862334e-01 -1.79088755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.44592 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:125.98, Y:1.53, Z:-1.81 [[ 9.98716036e-01 -4.82481361e-02 -1.54401019e-02 1.25978633e+02] [ 4.81869533e-02 9.98829033e-01 -4.31059967e-03 1.52846787e+00] [ 1.56300005e-02 3.56105354e-03 9.99871503e-01 -1.80947695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.47592 meters Centerline goodness : 0.940119 Centerline is valid? [True, False] Translation: X:125.97, Y:1.54, Z:-1.81 [[ 9.99450005e-01 -3.20897607e-02 -8.36267803e-03 1.25974311e+02] [ 3.20295141e-02 9.99460692e-01 -7.24126720e-03 1.53640659e+00] [ 8.59053850e-03 6.96943203e-03 9.99938813e-01 -1.81000511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.50592 meters Centerline goodness : 0.995366 Centerline is valid? [False, True] Translation: X:125.97, Y:1.54, Z:-1.81 [[ 9.99857068e-01 -1.68310716e-02 -1.59965378e-03 1.25969900e+02] [ 1.68123858e-02 9.99797563e-01 -1.10533711e-02 1.54383527e+00] [ 1.78537003e-03 1.10248972e-02 9.99937630e-01 -1.80968971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.53592 meters Centerline goodness : 0.998854 Centerline is valid? [True, True] Translation: X:126.04, Y:1.55, Z:-1.83 [[ 9.99877665e-01 -1.55310094e-02 -1.85538756e-03 1.26036124e+02] [ 1.55309806e-02 9.99879387e-01 -2.99209843e-05 1.54614096e+00] [ 1.85562848e-03 1.10133574e-06 9.99998278e-01 -1.82843544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.56592 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:126.01, Y:1.56, Z:-1.85 [[ 9.99007551e-01 4.45029807e-02 -1.84331502e-03 1.26010505e+02] [-4.45022049e-02 9.99009180e-01 4.59832582e-04 1.56063288e+00] [ 1.86195255e-03 -3.77344639e-04 9.99998195e-01 -1.85376325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.59592 meters Centerline goodness : 0.999502 Centerline is valid? [True, True] Translation: X:126.04, Y:1.56, Z:-1.85 [[ 9.99172690e-01 4.06265201e-02 -1.84967971e-03 1.26043764e+02] [-4.06264641e-02 9.99174402e-01 6.78718554e-05 1.56147646e+00] [ 1.85091001e-03 7.33024177e-06 9.99998287e-01 -1.85437603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.62592 meters Centerline goodness : 0.856011 Centerline is valid? [True, False] Translation: X:126.04, Y:1.56, Z:-1.86 [[ 9.99670665e-01 2.52559077e-02 4.54990773e-03 1.26040726e+02] [-2.52695952e-02 9.99676242e-01 2.97635918e-03 1.56094863e+00] [-4.47326400e-03 -3.09035329e-03 9.99985220e-01 -1.85564166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.65592 meters Centerline goodness : 0.966667 Centerline is valid? [False, True] Translation: X:126.06, Y:1.57, Z:-1.85 [[ 9.99934488e-01 1.10238204e-02 3.08148853e-03 1.26063846e+02] [-1.10187673e-02 9.99937927e-01 -1.65200914e-03 1.56611238e+00] [-3.09950871e-03 1.61794670e-03 9.99993888e-01 -1.85396208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.68592 meters Centerline goodness : 0.997710 Centerline is valid? [True, True] Translation: X:126.04, Y:1.55, Z:-1.83 [[ 9.99941527e-01 1.03626586e-02 3.09157214e-03 1.26038022e+02] [-1.03614283e-02 9.99946233e-01 -4.13706035e-04 1.54585182e+00] [-3.09569301e-03 3.81648741e-04 9.99995136e-01 -1.82789074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.71592 meters Centerline goodness : 0.998060 Centerline is valid? [True, True] Translation: X:126.07, Y:1.55, Z:-1.83 [[ 9.99927933e-01 1.16006304e-02 3.09112191e-03 1.26070420e+02] [-1.16006945e-02 9.99932710e-01 2.80728645e-06 1.55114045e+00] [-3.09088134e-03 -3.86662451e-05 9.99995222e-01 -1.82778708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.74592 meters Centerline goodness : 0.998806 Centerline is valid? [True, True] Translation: X:126.10, Y:1.55, Z:-1.84 [[ 9.99921899e-01 1.21095520e-02 3.09112582e-03 1.26102018e+02] [-1.21096077e-02 9.99926676e-01 -6.94654376e-07 1.55382712e+00] [-3.09090757e-03 -3.67377209e-05 9.99995222e-01 -1.83719767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.77592 meters Centerline goodness : 0.999005 Centerline is valid? [True, True] Translation: X:126.13, Y:1.56, Z:-1.84 [[ 9.99922936e-01 1.20235871e-02 3.09111813e-03 1.26134707e+02] [-1.20236635e-02 9.99927713e-01 6.12701363e-06 1.56127110e+00] [-3.09082102e-03 -4.32931056e-05 9.99995222e-01 -1.83695638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.80592000000001 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:126.17, Y:1.56, Z:-1.84 [[ 9.99943378e-01 1.01826623e-02 3.09112228e-03 1.26166411e+02] [-1.01827184e-02 9.99948155e-01 2.39882234e-06 1.56427934e+00] [-3.09093759e-03 -3.38747142e-05 9.99995222e-01 -1.83738861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.83592000000002 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:126.20, Y:1.57, Z:-1.84 [[ 9.99958478e-01 8.57250760e-03 3.09111647e-03 1.26198654e+02] [-8.57257237e-03 9.99963255e-01 7.70566547e-06 1.56594826e+00] [-3.09093683e-03 -3.42041652e-05 9.99995222e-01 -1.83743817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.86592000000002 meters Centerline goodness : 0.998648 Centerline is valid? [True, True] Translation: X:126.23, Y:1.57, Z:-1.83 [[ 9.99988539e-01 3.65620751e-03 3.09111692e-03 1.26229417e+02] [-3.65624730e-03 9.99993316e-01 7.21889530e-06 1.56712885e+00] [-3.09106986e-03 -1.85207004e-05 9.99995222e-01 -1.82765962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.89592000000002 meters Centerline goodness : 0.998658 Centerline is valid? [True, True] Translation: X:126.26, Y:1.57, Z:-1.83 [[ 9.99990514e-01 3.06873063e-03 3.09111386e-03 1.26260062e+02] [-3.06878716e-03 9.99995291e-01 1.35448684e-05 1.56904783e+00] [-3.09105773e-03 -2.30307104e-05 9.99995222e-01 -1.82993956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.92592000000002 meters Centerline goodness : 0.998508 Centerline is valid? [True, True] Translation: X:126.29, Y:1.57, Z:-1.83 [[ 9.99994065e-01 1.52130533e-03 3.09111471e-03 1.26292527e+02] [-1.52134727e-03 9.99998843e-01 1.12147297e-05 1.57393010e+00] [-3.09109407e-03 -1.59173221e-05 9.99995222e-01 -1.83102061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.95592000000002 meters Centerline goodness : 0.998458 Centerline is valid? [True, True] Translation: X:126.32, Y:1.57, Z:-1.83 [[ 9.99994240e-01 1.40157818e-03 3.09111488e-03 1.26324808e+02] [-1.40159783e-03 9.99999018e-01 4.19115137e-06 1.57479468e+00] [-3.09110597e-03 -8.52362713e-06 9.99995222e-01 -1.82867025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.98592000000002 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:126.36, Y:1.57, Z:-1.84 [[ 9.99992735e-01 2.23059764e-03 3.09111505e-03 1.26356136e+02] [-2.23062383e-03 9.99997512e-01 5.02397674e-06 1.57426715e+00] [-3.09109616e-03 -1.19190551e-05 9.99995222e-01 -1.84274059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.01592000000002 meters Centerline goodness : 0.998207 Centerline is valid? [True, True] Translation: X:126.39, Y:1.57, Z:-1.83 [[ 9.99994417e-01 1.26933028e-03 3.09111513e-03 1.26387325e+02] [-1.26935255e-03 9.99999194e-01 5.24466371e-06 1.57494314e+00] [-3.09110599e-03 -9.16834932e-06 9.99995222e-01 -1.82801133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.04592 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:126.42, Y:1.58, Z:-1.84 [[ 9.99994492e-01 1.20867365e-03 3.09111471e-03 1.26418847e+02] [-1.20869284e-03 9.99999270e-01 4.34050261e-06 1.57564069e+00] [-3.09110721e-03 -8.07668693e-06 9.99995222e-01 -1.84340927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.07592 meters Centerline goodness : 0.998257 Centerline is valid? [True, True] Translation: X:126.45, Y:1.58, Z:-1.83 [[ 9.99995222e-01 -3.29514465e-05 3.09111761e-03 1.26450455e+02] [ 3.29275669e-05 9.99999999e-01 7.77611778e-06 1.57556179e+00] [-3.09111787e-03 -7.67429764e-06 9.99995222e-01 -1.82968325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.10592 meters Centerline goodness : 0.998806 Centerline is valid? [True, True] Translation: X:126.48, Y:1.57, Z:-1.84 [[ 9.99993235e-01 -1.99374042e-03 3.09110859e-03 1.26480175e+02] [ 1.99375287e-03 9.99998012e-01 -9.45833188e-07 1.57382020e+00] [-3.09110056e-03 7.10873339e-06 9.99995223e-01 -1.83587112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.13592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:126.51, Y:1.57, Z:-1.85 [[ 9.99992452e-01 -2.35375049e-03 3.09112751e-03 1.26511790e+02] [ 2.35372044e-03 9.99997230e-01 1.33591433e-05 1.57422733e+00] [-3.09115039e-03 -6.08339243e-06 9.99995222e-01 -1.84700603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.16592 meters Centerline goodness : 0.998905 Centerline is valid? [True, True] Translation: X:126.54, Y:1.58, Z:-1.83 [[ 9.99989671e-01 -3.33211354e-03 3.09110966e-03 1.26542155e+02] [ 3.33212253e-03 9.99994448e-01 2.24231351e-06 1.57528953e+00] [-3.09109997e-03 8.05766579e-06 9.99995223e-01 -1.83401937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.19592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:126.57, Y:1.58, Z:-1.85 [[ 9.99993525e-01 -1.84270389e-03 3.09112066e-03 1.26573591e+02] [ 1.84268813e-03 9.99998302e-01 7.94715991e-06 1.57632636e+00] [-3.09113006e-03 -2.25113711e-06 9.99995222e-01 -1.84776202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.22592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:126.61, Y:1.58, Z:-1.85 [[ 9.99995092e-01 5.10792504e-04 3.09110505e-03 1.26605980e+02] [-5.10796965e-04 9.99999870e-01 6.53418481e-07 1.57763184e+00] [-3.09110431e-03 -2.23234235e-06 9.99995223e-01 -1.84918642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.25592 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:126.64, Y:1.58, Z:-1.83 [[ 9.99994983e-01 -6.92001432e-04 3.09108576e-03 1.26635750e+02] [ 6.92027617e-04 9.99999761e-01 -7.40170285e-06 1.57805032e+00] [-3.09107990e-03 9.54078243e-06 9.99995223e-01 -1.83442259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.28592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:126.67, Y:1.58, Z:-1.85 [[ 9.99994378e-01 1.29984203e-03 3.09111098e-03 1.26667224e+02] [-1.29985957e-03 9.99999155e-01 3.66539177e-06 1.58073777e+00] [-3.09110360e-03 -7.68338136e-06 9.99995222e-01 -1.84909682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.31592 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:126.70, Y:1.58, Z:-1.83 [[ 9.99995007e-01 6.56864402e-04 3.09108197e-03 1.26697178e+02] [-6.56843392e-04 9.99999784e-01 -7.81228190e-06 1.58111176e+00] [-3.09108643e-03 5.78188613e-06 9.99995223e-01 -1.83439448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.34592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:126.73, Y:1.58, Z:-1.85 [[ 9.99995214e-01 -1.30335467e-04 3.09111436e-03 1.26728217e+02] [ 1.30318016e-04 9.99999991e-01 5.84685188e-06 1.58344048e+00] [-3.09111509e-03 -5.44399600e-06 9.99995222e-01 -1.84518109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.37592 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:126.76, Y:1.59, Z:-1.83 [[ 9.99995181e-01 2.86875370e-04 3.09111292e-03 1.26755088e+02] [-2.86893073e-04 9.99999959e-01 5.28364165e-06 1.58568221e+00] [-3.09111127e-03 -6.17043508e-06 9.99995222e-01 -1.83426396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.40592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:126.79, Y:1.59, Z:-1.83 [[ 9.99994699e-01 1.02255351e-03 3.09121742e-03 1.26788548e+02] [-1.02269091e-03 9.99999476e-01 4.28690974e-05 1.58873871e+00] [-3.09117197e-03 -4.60302301e-05 9.99995221e-01 -1.82991662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.43592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:126.82, Y:1.59, Z:-1.83 [[ 9.99993100e-01 2.06045238e-03 3.09108406e-03 1.26821244e+02] [-2.06046984e-03 9.99997877e-01 2.46512227e-06 1.58945402e+00] [-3.09107242e-03 -8.83419076e-06 9.99995223e-01 -1.83001491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.46592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:126.85, Y:1.59, Z:-1.83 [[ 9.99992391e-01 2.37979438e-03 3.09105037e-03 1.26853881e+02] [-2.37978420e-03 9.99997168e-01 -6.97270719e-06 1.59031318e+00] [-3.09105821e-03 -3.83378697e-07 9.99995223e-01 -1.83024834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.49592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.88, Y:1.59, Z:-1.85 [[ 9.99992003e-01 2.53757221e-03 3.09103872e-03 1.26884925e+02] [-2.53755331e-03 9.99996780e-01 -1.00373684e-05 1.59475818e+00] [-3.09105424e-03 2.19361264e-06 9.99995223e-01 -1.84750494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.52592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:126.92, Y:1.60, Z:-1.83 [[ 9.99987032e-01 4.04739989e-03 3.09103213e-03 1.26915528e+02] [-4.04738285e-03 9.99991809e-01 -1.17676639e-05 1.59696413e+00] [-3.09105445e-03 -7.43079175e-07 9.99995223e-01 -1.83126056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.55592000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.95, Y:1.60, Z:-1.85 [[ 9.99979206e-01 5.65973923e-03 3.09102844e-03 1.26947151e+02] [-5.65972692e-03 9.99983984e-01 -1.27314109e-05 1.60116345e+00] [-3.09105099e-03 -4.76323067e-06 9.99995223e-01 -1.84666415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.58592000000002 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:126.98, Y:1.60, Z:-1.83 [[ 9.99972304e-01 6.77034331e-03 3.09103043e-03 1.26978131e+02] [-6.77033786e-03 9.99977081e-01 -1.22282010e-05 1.60205765e+00] [-3.09104237e-03 -8.69945797e-06 9.99995223e-01 -1.83052448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.61592000000002 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:127.01, Y:1.60, Z:-1.83 [[ 9.99971373e-01 6.90639666e-03 3.09102871e-03 1.27010531e+02] [-6.90639055e-03 9.99976151e-01 -1.26537428e-05 1.60241739e+00] [-3.09104239e-03 -8.69447090e-06 9.99995223e-01 -1.83011942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.64592000000002 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:127.04, Y:1.61, Z:-1.83 [[ 9.99961024e-01 8.27015741e-03 3.09104153e-03 1.27043090e+02] [-8.27016778e-03 9.99965802e-01 -9.42656058e-06 1.60549695e+00] [-3.09101378e-03 -1.61372389e-05 9.99995223e-01 -1.83141325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.67592000000002 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:127.08, Y:1.61, Z:-1.83 [[ 9.99939776e-01 1.05304303e-02 3.09102676e-03 1.27075873e+02] [-1.05304400e-02 9.99944553e-01 -1.31320039e-05 1.60992001e+00] [-3.09099366e-03 -1.94186588e-05 9.99995223e-01 -1.83065632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.70592000000002 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:127.11, Y:1.61, Z:-1.83 [[ 9.99940328e-01 1.04778540e-02 3.09097791e-03 1.27107285e+02] [-1.04778255e-02 9.99945106e-01 -2.54073966e-05 1.61131782e+00] [-3.09107445e-03 -6.98084663e-06 9.99995223e-01 -1.83118219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.73592000000002 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:127.14, Y:1.61, Z:-1.83 [[ 9.99930344e-01 1.13908744e-02 3.09099429e-03 1.27138499e+02] [-1.13908639e-02 9.99935122e-01 -2.10081665e-05 1.61310262e+00] [-3.09103305e-03 -1.42023921e-05 9.99995223e-01 -1.83214583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.76592000000002 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:127.17, Y:1.62, Z:-1.84 [[ 9.99905252e-01 1.34138716e-02 3.09102586e-03 1.27169555e+02] [-1.34138971e-02 9.99910030e-01 -1.24599098e-05 1.61513774e+00] [-3.09091490e-03 -2.90039737e-05 9.99995223e-01 -1.83541572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.79592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:127.20, Y:1.62, Z:-1.84 [[ 9.99901531e-01 1.36884741e-02 3.09101499e-03 1.27200491e+02] [-1.36884918e-02 9.99906308e-01 -1.54535606e-05 1.61684161e+00] [-3.09093692e-03 -2.68592943e-05 9.99995223e-01 -1.83534117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.82592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:127.23, Y:1.62, Z:-1.83 [[ 9.99886111e-01 1.47719202e-02 3.09102337e-03 1.27231655e+02] [-1.47719499e-02 9.99890889e-01 -1.32003961e-05 1.62291914e+00] [-3.09088110e-03 -3.24615498e-05 9.99995223e-01 -1.83297329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.85592 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:127.26, Y:1.63, Z:-1.83 [[ 9.99878243e-01 1.52952322e-02 3.09101453e-03 1.27263396e+02] [-1.52952569e-02 9.99883021e-01 -1.56384071e-05 1.62538289e+00] [-3.09089213e-03 -3.16413583e-05 9.99995223e-01 -1.83207821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.88592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:127.29, Y:1.63, Z:-1.83 [[ 9.99860012e-01 1.64438848e-02 3.09099169e-03 1.27293549e+02] [-1.64438944e-02 9.99864790e-01 -2.23101469e-05 1.62941951e+00] [-3.09094062e-03 -2.85209173e-05 9.99995223e-01 -1.83429235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.91592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:127.32, Y:1.63, Z:-1.84 [[ 9.99837521e-01 1.77588628e-02 3.09104724e-03 1.27324118e+02] [-1.77589307e-02 9.99842298e-01 -5.48214311e-06 1.63201908e+00] [-3.09065713e-03 -4.94124412e-05 9.99995223e-01 -1.83567829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.94592 meters Centerline goodness : 0.800866 Centerline is valid? [True, False] Translation: X:127.35, Y:1.64, Z:-1.83 [[ 9.99995346e-01 3.02786299e-03 3.75287434e-04 1.27350135e+02] [-3.02631254e-03 9.99987157e-01 -4.06528210e-03 1.63887899e+00] [-3.87591731e-04 4.06412744e-03 9.99991666e-01 -1.83298979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.97592 meters Centerline goodness : 0.999305 Centerline is valid? [False, True] Translation: X:127.35, Y:1.64, Z:-1.83 [[ 9.99995305e-01 3.05029683e-03 2.91814497e-04 1.27350327e+02] [-3.04895047e-03 9.99985191e-01 -4.50802729e-03 1.64089161e+00] [-3.05560996e-04 4.50711640e-03 9.99989796e-01 -1.83284964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.00592 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:127.38, Y:1.64, Z:-1.84 [[ 9.99992747e-01 3.80050322e-03 2.50694567e-04 1.27379679e+02] [-3.80050326e-03 9.99992778e-01 -3.23832409e-07 1.63861267e+00] [-2.50693987e-04 -6.28935457e-07 9.99999969e-01 -1.83691725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.03592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:127.41, Y:1.64, Z:-1.83 [[ 9.99997986e-01 1.99123053e-03 2.50661605e-04 1.27410276e+02] [-1.99123142e-03 9.99998017e-01 3.31619734e-06 1.64175005e+00] [-2.50654504e-04 -3.81531592e-06 9.99999969e-01 -1.83417831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.06592 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:127.44, Y:1.64, Z:-1.83 [[ 9.99999819e-01 5.47179130e-04 2.50664316e-04 1.27440899e+02] [-5.47179900e-04 9.99999850e-01 3.00484334e-06 1.64485229e+00] [-2.50662634e-04 -3.14200127e-06 9.99999969e-01 -1.83456848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.09592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:127.47, Y:1.65, Z:-1.84 [[ 9.99991680e-01 -4.07149170e-03 2.50663889e-04 1.27471597e+02] [ 4.07149106e-03 9.99991711e-01 3.05488517e-06 1.64518313e+00] [-2.50674249e-04 -2.03428397e-06 9.99999969e-01 -1.83546287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.12592 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:127.50, Y:1.64, Z:-1.84 [[ 9.99985025e-01 -5.46689044e-03 2.50658345e-04 1.27503289e+02] [ 5.46688968e-03 9.99985056e-01 3.72278357e-06 1.64387554e+00] [-2.50674951e-04 -2.35240631e-06 9.99999969e-01 -1.83810806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.15592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:127.53, Y:1.64, Z:-1.84 [[ 9.99950982e-01 -9.89799196e-03 2.50659980e-04 1.27534380e+02] [ 9.89799139e-03 9.99951014e-01 3.50955353e-06 1.64230554e+00] [-2.50682438e-04 -1.02835118e-06 9.99999969e-01 -1.83609884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.18592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:127.57, Y:1.64, Z:-1.84 [[ 9.99957867e-01 -9.17613861e-03 2.50658926e-04 1.27567028e+02] [ 9.17613799e-03 9.99957898e-01 3.65324328e-06 1.64294403e+00] [-2.50681896e-04 -1.35300846e-06 9.99999969e-01 -1.83610705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.21592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:127.60, Y:1.64, Z:-1.83 [[ 9.99959580e-01 -8.98748756e-03 2.50660085e-04 1.27598590e+02] [ 8.98748697e-03 9.99959612e-01 3.47854611e-06 1.64403732e+00] [-2.50681224e-04 -1.22560126e-06 9.99999969e-01 -1.83346282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.24592 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:127.63, Y:1.65, Z:-1.84 [[ 9.99966683e-01 -8.15910684e-03 2.50665246e-04 1.27630758e+02] [ 8.15910643e-03 9.99966714e-01 2.66934487e-06 1.64509245e+00] [-2.50678681e-04 -6.24051520e-07 9.99999969e-01 -1.83556840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.27592 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:127.66, Y:1.64, Z:-1.84 [[ 9.99922881e-01 -1.24164590e-02 2.50678013e-04 1.27659238e+02] [ 1.24164593e-02 9.99922913e-01 5.96055807e-07 1.64224267e+00] [-2.50666090e-04 2.51652350e-06 9.99999969e-01 -1.83614071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.30592000000001 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:127.69, Y:1.64, Z:-1.84 [[ 9.99921953e-01 -1.24909654e-02 2.50654281e-04 1.27691828e+02] [ 1.24909647e-02 9.99921985e-01 4.42062960e-06 1.64175245e+00] [-2.50689944e-04 -1.28937082e-06 9.99999969e-01 -1.83751325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.33592000000002 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:127.72, Y:1.64, Z:-1.84 [[ 9.99901065e-01 -1.40640198e-02 2.50656745e-04 1.27723217e+02] [ 1.40640193e-02 9.99901097e-01 3.98365793e-06 1.64101898e+00] [-2.50687981e-04 -4.58022512e-07 9.99999969e-01 -1.83532738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.36592000000002 meters Centerline goodness : 0.979144 Centerline is valid? [True, True] Translation: X:127.78, Y:1.68, Z:-1.85 [[ 9.97319160e-01 7.31739767e-02 2.50660839e-04 1.27777983e+02] [-7.31739798e-02 9.97319191e-01 3.21699241e-06 1.68195247e+00] [-2.49753465e-04 -2.15502193e-05 9.99999969e-01 -1.85033273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.39592000000002 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:127.78, Y:1.64, Z:-1.83 [[ 9.99831320e-01 -1.83648880e-02 2.50683201e-04 1.27783818e+02] [ 1.83648957e-02 9.99831351e-01 -2.84121975e-05 1.63706824e+00] [-2.50119136e-04 3.30111758e-05 9.99999968e-01 -1.83492265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.42592000000002 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:127.81, Y:1.64, Z:-1.85 [[ 9.99748899e-01 -2.24070436e-02 2.50533514e-04 1.27814014e+02] [ 2.24070443e-02 9.99748931e-01 1.58800778e-07 1.63551890e+00] [-2.50474171e-04 5.45495464e-06 9.99999969e-01 -1.84997656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.45592000000002 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:127.84, Y:1.63, Z:-1.83 [[ 9.99680979e-01 -2.52562353e-02 2.50527785e-04 1.27843275e+02] [ 2.52562358e-02 9.99681010e-01 1.28003112e-06 1.63367884e+00] [-2.50480198e-04 5.04776606e-06 9.99999969e-01 -1.83411054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.48592000000002 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:127.87, Y:1.63, Z:-1.84 [[ 9.99573204e-01 -2.92121160e-02 2.50516217e-04 1.27874948e+02] [ 2.92121160e-02 9.99573235e-01 3.62159557e-06 1.62840320e+00] [-2.50515100e-04 3.69805891e-06 9.99999969e-01 -1.83501774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.51592000000002 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:127.90, Y:1.63, Z:-1.84 [[ 9.99525556e-01 -3.07993531e-02 2.50512119e-04 1.27904917e+02] [ 3.07993530e-02 9.99525587e-01 4.50112325e-06 1.62534837e+00] [-2.50531905e-04 3.21662347e-06 9.99999969e-01 -1.83544242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.54592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:127.94, Y:1.62, Z:-1.84 [[ 9.99452990e-01 -3.30705060e-02 2.50510649e-04 1.27937542e+02] [ 3.30705058e-02 9.99453021e-01 4.86998409e-06 1.62306275e+00] [-2.50534678e-04 3.41719371e-06 9.99999969e-01 -1.83521114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.57592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.97, Y:1.62, Z:-1.83 [[ 9.99406886e-01 -3.44356301e-02 2.50507672e-04 1.27970952e+02] [ 3.44356298e-02 9.99406918e-01 5.76437540e-06 1.62078727e+00] [-2.50557600e-04 2.86543296e-06 9.99999969e-01 -1.83454825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.60592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:128.00, Y:1.61, Z:-1.83 [[ 9.99329912e-01 -3.66014222e-02 2.50509492e-04 1.28003052e+02] [ 3.66014221e-02 9.99329943e-01 4.99966288e-06 1.61490160e+00] [-2.50524631e-04 4.17269099e-06 9.99999969e-01 -1.83387858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.63592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:128.04, Y:1.61, Z:-1.83 [[ 9.99294250e-01 -3.75624602e-02 2.50511296e-04 1.28035664e+02] [ 3.75624604e-02 9.99294282e-01 3.98069162e-06 1.61134959e+00] [-2.50484030e-04 5.43193837e-06 9.99999969e-01 -1.83428849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.66592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:128.07, Y:1.61, Z:-1.83 [[ 9.99325444e-01 -3.67232103e-02 2.50511203e-04 1.28069134e+02] [ 3.67232104e-02 9.99325475e-01 4.09215615e-06 1.60836962e+00] [-2.50492504e-04 5.11017986e-06 9.99999969e-01 -1.83386995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.69592 meters Centerline goodness : 0.999253 Centerline is valid? [True, True] Translation: X:128.10, Y:1.60, Z:-1.83 [[ 9.99278133e-01 -3.79888226e-02 2.50511285e-04 1.28099665e+02] [ 3.79888231e-02 9.99278164e-01 2.97122666e-06 1.60042406e+00] [-2.50443330e-04 6.54754704e-06 9.99999969e-01 -1.82559207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.72592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.14, Y:1.60, Z:-1.85 [[ 9.99330708e-01 -3.65796759e-02 2.50511443e-04 1.28136302e+02] [ 3.65796759e-02 9.99330740e-01 4.58571918e-06 1.60107351e+00] [-2.50511529e-04 4.58097738e-06 9.99999969e-01 -1.84944974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.75592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:128.17, Y:1.60, Z:-1.85 [[ 9.99346440e-01 -3.61473505e-02 2.50507176e-04 1.28169276e+02] [ 3.61473517e-02 9.99346471e-01 -2.22317712e-07 1.59576634e+00] [-2.50335426e-04 9.27734339e-06 9.99999969e-01 -1.85056743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.78592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:128.20, Y:1.59, Z:-1.85 [[ 9.99405098e-01 -3.44874930e-02 2.50507017e-04 1.28201425e+02] [ 3.44874941e-02 9.99405129e-01 -3.39302505e-07 1.59329935e+00] [-2.50346296e-04 8.97845993e-06 9.99999969e-01 -1.85325494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.81592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.23, Y:1.59, Z:-1.85 [[ 9.99433431e-01 -3.36564059e-02 2.50506834e-04 1.28233963e+02] [ 3.36564071e-02 9.99433463e-01 -4.42705160e-07 1.59115971e+00] [-2.50350013e-04 8.87361433e-06 9.99999969e-01 -1.85297208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.84592 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:128.26, Y:1.59, Z:-1.84 [[ 9.99559163e-01 -2.96886793e-02 2.50506608e-04 1.28263962e+02] [ 2.96886803e-02 9.99559194e-01 -5.46341168e-07 1.58786123e+00] [-2.50379963e-04 7.98331094e-06 9.99999969e-01 -1.83739423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.87592 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:128.30, Y:1.59, Z:-1.83 [[ 9.99577174e-01 -2.90759378e-02 2.50508013e-04 1.28295674e+02] [ 2.90759387e-02 9.99577206e-01 1.20843074e-07 1.58796737e+00] [-2.50405613e-04 7.16296364e-06 9.99999969e-01 -1.83467487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.90592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.33, Y:1.59, Z:-1.85 [[ 9.99633138e-01 -2.70836918e-02 2.50509774e-04 1.28327710e+02] [ 2.70836925e-02 9.99633170e-01 9.09709348e-07 1.58733202e+00] [-2.50442518e-04 5.87535408e-06 9.99999969e-01 -1.85164771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.93592 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:128.36, Y:1.58, Z:-1.84 [[ 9.99695587e-01 -2.46712413e-02 2.50505361e-04 1.28358862e+02] [ 2.46712422e-02 9.99695619e-01 -6.90773994e-07 1.58491765e+00] [-2.50412070e-04 6.87084215e-06 9.99999969e-01 -1.83605138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.96592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.39, Y:1.58, Z:-1.85 [[ 9.99700097e-01 -2.44878327e-02 2.50506238e-04 1.28390222e+02] [ 2.44878336e-02 9.99700128e-01 -3.94648216e-07 1.58369722e+00] [-2.50421454e-04 6.52888492e-06 9.99999969e-01 -1.85353617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.99592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:128.42, Y:1.58, Z:-1.84 [[ 9.99752861e-01 -2.22295638e-02 2.50504931e-04 1.28420180e+02] [ 2.22295647e-02 9.99752893e-01 -8.02425117e-07 1.58357216e+00] [-2.50425192e-04 6.37084239e-06 9.99999969e-01 -1.83627606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.02592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:128.45, Y:1.58, Z:-1.84 [[ 9.99759910e-01 -2.19102750e-02 2.50507244e-04 1.28453349e+02] [ 2.19102757e-02 9.99759941e-01 -7.06525975e-08 1.58182721e+00] [-2.50445559e-04 5.55931840e-06 9.99999969e-01 -1.83966739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.05592000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.48, Y:1.58, Z:-1.85 [[ 9.99713349e-01 -2.39406982e-02 2.50499897e-04 1.28482143e+02] [ 2.39406995e-02 9.99713380e-01 -2.11825776e-06 1.58099193e+00] [-2.50377386e-04 8.11479333e-06 9.99999969e-01 -1.85235395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.08592000000002 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:128.51, Y:1.58, Z:-1.83 [[ 9.99675812e-01 -2.54599403e-02 2.50504293e-04 1.28510953e+02] [ 2.54599414e-02 9.99675843e-01 -9.15496274e-07 1.57804293e+00] [-2.50399782e-04 7.29302409e-06 9.99999969e-01 -1.83337152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.11592000000002 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:128.54, Y:1.57, Z:-1.84 [[ 9.99615002e-01 -2.77449962e-02 2.50511784e-04 1.28543156e+02] [ 2.77449968e-02 9.99615033e-01 1.07089654e-06 1.57433327e+00] [-2.50445057e-04 5.87996440e-06 9.99999969e-01 -1.84001385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.14592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.58, Y:1.57, Z:-1.85 [[ 9.99625779e-01 -2.73539635e-02 2.50509954e-04 1.28575427e+02] [ 2.73539642e-02 9.99625810e-01 6.05771261e-07 1.57200447e+00] [-2.50432786e-04 6.24689575e-06 9.99999969e-01 -1.85268607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.17592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.61, Y:1.56, Z:-1.85 [[ 9.99591063e-01 -2.85944802e-02 2.50502476e-04 1.28607231e+02] [ 2.85944814e-02 9.99591094e-01 -1.09892479e-06 1.56474802e+00] [-2.50368621e-04 8.26146377e-06 9.99999969e-01 -1.85420010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.20592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.64, Y:1.56, Z:-1.85 [[ 9.99597046e-01 -2.83845682e-02 2.50501972e-04 1.28640427e+02] [ 2.83845694e-02 9.99597077e-01 -1.20370246e-06 1.56274333e+00] [-2.50366873e-04 8.31360804e-06 9.99999969e-01 -1.85370185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.23592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.67, Y:1.56, Z:-1.85 [[ 9.99550828e-01 -2.99679910e-02 2.50501341e-04 1.28673853e+02] [ 2.99679922e-02 9.99550859e-01 -1.32325294e-06 1.55893715e+00] [-2.50349175e-04 8.82968080e-06 9.99999969e-01 -1.85491785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.26592000000002 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:128.70, Y:1.55, Z:-1.84 [[ 9.99543679e-01 -3.02054765e-02 2.50500654e-04 1.28704500e+02] [ 3.02054779e-02 9.99543710e-01 -1.44253128e-06 1.55349090e+00] [-2.50342781e-04 9.00836498e-06 9.99999969e-01 -1.84063393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.29592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.74, Y:1.55, Z:-1.86 [[ 9.99616884e-01 -2.76770982e-02 2.50495017e-04 1.28735148e+02] [ 2.76770997e-02 9.99616916e-01 -2.38762997e-06 1.55136322e+00] [-2.50332973e-04 9.31969078e-06 9.99999969e-01 -1.85578670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.32592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.77, Y:1.55, Z:-1.86 [[ 9.99706726e-01 -2.42156890e-02 2.50500313e-04 1.28768413e+02] [ 2.42156901e-02 9.99706757e-01 -1.50753899e-06 1.54721737e+00] [-2.50390350e-04 7.57313483e-06 9.99999969e-01 -1.85579815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.35592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.80, Y:1.55, Z:-1.86 [[ 9.99811802e-01 -1.93984192e-02 2.50499529e-04 1.28800911e+02] [ 1.93984202e-02 9.99811833e-01 -1.62821926e-06 1.54505975e+00] [-2.50420808e-04 6.48720795e-06 9.99999969e-01 -1.85511935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.38592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:128.83, Y:1.54, Z:-1.84 [[ 9.99815408e-01 -1.92116499e-02 2.50498787e-04 1.28830852e+02] [ 1.92116509e-02 9.99815439e-01 -1.73527579e-06 1.54216730e+00] [-2.50419217e-04 6.54745073e-06 9.99999969e-01 -1.83801450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.41592 meters Centerline goodness : 0.941657 Centerline is valid? [True, False] Translation: X:128.83, Y:1.55, Z:-1.84 [[ 9.99965234e-01 -8.22061420e-03 1.39705250e-03 1.28830791e+02] [ 8.23335425e-03 9.99922183e-01 -9.37224133e-03 1.55041888e+00] [-1.31989820e-03 9.38341793e-03 9.99955104e-01 -1.83826730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.44592 meters Centerline goodness : 0.999751 Centerline is valid? [False, True] Translation: X:128.85, Y:1.55, Z:-1.83 [[ 9.99997689e-01 -7.82847031e-04 -2.00230701e-03 1.28852003e+02] [ 7.59887877e-04 9.99934255e-01 -1.14415230e-02 1.55297960e+00] [ 2.01113233e-03 1.14399750e-02 9.99932539e-01 -1.83465834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.47592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:128.88, Y:1.54, Z:-1.84 [[ 9.99989410e-01 4.26103167e-03 -1.73897711e-03 1.28882544e+02] [-4.26116150e-03 9.99990919e-01 -7.09626457e-05 1.54160040e+00] [ 1.73865895e-03 7.83719565e-05 9.99998485e-01 -1.83847123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.50592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:128.91, Y:1.54, Z:-1.84 [[ 9.99993282e-01 3.22828924e-03 -1.73634880e-03 1.28910083e+02] [-3.22822222e-03 9.99994788e-01 4.13994429e-05 1.53655139e+00] [ 1.73647340e-03 -3.57938450e-05 9.99998492e-01 -1.83690113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.53592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:128.94, Y:1.54, Z:-1.83 [[ 9.99986185e-01 4.96115994e-03 -1.73690677e-03 1.28938349e+02] [-4.96113764e-03 9.99987693e-01 1.71501292e-05 1.53665253e+00] [ 1.73697048e-03 -8.53285869e-06 9.99998491e-01 -1.83310767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.56592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.97, Y:1.54, Z:-1.85 [[ 9.99961368e-01 8.61658879e-03 -1.73688083e-03 1.28969243e+02] [-8.61657004e-03 9.99962877e-01 1.82783051e-05 1.53888114e+00] [ 1.73697385e-03 -3.31164367e-06 9.99998491e-01 -1.84748370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.59592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.00, Y:1.54, Z:-1.85 [[ 9.99891523e-01 1.46262245e-02 -1.73661958e-03 1.28999605e+02] [-1.46261952e-02 9.99893031e-01 2.95624396e-05 1.54324581e+00] [ 1.73686621e-03 -4.15909568e-06 9.99998492e-01 -1.84947007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.62592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:129.03, Y:1.54, Z:-1.84 [[ 9.99902867e-01 1.38290102e-02 -1.73637167e-03 1.29027456e+02] [-1.38289612e-02 9.99904375e-01 4.02559393e-05 1.54253460e+00] [ 1.73676232e-03 -1.62398128e-05 9.99998492e-01 -1.83964088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.65592 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:129.06, Y:1.54, Z:-1.83 [[ 9.99887364e-01 1.49078352e-02 -1.73676836e-03 1.29056657e+02] [-1.49078174e-02 9.99888872e-01 2.32035782e-05 1.54389529e+00] [ 1.73692127e-03 2.69046103e-06 9.99998492e-01 -1.83317752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.68592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:129.09, Y:1.55, Z:-1.84 [[ 9.99910228e-01 1.32860995e-02 -1.73675428e-03 1.29086790e+02] [-1.32860781e-02 9.99911736e-01 2.38121511e-05 1.54533595e+00] [ 1.73691735e-03 -7.35360463e-07 9.99998492e-01 -1.84142824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.71592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:129.12, Y:1.55, Z:-1.83 [[ 9.99960050e-01 8.76821699e-03 -1.73665444e-03 1.29115512e+02] [-8.76818142e-03 9.99961558e-01 2.80916543e-05 1.54527550e+00] [ 1.73683399e-03 -1.28632309e-05 9.99998492e-01 -1.83376165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.74592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.15, Y:1.54, Z:-1.85 [[ 9.99973891e-01 7.01428055e-03 -1.73689820e-03 1.29145302e+02] [-7.01426040e-03 9.99975400e-01 1.76906685e-05 1.54297567e+00] [ 1.73697956e-03 -5.50715041e-06 9.99998491e-01 -1.84561089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.77592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.17, Y:1.54, Z:-1.84 [[ 9.99988767e-01 4.41027377e-03 -1.73667112e-03 1.29174494e+02] [-4.41023321e-03 9.99990275e-01 2.71891202e-05 1.54093586e+00] [ 1.73677414e-03 -1.95296901e-05 9.99998492e-01 -1.84447755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.80592000000001 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:129.20, Y:1.54, Z:-1.83 [[ 9.99998196e-01 7.69279931e-04 -1.73674375e-03 1.29204061e+02] [-7.69239190e-04 9.99999704e-01 2.41257710e-05 1.54142879e+00] [ 1.73676180e-03 -2.27897561e-05 9.99998492e-01 -1.83335922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.83592000000002 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:129.23, Y:1.54, Z:-1.83 [[ 9.99998490e-01 6.05766664e-05 -1.73675291e-03 1.29233290e+02] [-6.05355134e-05 9.99999998e-01 2.37479414e-05 1.54213965e+00] [ 1.73675435e-03 -2.36427703e-05 9.99998492e-01 -1.83422031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.86592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.26, Y:1.54, Z:-1.85 [[ 9.99997988e-01 -1.00393023e-03 -1.73678606e-03 1.29263710e+02] [ 1.00397060e-03 9.99999496e-01 2.23698493e-05 1.54062680e+00] [ 1.73676273e-03 -2.41134864e-05 9.99998492e-01 -1.84762639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.89592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.29, Y:1.54, Z:-1.85 [[ 9.99996643e-01 -1.92293146e-03 -1.73659809e-03 1.29291981e+02] [ 1.92298654e-03 9.99998151e-01 3.00514724e-05 1.53861219e+00] [ 1.73653709e-03 -3.33908263e-05 9.99998492e-01 -1.84547498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.92592000000002 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:129.32, Y:1.54, Z:-1.84 [[ 9.99998492e-01 9.30040054e-06 -1.73670472e-03 1.29322744e+02] [-9.25579115e-06 1.00000000e+00 2.56942609e-05 1.53726060e+00] [ 1.73670496e-03 -2.56781475e-05 9.99998492e-01 -1.83613119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.95592000000002 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:129.35, Y:1.54, Z:-1.85 [[ 9.99997239e-01 -1.58313689e-03 -1.73657246e-03 1.29352445e+02] [ 1.58319326e-03 9.99998746e-01 3.10864399e-05 1.53826580e+00] [ 1.73652107e-03 -3.38356839e-05 9.99998492e-01 -1.84615125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.98592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.38, Y:1.54, Z:-1.85 [[ 9.99997366e-01 -1.50080931e-03 -1.73652495e-03 1.29383536e+02] [ 1.50086888e-03 9.99998873e-01 3.29991446e-05 1.53778849e+00] [ 1.73647347e-03 -3.56053539e-05 9.99998492e-01 -1.85127240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.01592000000002 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:129.41, Y:1.54, Z:-1.83 [[ 9.99996494e-01 -1.99944765e-03 -1.73626790e-03 1.29412352e+02] [ 1.99952586e-03 9.99998000e-01 4.33054736e-05 1.53616458e+00] [ 1.73617784e-03 -4.67770343e-05 9.99998492e-01 -1.83178287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.04592 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:129.44, Y:1.54, Z:-1.83 [[ 9.99996636e-01 -1.92693714e-03 -1.73651698e-03 1.29441503e+02] [ 1.92699786e-03 9.99998143e-01 3.32909657e-05 1.53548327e+00] [ 1.73644960e-03 -3.66371182e-05 9.99998492e-01 -1.83173138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.07592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:129.47, Y:1.54, Z:-1.84 [[ 9.99998411e-01 -4.02105308e-04 -1.73651062e-03 1.29474166e+02] [ 4.02164165e-04 9.99999919e-01 3.35452313e-05 1.53581199e+00] [ 1.73649699e-03 -3.42435403e-05 9.99998492e-01 -1.83571513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.10592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.50, Y:1.54, Z:-1.85 [[ 9.99998235e-01 -7.17771173e-04 -1.73607338e-03 1.29504555e+02] [ 7.17860696e-04 9.99999741e-01 5.09436003e-05 1.53835007e+00] [ 1.73603637e-03 -5.21897693e-05 9.99998492e-01 -1.85083505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.13592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.53, Y:1.54, Z:-1.85 [[ 9.99998374e-01 4.88073219e-04 -1.73625540e-03 1.29532850e+02] [-4.87998055e-04 9.99999880e-01 4.37141454e-05 1.53747077e+00] [ 1.73627653e-03 -4.28667851e-05 9.99998492e-01 -1.85161889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.16592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.56, Y:1.54, Z:-1.85 [[ 9.99992253e-01 3.53269026e-03 -1.73627378e-03 1.29561895e+02] [-3.53262097e-03 9.99993759e-01 4.29714172e-05 1.53791718e+00] [ 1.73641475e-03 -3.68374871e-05 9.99998492e-01 -1.85341309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.19592 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:129.59, Y:1.54, Z:-1.84 [[ 9.99986540e-01 4.88935377e-03 -1.73629199e-03 1.29592149e+02] [-4.88928782e-03 9.99988046e-01 4.22225559e-05 1.53910010e+00] [ 1.73647768e-03 -3.37327563e-05 9.99998492e-01 -1.83719829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.22592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:129.62, Y:1.54, Z:-1.84 [[ 9.99976758e-01 6.59307388e-03 -1.73623094e-03 1.29620413e+02] [-6.59300611e-03 9.99978265e-01 4.47524214e-05 1.54111668e+00] [ 1.73648826e-03 -3.33044001e-05 9.99998492e-01 -1.83628380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.25592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.65, Y:1.54, Z:-1.84 [[ 9.99975834e-01 6.73172968e-03 -1.73628680e-03 1.29648811e+02] [-6.73166620e-03 9.99977341e-01 4.24014654e-05 1.54210548e+00] [ 1.73653289e-03 -3.07123376e-05 9.99998492e-01 -1.83666469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.28592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.68, Y:1.54, Z:-1.84 [[ 9.99971245e-01 7.38205765e-03 -1.73643598e-03 1.29677848e+02] [-7.38200623e-03 9.99972752e-01 3.60199665e-05 1.54103359e+00] [ 1.73665457e-03 -2.32005495e-05 9.99998492e-01 -1.83550040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.31592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.71, Y:1.54, Z:-1.85 [[ 9.99963924e-01 8.31476265e-03 -1.73638416e-03 1.29708614e+02] [-8.31470875e-03 9.99965431e-01 3.82584560e-05 1.54444230e+00] [ 1.73664225e-03 -2.38195472e-05 9.99998492e-01 -1.85436678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.34592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:129.74, Y:1.55, Z:-1.84 [[ 9.99953258e-01 9.51136970e-03 -1.73634447e-03 1.29738412e+02] [-9.51131461e-03 9.99954766e-01 3.99823038e-05 1.54691680e+00] [ 1.73664621e-03 -2.34655165e-05 9.99998492e-01 -1.83766889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.37592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:129.77, Y:1.55, Z:-1.84 [[ 9.99917062e-01 1.27614045e-02 -1.73633853e-03 1.29767486e+02] [-1.27613539e-02 9.99918570e-01 4.02423587e-05 1.55114880e+00] [ 1.73671069e-03 -1.80809906e-05 9.99998492e-01 -1.84044344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.40592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:129.80, Y:1.55, Z:-1.84 [[ 9.99879082e-01 1.54533338e-02 -1.73635372e-03 1.29797725e+02] [-1.54532884e-02 9.99880590e-01 3.95630539e-05 1.55129294e+00] [ 1.73675776e-03 -1.27258952e-05 9.99998492e-01 -1.83720453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.43592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.83, Y:1.55, Z:-1.84 [[ 9.99854187e-01 1.69879661e-02 -1.73623610e-03 1.29829112e+02] [-1.69879139e-02 9.99855694e-01 4.48351051e-05 1.55220566e+00] [ 1.73674721e-03 -1.53335381e-05 9.99998492e-01 -1.83924474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.46592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:129.86, Y:1.56, Z:-1.85 [[ 9.99842760e-01 1.76476961e-02 -1.73605592e-03 1.29859088e+02] [-1.76476307e-02 9.99844267e-01 5.29980319e-05 1.55601241e+00] [ 1.73672085e-03 -2.23524248e-05 9.99998492e-01 -1.84760026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.49592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.89, Y:1.56, Z:-1.86 [[ 9.99847653e-01 1.73682468e-02 -1.73616939e-03 1.29888084e+02] [-1.73681900e-02 9.99849160e-01 4.77883390e-05 1.55885365e+00] [ 1.73673750e-03 -1.76269388e-05 9.99998492e-01 -1.85753418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.52592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:129.92, Y:1.56, Z:-1.85 [[ 9.99793705e-01 2.02369118e-02 -1.73639302e-03 1.29919196e+02] [-2.02368773e-02 9.99795213e-01 3.74074365e-05 1.56240551e+00] [ 1.73679444e-03 -2.26054693e-06 9.99998492e-01 -1.84793094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.55592000000001 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:129.94, Y:1.56, Z:-1.83 [[ 9.99989226e-01 4.30505763e-03 -1.73613578e-03 1.29937908e+02] [-4.30497836e-03 9.99990732e-01 4.93902318e-05 1.55597563e+00] [ 1.73633232e-03 -4.19156728e-05 9.99998492e-01 -1.82933197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.58592000000002 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:129.98, Y:1.57, Z:-1.85 [[ 9.99742057e-01 2.26450327e-02 -1.73825775e-03 1.29980864e+02] [-2.26451519e-02 9.99743564e-01 -4.89152915e-05 1.56859423e+00] [ 1.73670431e-03 8.82657849e-05 9.99998488e-01 -1.85069869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.61592000000002 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:130.01, Y:1.57, Z:-1.84 [[ 9.99755209e-01 2.20569414e-02 -1.73567157e-03 1.30011507e+02] [-2.20568714e-02 9.99756716e-01 5.94353362e-05 1.56977825e+00] [ 1.73656027e-03 -2.11373024e-05 9.99998492e-01 -1.83917250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.64592000000002 meters Centerline goodness : 0.998659 Centerline is valid? [True, True] Translation: X:130.04, Y:1.57, Z:-1.84 [[ 9.99787779e-01 2.05276395e-02 -1.73559166e-03 1.30041082e+02] [-2.05275613e-02 9.99789285e-01 6.28351316e-05 1.57274626e+00] [ 1.73651580e-03 -2.71943325e-05 9.99998492e-01 -1.83654241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.67592000000002 meters Centerline goodness : 0.998705 Centerline is valid? [True, True] Translation: X:130.07, Y:1.57, Z:-1.84 [[ 9.99819408e-01 1.89245625e-02 -1.73565703e-03 1.30070436e+02] [-1.89244869e-02 9.99820914e-01 5.99612982e-05 1.57433369e+00] [ 1.73648094e-03 -2.71040508e-05 9.99998492e-01 -1.84021521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.70592000000002 meters Centerline goodness : 0.998857 Centerline is valid? [True, True] Translation: X:130.10, Y:1.58, Z:-1.84 [[ 9.99801632e-01 1.98414446e-02 -1.73582030e-03 1.30101378e+02] [-1.98413832e-02 9.99803139e-01 5.26016509e-05 1.57623339e+00] [ 1.73652228e-03 -1.81501408e-05 9.99998492e-01 -1.83967243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.73592000000002 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:130.13, Y:1.58, Z:-1.85 [[ 9.99864579e-01 1.63649509e-02 -1.73560646e-03 1.30130066e+02] [-1.63648671e-02 9.99866085e-01 6.24833909e-05 1.58091840e+00] [ 1.73639658e-03 -3.40719602e-05 9.99998492e-01 -1.85423564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.76592000000002 meters Centerline goodness : 0.783499 Centerline is valid? [True, False] Translation: X:130.16, Y:1.58, Z:-1.85 [[ 9.99991385e-01 1.04372944e-03 -4.01763533e-03 1.30156369e+02] [-1.05861485e-03 9.99992577e-01 -3.70467753e-03 1.58409648e+00] [ 4.01373882e-03 3.70889874e-03 9.99985067e-01 -1.85201086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.79592 meters Centerline goodness : 0.807543 Centerline is valid? [False, False] Translation: X:130.18, Y:1.60, Z:-1.85 [[ 9.99970350e-01 1.36638692e-03 -7.57838637e-03 1.30181373e+02] [-1.49171099e-03 9.99861825e-01 -1.65561146e-02 1.60039147e+00] [ 7.55471717e-03 1.65669285e-02 9.99834218e-01 -1.84849808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.82592 meters Centerline goodness : 0.999105 Centerline is valid? [False, True] Translation: X:130.20, Y:1.60, Z:-1.85 [[ 9.99956957e-01 -4.45482651e-03 -8.13872074e-03 1.30202679e+02] [ 4.36137838e-03 9.99924777e-01 -1.14638109e-02 1.59798873e+00] [ 8.18917781e-03 1.14278214e-02 9.99901166e-01 -1.84775983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.85592 meters Centerline goodness : 0.998162 Centerline is valid? [True, True] Translation: X:130.23, Y:1.59, Z:-1.83 [[ 9.99957190e-01 -4.50220423e-03 -8.08377829e-03 1.30230906e+02] [ 4.50499405e-03 9.99989799e-01 3.26937874e-04 1.59189763e+00] [ 8.08222388e-03 -3.63341251e-04 9.99967272e-01 -1.83338294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.88592 meters Centerline goodness : 0.998658 Centerline is valid? [True, True] Translation: X:130.26, Y:1.59, Z:-1.83 [[ 9.99947806e-01 -6.24721372e-03 -8.08437220e-03 1.30259789e+02] [ 6.24804678e-03 9.99980478e-01 7.77930590e-05 1.59424823e+00] [ 8.08372839e-03 -1.28300534e-04 9.99967318e-01 -1.83352278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.91592 meters Centerline goodness : 0.998509 Centerline is valid? [True, True] Translation: X:130.29, Y:1.60, Z:-1.84 [[ 9.99944807e-01 -6.70997505e-03 -8.08445866e-03 1.30290728e+02] [ 6.71049333e-03 9.99977484e-01 3.69843021e-05 1.59602411e+00] [ 8.08402847e-03 -9.12329668e-05 9.99967320e-01 -1.83680769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.94592 meters Centerline goodness : 0.997218 Centerline is valid? [True, True] Translation: X:130.32, Y:1.60, Z:-1.83 [[ 9.99950088e-01 -5.87057110e-03 -8.08436813e-03 1.30318777e+02] [ 5.87148476e-03 9.99982759e-01 8.92857198e-05 1.60126687e+00] [ 8.08370459e-03 -1.36748508e-04 9.99967317e-01 -1.83049247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.97592 meters Centerline goodness : 0.997662 Centerline is valid? [True, True] Translation: X:130.35, Y:1.61, Z:-1.83 [[ 9.99925145e-01 -9.18399961e-03 -8.08444051e-03 1.30346372e+02] [ 9.18452370e-03 9.99957821e-01 2.77030117e-05 1.60648033e+00] [ 8.08384509e-03 -1.01952674e-04 9.99967320e-01 -1.83121404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.00592 meters Centerline goodness : 0.997863 Centerline is valid? [True, True] Translation: X:130.38, Y:1.61, Z:-1.83 [[ 9.99910809e-01 -1.06308467e-02 -8.08451848e-03 1.30376273e+02] [ 1.06308534e-02 9.99943490e-01 -4.21390459e-05 1.60810571e+00] [ 8.08450960e-03 -4.38100435e-05 9.99967319e-01 -1.83240453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.03592 meters Centerline goodness : 0.998060 Centerline is valid? [True, True] Translation: X:130.41, Y:1.61, Z:-1.83 [[ 9.99907443e-01 -1.09428823e-02 -8.08453792e-03 1.30407118e+02] [ 1.09427490e-02 9.99940124e-01 -6.07305682e-05 1.60986463e+00] [ 8.08471842e-03 -2.77421218e-05 9.99967318e-01 -1.83417591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.06592 meters Centerline goodness : 0.997560 Centerline is valid? [True, True] Translation: X:130.43, Y:1.61, Z:-1.83 [[ 9.99861347e-01 -1.45577881e-02 -8.08444971e-03 1.30434497e+02] [ 1.45583201e-02 9.99894022e-01 6.95560706e-06 1.61444493e+00] [ 8.08349168e-03 -1.24650649e-04 9.99967320e-01 -1.83028494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.09592 meters Centerline goodness : 0.998208 Centerline is valid? [True, True] Translation: X:130.46, Y:1.62, Z:-1.84 [[ 9.99844216e-01 -1.56902878e-02 -8.08441816e-03 1.30464310e+02] [ 1.56901617e-02 9.99876899e-01 -7.90211197e-05 1.61674956e+00] [ 8.08466282e-03 -4.78370186e-05 9.99967317e-01 -1.84224490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.12592 meters Centerline goodness : 0.998312 Centerline is valid? [True, True] Translation: X:130.49, Y:1.62, Z:-1.84 [[ 9.99796903e-01 -1.84606420e-02 -8.08444350e-03 1.30491638e+02] [ 1.84615724e-02 9.99829570e-01 4.04631621e-05 1.62016629e+00] [ 8.08231869e-03 -1.89706483e-04 9.99967320e-01 -1.83759428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.15592 meters Centerline goodness : 0.997866 Centerline is valid? [True, True] Translation: X:130.52, Y:1.62, Z:-1.84 [[ 9.99766810e-01 -2.00241035e-02 -8.08456664e-03 1.30520905e+02] [ 2.00242068e-02 9.99799493e-01 -6.81721519e-05 1.62166048e+00] [ 8.08431071e-03 -9.37307798e-05 9.99967317e-01 -1.83767968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.18592 meters Centerline goodness : 0.986006 Centerline is valid? [True, True] Translation: X:130.58, Y:1.66, Z:-1.84 [[ 9.97994364e-01 6.27844680e-02 -8.08457236e-03 1.30583457e+02] [-6.27871106e-02 9.98026940e-01 -7.32353110e-05 1.65815628e+00] [ 8.06402297e-03 5.80695366e-04 9.99967317e-01 -1.84214129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.21592 meters Centerline goodness : 0.998312 Centerline is valid? [True, True] Translation: X:130.58, Y:1.62, Z:-1.84 [[ 9.99538089e-01 -2.92967639e-02 -8.08141386e-03 1.30577488e+02] [ 2.93067053e-02 9.99569845e-01 1.11446199e-03 1.62349328e+00] [ 8.04528747e-03 -1.35078682e-03 9.99966724e-01 -1.83951937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.24592 meters Centerline goodness : 0.997864 Centerline is valid? [True, True] Translation: X:130.61, Y:1.63, Z:-1.83 [[ 9.99482566e-01 -3.11342717e-02 -8.07823860e-03 1.30606461e+02] [ 3.11346633e-02 9.99515196e-01 -7.73123554e-05 1.62629244e+00] [ 8.07672930e-03 -1.74240887e-04 9.99967368e-01 -1.83445604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.27592 meters Centerline goodness : 0.998257 Centerline is valid? [True, True] Translation: X:130.64, Y:1.63, Z:-1.84 [[ 9.99372489e-01 -3.44872742e-02 -8.07810166e-03 1.30636862e+02] [ 3.44873496e-02 9.99405126e-01 -1.30013685e-04 1.62734153e+00] [ 8.07778002e-03 -1.48660215e-04 9.99967363e-01 -1.84200564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.30592000000001 meters Centerline goodness : 0.998508 Centerline is valid? [True, True] Translation: X:130.67, Y:1.63, Z:-1.84 [[ 9.99323574e-01 -3.58766894e-02 -8.07821713e-03 1.30666547e+02] [ 3.58772622e-02 9.99356201e-01 -7.40375662e-05 1.62846404e+00] [ 8.07567261e-03 -2.15836829e-04 9.99967368e-01 -1.83754014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.33592000000002 meters Centerline goodness : 0.998113 Centerline is valid? [True, True] Translation: X:130.70, Y:1.63, Z:-1.84 [[ 9.99293198e-01 -3.67130473e-02 -8.07815406e-03 1.30697487e+02] [ 3.67133483e-02 9.99325832e-01 -1.11073470e-04 1.63003606e+00] [ 8.07678587e-03 -1.85581121e-04 9.99967365e-01 -1.83970026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.36592000000002 meters Centerline goodness : 0.998209 Centerline is valid? [True, True] Translation: X:130.73, Y:1.63, Z:-1.84 [[ 9.99208044e-01 -3.89618770e-02 -8.07818214e-03 1.30727812e+02] [ 3.89624405e-02 9.99240672e-01 -8.76594630e-05 1.63176132e+00] [ 8.07546353e-03 -2.27155651e-04 9.99967367e-01 -1.83972111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.39592000000002 meters Centerline goodness : 0.997914 Centerline is valid? [True, True] Translation: X:130.76, Y:1.63, Z:-1.83 [[ 9.99168432e-01 -3.99648157e-02 -8.07818277e-03 1.30758061e+02] [ 3.99654415e-02 9.99201059e-01 -8.40059072e-05 1.63154507e+00] [ 8.07508606e-03 -2.38912090e-04 9.99967367e-01 -1.83033788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.42592000000002 meters Centerline goodness : 0.951771 Centerline is valid? [True, True] Translation: X:130.84, Y:1.61, Z:-1.84 [[ 9.96882633e-01 -7.84841345e-02 -8.07819076e-03 1.30837242e+02] [ 7.84853520e-02 9.96915253e-01 -1.66681201e-04 1.60810334e+00] [ 8.06635342e-03 -4.67858051e-04 9.99967357e-01 -1.84260528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.45592000000002 meters Centerline goodness : 0.922954 Centerline is valid? [True, False] Translation: X:130.84, Y:1.62, Z:-1.84 [[ 9.97881875e-01 -6.47748569e-02 -5.99838417e-03 1.30835496e+02] [ 6.47353714e-02 9.97880914e-01 -6.55837804e-03 1.61627164e+00] [ 6.41049108e-03 6.15617895e-03 9.99960503e-01 -1.84296965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.48592000000002 meters Centerline goodness : 0.765228 Centerline is valid? [False, False] Translation: X:130.83, Y:1.62, Z:-1.84 [[ 9.98708075e-01 -5.08058340e-02 -9.73407723e-04 1.30831298e+02] [ 5.07904526e-02 9.98636617e-01 -1.20514471e-02 1.62306934e+00] [ 1.58436442e-03 1.19864378e-02 9.99926905e-01 -1.84275050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.51592000000002 meters Centerline goodness : 0.998108 Centerline is valid? [False, True] Translation: X:130.83, Y:1.63, Z:-1.84 [[ 9.99297931e-01 -3.67642609e-02 7.21350958e-03 1.30825085e+02] [ 3.68787683e-02 9.99184492e-01 -1.64410202e-02 1.62830846e+00] [-6.60318496e-03 1.66955028e-02 9.99838816e-01 -1.84220174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.54592 meters Centerline goodness : 0.998064 Centerline is valid? [True, True] Translation: X:130.86, Y:1.61, Z:-1.84 [[ 9.99261973e-01 -3.77022198e-02 7.35206496e-03 1.30855341e+02] [ 3.77055207e-02 9.99288846e-01 -3.10840620e-04 1.61173032e+00] [-7.33511713e-03 5.87824649e-04 9.99972925e-01 -1.84117375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.57592 meters Centerline goodness : 0.998559 Centerline is valid? [True, True] Translation: X:130.89, Y:1.61, Z:-1.85 [[ 9.99286067e-01 -3.70574355e-02 7.35550293e-03 1.30887710e+02] [ 3.70579400e-02 9.99313116e-01 6.77425625e-05 1.61073679e+00] [-7.35296092e-03 2.04885587e-04 9.99972946e-01 -1.85211789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.60592 meters Centerline goodness : 0.997564 Centerline is valid? [True, True] Translation: X:130.92, Y:1.61, Z:-1.85 [[ 9.99098267e-01 -4.18157062e-02 7.35523074e-03 1.30921768e+02] [ 4.18165518e-02 9.99125305e-01 3.88568621e-05 1.60744874e+00] [-7.35042198e-03 2.68748563e-04 9.99972949e-01 -1.84740131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.63592 meters Centerline goodness : 0.998014 Centerline is valid? [True, True] Translation: X:130.95, Y:1.61, Z:-1.85 [[ 9.99183133e-01 -3.97364121e-02 7.35423694e-03 1.30949562e+02] [ 3.97379240e-02 9.99210135e-01 -5.95218837e-05 1.60594154e+00] [-7.34606290e-03 3.51715371e-04 9.99972955e-01 -1.84840372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.66592 meters Centerline goodness : 0.997965 Centerline is valid? [True, True] Translation: X:130.98, Y:1.60, Z:-1.85 [[ 9.99260714e-01 -3.77348489e-02 7.35572464e-03 1.30982697e+02] [ 3.77352327e-02 9.99287769e-01 8.66579012e-05 1.60449452e+00] [-7.35375568e-03 1.90976144e-04 9.99972943e-01 -1.84865365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.69592 meters Centerline goodness : 0.997961 Centerline is valid? [True, True] Translation: X:131.02, Y:1.60, Z:-1.85 [[ 9.99343809e-01 -3.54662085e-02 7.35519632e-03 1.31015872e+02] [ 3.54668986e-02 9.99370851e-01 3.66353970e-05 1.60343360e+00] [-7.35186813e-03 2.24254645e-04 9.99972950e-01 -1.84697492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.72592 meters Centerline goodness : 0.998214 Centerline is valid? [True, True] Translation: X:131.05, Y:1.61, Z:-1.85 [[ 9.99528878e-01 -2.97982490e-02 7.35435844e-03 1.31046193e+02] [ 2.97993302e-02 9.99555901e-01 -3.74544778e-05 1.60543056e+00] [-7.34997629e-03 2.56591788e-04 9.99972956e-01 -1.84742610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.75592 meters Centerline goodness : 0.998262 Centerline is valid? [True, True] Translation: X:131.08, Y:1.61, Z:-1.84 [[ 9.99600115e-01 -2.73040190e-02 7.35529876e-03 1.31076700e+02] [ 2.73044431e-02 9.99627163e-01 4.27788452e-05 1.60680044e+00] [-7.35372447e-03 1.58070598e-04 9.99972949e-01 -1.84230542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.78592 meters Centerline goodness : 0.999451 Centerline is valid? [True, True] Translation: X:131.11, Y:1.61, Z:-1.86 [[ 9.99824259e-01 -1.72437442e-02 7.35552952e-03 1.31111437e+02] [ 1.72437543e-02 9.99851313e-01 6.20522454e-05 1.61127727e+00] [-7.35550586e-03 6.47956031e-05 9.99972946e-01 -1.85521606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.81592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:131.14, Y:1.62, Z:-1.85 [[ 9.99881510e-01 -1.35234858e-02 7.35396989e-03 1.31141425e+02] [ 1.35242955e-02 9.99908541e-01 -6.03706314e-05 1.61583744e+00] [-7.35248088e-03 1.59820740e-04 9.99972957e-01 -1.84680364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.84592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.17, Y:1.62, Z:-1.85 [[ 9.99904195e-01 -1.17263040e-02 7.35490447e-03 1.31173838e+02] [ 1.17265624e-02 9.99931241e-01 7.98791203e-06 1.61822787e+00] [-7.35449242e-03 7.82605993e-05 9.99972952e-01 -1.84990161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.87592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.21, Y:1.62, Z:-1.86 [[ 9.99951573e-01 -6.53886461e-03 7.35495161e-03 1.31209565e+02] [ 6.53895818e-03 9.99978621e-01 1.13265231e-05 1.62086444e+00] [-7.35486843e-03 3.67677463e-05 9.99972952e-01 -1.86189460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.90592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.24, Y:1.62, Z:-1.85 [[ 9.99937741e-01 -8.39316080e-03 7.35316396e-03 1.31239913e+02] [ 8.39419011e-03 9.99964762e-01 -1.09129415e-04 1.62357577e+00] [-7.35198891e-03 1.70846477e-04 9.99972959e-01 -1.85480705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.93592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:131.27, Y:1.63, Z:-1.85 [[ 9.99958125e-01 -5.44672184e-03 7.35396924e-03 1.31272850e+02] [ 5.44728226e-03 9.99985162e-01 -5.61781596e-05 1.62644459e+00] [-7.35355414e-03 9.62349533e-05 9.99972958e-01 -1.84919561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.96592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.30, Y:1.63, Z:-1.86 [[ 9.99913615e-01 -1.08947886e-02 7.35290677e-03 1.31302628e+02] [ 1.08959915e-02 9.99940629e-01 -1.23555128e-04 1.62903281e+00] [-7.35112411e-03 2.03661664e-04 9.99972959e-01 -1.85787611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.99592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.34, Y:1.63, Z:-1.86 [[ 9.99921146e-01 -1.01794752e-02 7.35389773e-03 1.31336307e+02] [ 1.01802021e-02 9.99948179e-01 -6.14188627e-05 1.62886818e+00] [-7.35289142e-03 1.36278185e-04 9.99972958e-01 -1.85813771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.02592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.37, Y:1.63, Z:-1.86 [[ 9.99928295e-01 -9.45124600e-03 7.35382681e-03 1.31369686e+02] [ 9.45198458e-03 9.99955327e-01 -6.56868297e-05 1.62830241e+00] [-7.35287747e-03 1.35190377e-04 9.99972958e-01 -1.86413005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.05592000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.40, Y:1.63, Z:-1.86 [[ 9.99924643e-01 -9.83078500e-03 7.35279274e-03 1.31402070e+02] [ 9.83198209e-03 9.99951657e-01 -1.26677305e-04 1.63082038e+00] [-7.35119195e-03 1.98960285e-04 9.99972960e-01 -1.86320248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.08592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.44, Y:1.63, Z:-1.86 [[ 9.99930269e-01 -9.24059543e-03 7.35310215e-03 1.31435183e+02] [ 9.24164613e-03 9.99957289e-01 -1.08927475e-04 1.63350440e+00] [-7.35178153e-03 1.76874647e-04 9.99972960e-01 -1.86241474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.11592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.47, Y:1.63, Z:-1.86 [[ 9.99937942e-01 -8.36939882e-03 7.35297097e-03 1.31467524e+02] [ 8.37047977e-03 9.99964960e-01 -1.16246781e-04 1.63362276e+00] [-7.35174041e-03 1.77787462e-04 9.99972960e-01 -1.86345559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.14592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.50, Y:1.63, Z:-1.85 [[ 9.99945480e-01 -7.41417865e-03 7.35307570e-03 1.31498009e+02] [ 7.41519183e-03 9.99972501e-01 -1.10536270e-04 1.63218632e+00] [-7.35205396e-03 1.65054711e-04 9.99972960e-01 -1.84904762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.17592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.53, Y:1.63, Z:-1.87 [[ 9.99944769e-01 -7.50867947e-03 7.35381201e-03 1.31529955e+02] [ 7.50939790e-03 9.99971802e-01 -7.00874501e-05 1.63086272e+00] [-7.35307838e-03 1.25306280e-04 9.99972958e-01 -1.86662908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.20592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.56, Y:1.63, Z:-1.86 [[ 9.99957923e-01 -5.48520397e-03 7.35284706e-03 1.31562295e+02] [ 5.48624627e-03 9.99984943e-01 -1.21591748e-04 1.63117783e+00] [-7.35206939e-03 1.61926162e-04 9.99972960e-01 -1.86206723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.23592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.59, Y:1.63, Z:-1.85 [[ 9.99956200e-01 -5.79072828e-03 7.35287702e-03 1.31593962e+02] [ 5.79176721e-03 9.99983220e-01 -1.20010897e-04 1.63034644e+00] [-7.35205869e-03 1.62591792e-04 9.99972960e-01 -1.85389878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.26592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.63, Y:1.63, Z:-1.86 [[ 9.99970805e-01 -2.08012110e-03 7.35264729e-03 1.31628254e+02] [ 2.08114837e-03 9.99997826e-01 -1.32066215e-04 1.62923264e+00] [-7.35235659e-03 1.47364310e-04 9.99972960e-01 -1.85539327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.29592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.66, Y:1.63, Z:-1.87 [[ 9.99968896e-01 -2.85690359e-03 7.35149440e-03 1.31658272e+02] [ 2.85838794e-03 9.99995896e-01 -1.91412330e-04 1.62828589e+00] [-7.35091738e-03 2.12419799e-04 9.99972959e-01 -1.86725469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.32592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:131.69, Y:1.62, Z:-1.86 [[ 9.99967085e-01 -3.43179520e-03 7.35199921e-03 1.31688261e+02] [ 3.43310143e-03 9.99994093e-01 -1.65056549e-04 1.62438748e+00] [-7.35138935e-03 1.90291275e-04 9.99972960e-01 -1.85947022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.35592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:131.72, Y:1.62, Z:-1.85 [[ 9.99968502e-01 -2.98760459e-03 7.35322446e-03 1.31719269e+02] [ 2.98842844e-03 9.99995530e-01 -1.01054904e-04 1.62280690e+00] [-7.35288967e-03 1.23026306e-04 9.99972960e-01 -1.85360904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.38592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.75, Y:1.62, Z:-1.87 [[ 9.99971996e-01 1.38916031e-03 7.35377822e-03 1.31753591e+02] [-1.38866149e-03 9.99999033e-01 -7.29369299e-05 1.62262525e+00] [-7.35387243e-03 6.27229787e-05 9.99972958e-01 -1.86725637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.41592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.79, Y:1.62, Z:-1.86 [[ 9.99971920e-01 1.45369002e-03 7.35162860e-03 1.31786233e+02] [-1.45240450e-03 9.99998929e-01 -1.80196831e-04 1.62396520e+00] [-7.35188267e-03 1.69514232e-04 9.99972960e-01 -1.86081467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.44592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.82, Y:1.62, Z:-1.86 [[ 9.99971643e-01 1.63162242e-03 7.35190351e-03 1.31817215e+02] [-1.63044123e-03 9.99998657e-01 -1.66655517e-04 1.62306833e+00] [-7.35216555e-03 1.54663945e-04 9.99972961e-01 -1.85778995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.47592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:131.85, Y:1.62, Z:-1.85 [[ 9.99942591e-01 7.79442466e-03 7.35269050e-03 1.31848072e+02] [-7.79369429e-03 9.99969621e-01 -1.27982228e-04 1.62432208e+00] [-7.35346468e-03 7.06702586e-05 9.99972960e-01 -1.84875338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.50592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.88, Y:1.62, Z:-1.86 [[ 9.99948097e-01 7.05308334e-03 7.35233729e-03 1.31879422e+02] [-7.05220631e-03 9.99975122e-01 -1.45204882e-04 1.62436273e+00] [-7.35317852e-03 9.33471461e-05 9.99972961e-01 -1.86352056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.53592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.91, Y:1.63, Z:-1.87 [[ 9.99917743e-01 1.05096679e-02 7.35214002e-03 1.31911455e+02] [-1.05088146e-02 9.99944769e-01 -1.54695061e-04 1.62732740e+00] [-7.35335975e-03 7.74200599e-05 9.99972961e-01 -1.86713684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.56592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.94, Y:1.63, Z:-1.87 [[ 9.99910655e-01 1.11636778e-02 7.35216094e-03 1.31944085e+02] [-1.11628494e-02 9.99937682e-01 -1.53694328e-04 1.62786963e+00] [-7.35341856e-03 7.16095305e-05 9.99972961e-01 -1.86583161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.59592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.98, Y:1.63, Z:-1.86 [[ 9.99911790e-01 1.10616010e-02 7.35214201e-03 1.31976342e+02] [-1.10607632e-02 9.99938816e-01 -1.54594582e-04 1.62802605e+00] [-7.35340224e-03 7.32606430e-05 9.99972961e-01 -1.86371076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.62592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:132.01, Y:1.63, Z:-1.86 [[ 9.99880289e-01 1.36146412e-02 7.35180920e-03 1.32008943e+02] [-1.36137569e-02 9.99907314e-01 -1.70319998e-04 1.63409111e+00] [-7.35344664e-03 7.02138657e-05 9.99972961e-01 -1.85788739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.65592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.04, Y:1.64, Z:-1.86 [[ 9.99884028e-01 1.33370231e-02 7.35212100e-03 1.32041535e+02] [-1.33362396e-02 9.99911056e-01 -1.55586470e-04 1.63600207e+00] [-7.35354213e-03 5.75187796e-05 9.99972961e-01 -1.86043695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.68592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.07, Y:1.64, Z:-1.86 [[ 9.99861972e-01 1.48989481e-02 7.35237258e-03 1.32074668e+02] [-1.48982942e-02 9.99889004e-01 -1.43700273e-04 1.63895061e+00] [-7.35369747e-03 3.41426287e-05 9.99972961e-01 -1.86274762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.71592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.11, Y:1.64, Z:-1.87 [[ 9.99875514e-01 1.39609017e-02 7.35184933e-03 1.32105916e+02] [-1.39600423e-02 9.99902540e-01 -1.68197017e-04 1.64101128e+00] [-7.35348100e-03 6.55439508e-05 9.99972961e-01 -1.86658200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.74592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.14, Y:1.65, Z:-1.87 [[ 9.99900224e-01 1.20618535e-02 7.35210365e-03 1.32138285e+02] [-1.20610308e-02 9.99927251e-01 -1.56228612e-04 1.64662456e+00] [-7.35345320e-03 6.75390756e-05 9.99972961e-01 -1.86658389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.77592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.17, Y:1.65, Z:-1.87 [[ 9.99927508e-01 9.53547524e-03 7.35208423e-03 1.32170224e+02] [-9.53457758e-03 9.99954533e-01 -1.57137360e-04 1.64701333e+00] [-7.35324833e-03 8.70269514e-05 9.99972961e-01 -1.86572009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.80592000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.20, Y:1.65, Z:-1.86 [[ 9.99954732e-01 6.04021144e-03 7.35192044e-03 1.32199451e+02] [-6.03916302e-03 9.99981751e-01 -1.64797109e-04 1.64703164e+00] [-7.35278168e-03 1.20390202e-04 9.99972961e-01 -1.85613735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.83592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.23, Y:1.65, Z:-1.87 [[ 9.99959042e-01 5.27764332e-03 7.35265768e-03 1.32231565e+02] [-5.27682985e-03 9.99986069e-01 -1.30031257e-04 1.64598944e+00] [-7.35324151e-03 9.12272078e-05 9.99972960e-01 -1.86846765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.86592000000002 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:132.26, Y:1.65, Z:-1.87 [[ 9.99972909e-01 3.62947558e-04 7.35185262e-03 1.32263463e+02] [-3.61725051e-04 9.99999921e-01 -1.67614714e-04 1.64532150e+00] [-7.35191287e-03 1.64950824e-04 9.99972961e-01 -1.87033247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.89592000000002 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:132.29, Y:1.64, Z:-1.86 [[ 9.99967930e-01 -3.17598538e-03 7.35203236e-03 1.32292100e+02] [ 3.17724253e-03 9.99994940e-01 -1.59320185e-04 1.64406778e+00] [-7.35148916e-03 1.82674266e-04 9.99972961e-01 -1.85538571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.92592000000002 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:132.33, Y:1.64, Z:-1.87 [[ 9.99964082e-01 -4.21409885e-03 7.35362353e-03 1.32325190e+02] [ 4.21483929e-03 9.99991114e-01 -8.51963524e-05 1.64152906e+00] [-7.35319916e-03 1.16187634e-04 9.99972958e-01 -1.87206714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.95592000000002 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:132.36, Y:1.64, Z:-1.87 [[ 9.99962983e-01 -4.47013509e-03 7.35195430e-03 1.32356970e+02] [ 4.47144164e-03 9.99989990e-01 -1.61286120e-04 1.63952019e+00] [-7.35115974e-03 1.94153984e-04 9.99972961e-01 -1.87353892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.98592000000002 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:132.39, Y:1.64, Z:-1.87 [[ 9.99964972e-01 -4.00063045e-03 7.35188727e-03 1.32390533e+02] [ 4.00194635e-03 9.99991979e-01 -1.64285962e-04 1.63735594e+00] [-7.35117105e-03 1.93702066e-04 9.99972961e-01 -1.87269142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.01592 meters Centerline goodness : 0.998808 Centerline is valid? [True, True] Translation: X:132.42, Y:1.64, Z:-1.87 [[ 9.99965215e-01 -3.93956230e-03 7.35180904e-03 1.32423118e+02] [ 3.94090174e-03 9.99992221e-01 -1.67715100e-04 1.63615204e+00] [-7.35109112e-03 1.96682023e-04 9.99972961e-01 -1.87286353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.04592 meters Centerline goodness : 0.997666 Centerline is valid? [True, True] Translation: X:132.45, Y:1.63, Z:-1.86 [[ 9.99930151e-01 -9.25448074e-03 7.35173951e-03 1.32450068e+02] [ 9.25598570e-03 9.99957148e-01 -1.70709319e-04 1.63311481e+00] [-7.34984465e-03 2.38744991e-04 9.99972961e-01 -1.85775126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.07592 meters Centerline goodness : 0.997070 Centerline is valid? [True, True] Translation: X:132.48, Y:1.63, Z:-1.86 [[ 9.99929264e-01 -9.34746132e-03 7.35478320e-03 1.32482023e+02] [ 9.34801035e-03 9.99956306e-01 -4.02753867e-05 1.62913504e+00] [-7.35408537e-03 1.09025127e-04 9.99972952e-01 -1.85636174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.10592 meters Centerline goodness : 0.997371 Centerline is valid? [True, True] Translation: X:132.51, Y:1.63, Z:-1.86 [[ 9.99908089e-01 -1.13897093e-02 7.35441010e-03 1.32510398e+02] [ 1.13904457e-02 9.99935125e-01 -5.82433114e-05 1.62856558e+00] [-7.35326961e-03 1.42007967e-04 9.99972954e-01 -1.86091211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.13592 meters Centerline goodness : 0.996373 Centerline is valid? [True, True] Translation: X:132.54, Y:1.63, Z:-1.86 [[ 9.99936779e-01 -8.50488194e-03 7.35567162e-03 1.32543807e+02] [ 8.50509571e-03 9.99963831e-01 2.21873162e-06 1.62776023e+00] [-7.35542444e-03 6.03420998e-05 9.99972947e-01 -1.85666967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.16592 meters Centerline goodness : 0.996277 Centerline is valid? [True, True] Translation: X:132.58, Y:1.63, Z:-1.86 [[ 9.99943186e-01 -7.71608748e-03 7.35438799e-03 1.32577650e+02] [ 7.71664835e-03 9.99970225e-01 -4.78897577e-05 1.62674368e+00] [-7.35379949e-03 1.04638263e-04 9.99972955e-01 -1.85732012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.19592 meters Centerline goodness : 0.996723 Centerline is valid? [True, True] Translation: X:132.61, Y:1.63, Z:-1.86 [[ 9.99934591e-01 -8.76014902e-03 7.35347320e-03 1.32609545e+02] [ 8.76099073e-03 9.99961618e-01 -8.22585345e-05 1.62564960e+00] [-7.35247036e-03 1.46676865e-04 9.99972959e-01 -1.85943212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.22592 meters Centerline goodness : 0.995828 Centerline is valid? [True, True] Translation: X:132.64, Y:1.63, Z:-1.86 [[ 9.99922668e-01 -1.00295072e-02 7.35298112e-03 1.32640570e+02] [ 1.00305151e-02 9.99949688e-01 -1.00212504e-04 1.62588517e+00] [-7.35160609e-03 1.73958942e-04 9.99972961e-01 -1.85862860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.25592 meters Centerline goodness : 0.996425 Centerline is valid? [True, True] Translation: X:132.67, Y:1.62, Z:-1.86 [[ 9.99913593e-01 -1.08963302e-02 7.35361789e-03 1.32673490e+02] [ 1.08971936e-02 9.99940621e-01 -7.73451927e-05 1.62453030e+00] [-7.35233846e-03 1.57472307e-04 9.99972959e-01 -1.86074657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.28592 meters Centerline goodness : 0.976888 Centerline is valid? [True, True] Translation: X:132.76, Y:1.63, Z:-1.88 [[ 9.99805833e-01 -1.82821746e-02 7.35242040e-03 1.32755420e+02] [ 1.82835508e-02 9.99832835e-01 -1.19993709e-04 1.62976499e+00] [-7.34899758e-03 2.54398762e-04 9.99972963e-01 -1.88140258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.31592 meters Centerline goodness : 0.995827 Centerline is valid? [True, True] Translation: X:132.72, Y:1.61, Z:-1.86 [[ 9.99747717e-01 -2.12392892e-02 7.30724942e-03 1.32721807e+02] [ 2.12517113e-02 9.99772834e-01 -1.62653210e-03 1.61441223e+00] [-7.27104307e-03 1.78141331e-03 9.99971979e-01 -1.85979438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.34592 meters Centerline goodness : 0.996323 Centerline is valid? [True, True] Translation: X:132.75, Y:1.61, Z:-1.86 [[ 9.99683330e-01 -2.40692136e-02 7.34250320e-03 1.32753726e+02] [ 2.40703573e-02 9.99710265e-01 -6.74179465e-05 1.61356151e+00] [-7.33875312e-03 2.44133272e-04 9.99973041e-01 -1.86220390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.37592 meters Centerline goodness : 0.996367 Centerline is valid? [True, True] Translation: X:132.79, Y:1.61, Z:-1.86 [[ 9.99677819e-01 -2.42969747e-02 7.34268952e-03 1.32785911e+02] [ 2.42980654e-02 9.99704757e-01 -5.93644904e-05 1.60991122e+00] [-7.33907926e-03 2.37758515e-04 9.99973040e-01 -1.86231951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.40592 meters Centerline goodness : 0.992843 Centerline is valid? [True, True] Translation: X:132.84, Y:1.60, Z:-1.87 [[ 9.99072754e-01 -4.24233085e-02 7.34128456e-03 1.32835714e+02] [ 4.24253229e-02 9.99099634e-01 -1.18813276e-04 1.59634191e+00] [-7.32963426e-03 4.30159474e-04 9.99973045e-01 -1.86726614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.43592 meters Centerline goodness : 0.997270 Centerline is valid? [True, True] Translation: X:132.84, Y:1.60, Z:-1.87 [[ 9.99430259e-01 -3.29463439e-02 7.32778316e-03 1.32839489e+02] [ 3.29523857e-02 9.99456674e-01 -7.05278191e-04 1.59953103e+00] [-7.30056545e-03 9.46344302e-04 9.99972903e-01 -1.86511410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.46592 meters Centerline goodness : 0.996514 Centerline is valid? [True, True] Translation: X:132.87, Y:1.60, Z:-1.86 [[ 9.99543029e-01 -2.93228720e-02 7.34183657e-03 1.32874003e+02] [ 2.93236817e-02 9.99569968e-01 -2.64652931e-06 1.59583600e+00] [-7.33860175e-03 2.17934999e-04 9.99973048e-01 -1.86058754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.49592 meters Centerline goodness : 0.996521 Centerline is valid? [True, True] Translation: X:132.91, Y:1.59, Z:-1.86 [[ 9.99443787e-01 -3.25306338e-02 7.33998017e-03 1.32905408e+02] [ 3.25321782e-02 9.99470684e-01 -9.10753393e-05 1.59005611e+00] [-7.33313227e-03 3.29810225e-04 9.99973058e-01 -1.85971491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.52592 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:132.93, Y:1.58, Z:-1.88 [[ 9.99781447e-01 -1.95746644e-02 7.34099511e-03 1.32925264e+02] [ 1.95755158e-02 9.99808380e-01 -4.41370798e-05 1.58037293e+00] [-7.33872447e-03 1.87831200e-04 9.99973054e-01 -1.88371575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.55592000000001 meters Centerline goodness : 0.980051 Centerline is valid? [True, True] Translation: X:133.03, Y:1.56, Z:-1.89 [[ 9.94369811e-01 -1.05710900e-01 7.34056791e-03 1.33025871e+02] [ 1.05711246e-01 9.94396810e-01 3.41999279e-04 1.56217425e+00] [-7.33559037e-03 4.35906822e-04 9.99972999e-01 -1.88944729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.58592000000002 meters Centerline goodness : 0.996128 Centerline is valid? [True, True] Translation: X:133.00, Y:1.54, Z:-1.86 [[ 9.95175094e-01 -9.78348503e-02 7.40772884e-03 1.32996709e+02] [ 9.78480305e-02 9.95200330e-01 -1.43737144e-03 1.54482514e+00] [-7.23154916e-03 2.15526793e-03 9.99971529e-01 -1.86123918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.61592000000002 meters Centerline goodness : 0.913398 Centerline is valid? [True, False] Translation: X:133.00, Y:1.55, Z:-1.86 [[ 9.96584758e-01 -8.23230282e-02 6.46060240e-03 1.32996126e+02] [ 8.23577178e-02 9.96588738e-01 -5.30035981e-03 1.54780395e+00] [-6.00222192e-03 5.81433827e-03 9.99965083e-01 -1.86046975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.64592000000002 meters Centerline goodness : 0.992673 Centerline is valid? [False, True] Translation: X:133.00, Y:1.55, Z:-1.86 [[ 9.97750220e-01 -6.68459191e-02 5.11086046e-03 1.32996648e+02] [ 6.68918172e-02 9.97715863e-01 -9.40967406e-03 1.55178422e+00] [-4.47018824e-03 9.73037911e-03 9.99942667e-01 -1.86085165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.67592000000002 meters Centerline goodness : 0.994583 Centerline is valid? [True, True] Translation: X:133.03, Y:1.53, Z:-1.86 [[ 9.96114839e-01 -8.79363931e-02 4.73478498e-03 1.33028253e+02] [ 8.79365904e-02 9.96126060e-01 1.66903666e-04 1.52906875e+00] [-4.73111962e-03 2.50105629e-04 9.99988777e-01 -1.86170799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.70592000000002 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:133.04, Y:1.53, Z:-1.90 [[ 9.98053268e-01 -6.21874105e-02 4.73291024e-03 1.33039008e+02] [ 6.21870907e-02 9.98064487e-01 2.14855565e-04 1.53457893e+00] [-4.73711094e-03 7.98886199e-05 9.99988777e-01 -1.89776256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.73592000000002 meters Centerline goodness : 0.991536 Centerline is valid? [True, True] Translation: X:133.09, Y:1.55, Z:-1.87 [[ 9.98681881e-01 -5.11097318e-02 4.72181396e-03 1.33087442e+02] [ 5.11079318e-02 9.98693010e-01 5.01169254e-04 1.54616416e+00] [-4.74125722e-03 -2.59186507e-04 9.99988727e-01 -1.86810984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.76592 meters Centerline goodness : 0.979884 Centerline is valid? [True, True] Translation: X:133.17, Y:1.54, Z:-1.91 [[ 9.98547405e-01 -5.36719765e-02 4.73265942e-03 1.33171696e+02] [ 5.36715235e-02 9.98558620e-01 2.22765930e-04 1.54393708e+00] [-4.73779415e-03 3.15666997e-05 9.99988776e-01 -1.90981398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.79592 meters Centerline goodness : 0.998807 Centerline is valid? [True, True] Translation: X:133.11, Y:1.56, Z:-1.90 [[ 9.99695202e-01 2.42489071e-02 4.63604476e-03 1.33109886e+02] [-2.42406627e-02 9.99704484e-01 -1.82633810e-03 1.55611078e+00] [-4.67896144e-03 1.71340064e-03 9.99987586e-01 -1.90357700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.82592 meters Centerline goodness : 0.993082 Centerline is valid? [True, True] Translation: X:133.18, Y:1.54, Z:-1.89 [[ 9.99981457e-01 3.88016411e-03 4.69354580e-03 1.33183292e+02] [-3.87944572e-03 9.99992462e-01 -1.62153388e-04 1.54251196e+00] [-4.69413961e-03 1.43942025e-04 9.99988972e-01 -1.88632143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.85592 meters Centerline goodness : 0.993082 Centerline is valid? [True, True] Translation: X:133.21, Y:1.54, Z:-1.89 [[ 9.99989045e-01 4.12828640e-04 4.66265639e-03 1.33213494e+02] [-4.08661024e-04 9.99999516e-01 -8.94746210e-04 1.54137996e+00] [-4.66302351e-03 8.92830962e-04 9.99988729e-01 -1.88633268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.88592 meters Centerline goodness : 0.985831 Centerline is valid? [True, True] Translation: X:133.26, Y:1.53, Z:-1.88 [[ 9.98069827e-01 -6.19262731e-02 4.66441923e-03 1.33256204e+02] [ 6.19308941e-02 9.98080076e-01 -8.52718137e-04 1.52669266e+00] [-4.60265824e-03 1.13994390e-03 9.99988758e-01 -1.88454290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.91592 meters Centerline goodness : 0.998460 Centerline is valid? [True, True] Translation: X:133.21, Y:1.55, Z:-1.90 [[ 9.99736182e-01 2.24919152e-02 4.65625046e-03 1.33211746e+02] [-2.24871227e-02 9.99746550e-01 -1.07908820e-03 1.54540628e+00] [-4.67934109e-03 9.74097845e-04 9.99988577e-01 -1.90420001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.94592 meters Centerline goodness : 0.838068 Centerline is valid? [True, False] Translation: X:133.24, Y:1.54, Z:-1.90 [[ 9.99964008e-01 8.08035037e-03 2.58679197e-03 1.33237744e+02] [-8.07530770e-03 9.99965485e-01 -1.95393720e-03 1.54278007e+00] [-2.60249118e-03 1.93297773e-03 9.99994745e-01 -1.90135922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.97592 meters Centerline goodness : 0.991990 Centerline is valid? [False, True] Translation: X:133.24, Y:1.54, Z:-1.90 [[ 9.99989517e-01 3.95164478e-03 2.31314495e-03 1.33238449e+02] [-3.93698784e-03 9.99972361e-01 -6.30699466e-03 1.54357164e+00] [-2.33800402e-03 6.29782172e-03 9.99977435e-01 -1.90149865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.00592 meters Centerline goodness : 0.864488 Centerline is valid? [True, False] Translation: X:133.24, Y:1.54, Z:-1.90 [[ 9.99990186e-01 3.89951049e-03 2.10281693e-03 1.33238973e+02] [-3.88721649e-03 9.99975513e-01 -5.81917470e-03 1.54121802e+00] [-2.12545737e-03 5.81094349e-03 9.99980858e-01 -1.90212984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.03592 meters Centerline goodness : 0.992440 Centerline is valid? [False, True] Translation: X:133.24, Y:1.54, Z:-1.90 [[ 9.99990770e-01 3.82537779e-03 1.95618041e-03 1.33239366e+02] [-3.81493018e-03 9.99978588e-01 -5.31695151e-03 1.53866478e+00] [-1.97647787e-03 5.30943974e-03 9.99983952e-01 -1.90243541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.06592 meters Centerline goodness : 0.911469 Centerline is valid? [True, False] Translation: X:133.24, Y:1.53, Z:-1.90 [[ 9.99990876e-01 3.76864626e-03 2.01134768e-03 1.33239268e+02] [-3.75968307e-03 9.99983068e-01 -4.44164423e-03 1.53464642e+00] [-2.02805261e-03 4.43404167e-03 9.99988113e-01 -1.90245737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.09592 meters Centerline goodness : 0.992927 Centerline is valid? [False, True] Translation: X:133.24, Y:1.54, Z:-1.90 [[ 9.99998086e-01 -2.85875619e-04 1.93551219e-03 1.33239552e+02] [ 3.03592494e-04 9.99958005e-01 -9.15948692e-03 1.53712761e+00] [-1.93281244e-03 9.16005700e-03 9.99956178e-01 -1.90176242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.12592 meters Centerline goodness : 0.994282 Centerline is valid? [True, True] Translation: X:133.26, Y:1.53, Z:-1.91 [[ 9.99920033e-01 1.23914202e-02 2.52592017e-03 1.33259670e+02] [-1.23890497e-02 9.99922800e-01 -9.51976002e-04 1.52614178e+00] [-2.53752150e-03 9.20606125e-04 9.99996357e-01 -1.90843168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.15592 meters Centerline goodness : 0.976969 Centerline is valid? [True, True] Translation: X:133.29, Y:1.51, Z:-1.89 [[ 9.97731490e-01 -6.72711145e-02 2.54394729e-03 1.33290913e+02] [ 6.72730638e-02 9.97734364e-01 -6.88508150e-04 1.50628270e+00] [-2.49186692e-03 8.58085390e-04 9.99996527e-01 -1.89264050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.18592 meters Centerline goodness : 0.809566 Centerline is valid? [True, False] Translation: X:133.29, Y:1.51, Z:-1.89 [[ 9.98618028e-01 -5.21510472e-02 6.50409849e-03 1.33287612e+02] [ 5.21831698e-02 9.98625651e-01 -4.87086132e-03 1.51052828e+00] [-6.24113907e-03 5.20353440e-03 9.99966985e-01 -1.89299481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.21592 meters Centerline goodness : 0.944952 Centerline is valid? [False, False] Translation: X:133.29, Y:1.52, Z:-1.89 [[ 9.99291315e-01 -3.67675300e-02 8.06332176e-03 1.33285212e+02] [ 3.68426672e-02 9.99277087e-01 -9.37665841e-03 1.51661125e+00] [-7.71273611e-03 9.66708759e-03 9.99923528e-01 -1.89232478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.24592 meters Centerline goodness : 0.808365 Centerline is valid? [False, False] Translation: X:133.28, Y:1.52, Z:-1.89 [[ 9.99720992e-01 -2.09468054e-02 1.09164476e-02 1.33282224e+02] [ 2.10901698e-02 9.99690599e-01 -1.31875390e-02 1.52090324e+00] [-1.06368332e-02 1.34140893e-02 9.99853449e-01 -1.89190720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.27592 meters Centerline goodness : 0.944088 Centerline is valid? [False, False] Translation: X:133.31, Y:1.52, Z:-1.89 [[ 9.99966369e-01 -6.27486368e-03 5.28079506e-03 1.33306300e+02] [ 6.30067176e-03 9.99968220e-01 -4.88479407e-03 1.51549280e+00] [-5.24997582e-03 4.91790234e-03 9.99974126e-01 -1.89151685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.30592000000001 meters Centerline goodness : 0.877606 Centerline is valid? [False, False] Translation: X:133.33, Y:1.52, Z:-1.89 [[ 9.99999977e-01 -1.93266507e-04 -8.98033093e-05 1.33328316e+02] [ 1.92652226e-04 9.99976925e-01 -6.79067897e-03 1.51800735e+00] [ 9.11136479e-05 6.79066152e-03 9.99976939e-01 -1.88857196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.33592000000002 meters Centerline goodness : 0.996471 Centerline is valid? [False, True] Translation: X:133.33, Y:1.52, Z:-1.89 [[ 9.99999972e-01 -6.80430832e-05 -2.26690400e-04 1.33328722e+02] [ 6.64363824e-05 9.99974933e-01 -7.08012784e-03 1.51961205e+00] [ 2.27166472e-04 7.08011258e-03 9.99974910e-01 -1.88834671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.36592000000002 meters Centerline goodness : 0.997368 Centerline is valid? [True, True] Translation: X:133.36, Y:1.51, Z:-1.89 [[ 9.99998640e-01 1.64895577e-03 3.32303505e-05 1.33359589e+02] [-1.64895159e-03 9.99998633e-01 -1.25482913e-04 1.51212048e+00] [-3.34372209e-05 1.25427947e-04 9.99999992e-01 -1.89049279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.39592000000002 meters Centerline goodness : 0.946166 Centerline is valid? [True, False] Translation: X:133.38, Y:1.52, Z:-1.89 [[ 9.99983593e-01 3.88570131e-03 -4.20894766e-03 1.33380626e+02] [-3.91752497e-03 9.99963603e-01 -7.57928371e-03 1.51887626e+00] [ 4.17934363e-03 7.59564801e-03 9.99962419e-01 -1.88540397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.42592000000002 meters Centerline goodness : 0.987048 Centerline is valid? [False, True] Translation: X:133.38, Y:1.52, Z:-1.89 [[ 9.99983386e-01 3.90262358e-03 -4.24234585e-03 1.33380771e+02] [-3.93503900e-03 9.99962922e-01 -7.65961723e-03 1.51924960e+00] [ 4.21229595e-03 7.67618377e-03 9.99961666e-01 -1.88540414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.45592000000002 meters Centerline goodness : 0.997962 Centerline is valid? [True, True] Translation: X:133.44, Y:1.50, Z:-1.87 [[ 9.99746577e-01 -2.21184308e-02 -4.19007999e-03 1.33438970e+02] [ 2.21103654e-02 9.99753612e-01 -1.96150916e-03 1.50216935e+00] [ 4.23243311e-03 1.86836787e-03 9.99989298e-01 -1.86766739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.48592000000002 meters Centerline goodness : 0.999005 Centerline is valid? [True, True] Translation: X:133.47, Y:1.50, Z:-1.88 [[ 9.99801405e-01 -1.94892866e-02 -4.16159976e-03 1.33469703e+02] [ 1.94894043e-02 9.99810063e-01 -1.22820058e-05 1.50263960e+00] [ 4.16104869e-03 -6.88275334e-05 9.99991340e-01 -1.87687070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.51592 meters Centerline goodness : 0.998157 Centerline is valid? [True, True] Translation: X:133.50, Y:1.50, Z:-1.87 [[ 9.99785088e-01 -2.03092686e-02 -4.16073279e-03 1.33498959e+02] [ 2.03096287e-02 9.99793737e-01 4.43064894e-05 1.50206044e+00] [ 4.15897475e-03 -1.28799905e-04 9.99991343e-01 -1.87054581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.54592 meters Centerline goodness : 0.999502 Centerline is valid? [True, True] Translation: X:133.53, Y:1.50, Z:-1.88 [[ 9.99830807e-01 -1.79175889e-02 -4.16151028e-03 1.33530094e+02] [ 1.79177148e-02 9.99839465e-01 -7.01599920e-06 1.50174015e+00] [ 4.16096792e-03 -6.75499423e-05 9.99991341e-01 -1.87756569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.57592 meters Centerline goodness : 0.998958 Centerline is valid? [True, True] Translation: X:133.56, Y:1.50, Z:-1.87 [[ 9.99843295e-01 -1.72068113e-02 -4.16071930e-03 1.33559040e+02] [ 1.72071421e-02 9.99851945e-01 4.37164725e-05 1.50212948e+00] [ 4.15935107e-03 -1.15303710e-04 9.99991343e-01 -1.86570399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.60592 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:133.59, Y:1.50, Z:-1.87 [[ 9.99827507e-01 -1.81008913e-02 -4.16104723e-03 1.33588980e+02] [ 1.81011428e-02 9.99836161e-01 2.27904481e-05 1.50325837e+00] [ 4.15995295e-03 -9.81062269e-05 9.99991343e-01 -1.87132943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.63592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:133.62, Y:1.51, Z:-1.88 [[ 9.99840193e-01 -1.73859394e-02 -4.16135471e-03 1.33620351e+02] [ 1.73861050e-02 9.99848850e-01 3.63568611e-06 1.50538307e+00] [ 4.16066251e-03 -7.59848552e-05 9.99991342e-01 -1.87682680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.66592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:133.65, Y:1.50, Z:-1.87 [[ 9.99819187e-01 -1.85547800e-02 -4.16094469e-03 1.33650109e+02] [ 1.85550584e-02 9.99827840e-01 2.83193433e-05 1.50476115e+00] [ 4.15970288e-03 -1.05520795e-04 9.99991343e-01 -1.87366804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.69592 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:133.68, Y:1.50, Z:-1.86 [[ 9.99832057e-01 -1.78476905e-02 -4.16136721e-03 1.33681884e+02] [ 1.78478586e-02 9.99840714e-01 3.24996716e-06 1.50336161e+00] [ 4.16064636e-03 -7.75209148e-05 9.99991341e-01 -1.86436682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.72592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.71, Y:1.50, Z:-1.88 [[ 9.99774811e-01 -2.08090265e-02 -4.16066789e-03 1.33711390e+02] [ 2.08093888e-02 9.99783460e-01 4.38040002e-05 1.50219953e+00] [ 4.15885542e-03 -1.30375092e-04 9.99991343e-01 -1.87510951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.75592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:133.74, Y:1.50, Z:-1.86 [[ 9.99739496e-01 -2.24415727e-02 -4.16118360e-03 1.33741417e+02] [ 2.24418294e-02 9.99748150e-01 1.49949861e-05 1.50041538e+00] [ 4.15979909e-03 -1.08375652e-04 9.99991342e-01 -1.86015906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.78592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:133.77, Y:1.50, Z:-1.86 [[ 9.99721766e-01 -2.32179438e-02 -4.16150642e-03 1.33771994e+02] [ 2.32181348e-02 9.99730423e-01 -2.42295917e-06 1.49907933e+00] [ 4.16044083e-03 -9.42001320e-05 9.99991341e-01 -1.86045764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.81592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:133.80, Y:1.50, Z:-1.86 [[ 9.99745167e-01 -2.21874429e-02 -4.16148920e-03 1.33803700e+02] [ 2.21876286e-02 9.99753824e-01 -1.54533328e-06 1.49718437e+00] [ 4.16049903e-03 -9.07886374e-05 9.99991341e-01 -1.86218109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.84592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:133.83, Y:1.49, Z:-1.86 [[ 9.99716196e-01 -2.34566882e-02 -4.16077527e-03 1.33832374e+02] [ 2.34570329e-02 9.99724845e-01 3.40562687e-05 1.49263327e+00] [ 4.15883157e-03 -1.31646046e-04 9.99991343e-01 -1.86437147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.87592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:133.86, Y:1.49, Z:-1.86 [[ 9.99777943e-01 -2.06579346e-02 -4.16113814e-03 1.33863788e+02] [ 2.06581810e-02 9.99786597e-01 1.62306374e-05 1.49147894e+00] [ 4.15991485e-03 -1.02188578e-04 9.99991342e-01 -1.86032868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.90592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:133.90, Y:1.49, Z:-1.88 [[ 9.99841612e-01 -1.73042963e-02 -4.16075441e-03 1.33896621e+02] [ 1.73045911e-02 9.99850264e-01 3.48685035e-05 1.48967624e+00] [ 4.15952802e-03 -1.06863135e-04 9.99991343e-01 -1.87854085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.93592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.92, Y:1.49, Z:-1.86 [[ 9.99811823e-01 -1.89477088e-02 -4.15963898e-03 1.33924278e+02] [ 1.89482376e-02 9.99820462e-01 8.77461045e-05 1.48803286e+00] [ 4.15722958e-03 -1.66547420e-04 9.99991345e-01 -1.86146564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.96592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.95, Y:1.49, Z:-1.86 [[ 9.99819906e-01 -1.85159947e-02 -4.16088186e-03 1.33954443e+02] [ 1.85162788e-02 9.99828559e-01 2.97596007e-05 1.48735563e+00] [ 4.15961748e-03 -1.06798290e-04 9.99991343e-01 -1.86180345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.99592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:133.98, Y:1.49, Z:-1.86 [[ 9.99853596e-01 -1.65972318e-02 -4.16145888e-03 1.33983978e+02] [ 1.65973885e-02 9.99862254e-01 3.12836341e-06 1.48562531e+00] [ 4.16083374e-03 -7.21972552e-05 9.99991341e-01 -1.86287425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.02592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:134.02, Y:1.49, Z:-1.86 [[ 9.99925969e-01 -1.14341247e-02 -4.16132630e-03 1.34016449e+02] [ 1.14342615e-02 9.99934627e-01 9.09321346e-06 1.48535275e+00] [ 4.16095029e-03 -5.66742335e-05 9.99991342e-01 -1.86103626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.05592000000001 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:134.05, Y:1.49, Z:-1.86 [[ 9.99919809e-01 -1.19611488e-02 -4.16009242e-03 1.34045722e+02] [ 1.19615133e-02 9.99928457e-01 6.27538108e-05 1.48530989e+00] [ 4.15904419e-03 -1.12509779e-04 9.99991345e-01 -1.85952442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.08592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.07, Y:1.49, Z:-1.86 [[ 9.99926923e-01 -1.13507611e-02 -4.16044868e-03 1.34074329e+02] [ 1.13510566e-02 9.99935574e-01 4.74270712e-05 1.48583844e+00] [ 4.15964230e-03 -9.46490938e-05 9.99991344e-01 -1.85770971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.11592000000002 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:134.10, Y:1.49, Z:-1.86 [[ 9.99924324e-01 -1.15773524e-02 -4.16057920e-03 1.34104576e+02] [ 1.15776269e-02 9.99932976e-01 4.18933857e-05 1.48910313e+00] [ 4.15981532e-03 -9.00598490e-05 9.99991344e-01 -1.85920769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.14592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.13, Y:1.49, Z:-1.86 [[ 9.99938277e-01 -1.03019546e-02 -4.16083099e-03 1.34134321e+02] [ 1.03021745e-02 9.99946931e-01 3.14184537e-05 1.48987886e+00] [ 4.16028651e-03 -7.42821214e-05 9.99991343e-01 -1.85632538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.17592000000002 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:134.17, Y:1.49, Z:-1.86 [[ 9.99971210e-01 -6.34561619e-03 -4.16084269e-03 1.34166253e+02] [ 6.34579988e-03 9.99979865e-01 3.09471577e-05 1.49133783e+00] [ 4.16056253e-03 -5.73501418e-05 9.99991343e-01 -1.86156717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.20592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.20, Y:1.49, Z:-1.86 [[ 9.99965074e-01 -7.24898991e-03 -4.15974987e-03 1.34195126e+02] [ 7.24936211e-03 9.99973720e-01 7.44043935e-05 1.49190804e+00] [ 4.15910119e-03 -1.04557328e-04 9.99991345e-01 -1.85898574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.23592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.22, Y:1.49, Z:-1.86 [[ 9.99952828e-01 -8.77700804e-03 -4.16014489e-03 1.34224325e+02] [ 8.77732904e-03 9.99961477e-01 5.89083291e-05 1.49230004e+00] [ 4.15946759e-03 -9.54205107e-05 9.99991345e-01 -1.85925069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.26592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.26, Y:1.50, Z:-1.88 [[ 9.99948708e-01 -9.23432267e-03 -4.16046362e-03 1.34257082e+02] [ 9.23459588e-03 9.99957359e-01 4.64640745e-05 1.49545488e+00] [ 4.15985715e-03 -8.48818914e-05 9.99991344e-01 -1.87589709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.29592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:134.28, Y:1.49, Z:-1.86 [[ 9.99939445e-01 -1.01887045e-02 -4.15882809e-03 1.34284668e+02] [ 1.01892455e-02 9.99948082e-01 1.08915361e-04 1.49373649e+00] [ 4.15750247e-03 -1.51284086e-04 9.99991346e-01 -1.85637781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.32592 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:134.31, Y:1.49, Z:-1.86 [[ 9.99898846e-01 -1.36012323e-02 -4.15971753e-03 1.34314463e+02] [ 1.36016609e-02 9.99907490e-01 7.47517408e-05 1.49049472e+00] [ 4.15831600e-03 -1.31323247e-04 9.99991346e-01 -1.85714825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.35592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:134.34, Y:1.49, Z:-1.86 [[ 9.99883564e-01 -1.46816532e-02 -4.16023486e-03 1.34342876e+02] [ 1.46820093e-02 9.99892212e-01 5.50814504e-05 1.48917190e+00] [ 4.15897775e-03 -1.16155644e-04 9.99991345e-01 -1.85680213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.38592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:134.37, Y:1.49, Z:-1.86 [[ 9.99858135e-01 -1.63217624e-02 -4.16044438e-03 1.34373306e+02] [ 1.63221000e-02 9.99866785e-01 4.72128644e-05 1.48746158e+00] [ 4.15911955e-03 -1.15113356e-04 9.99991344e-01 -1.85639847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.41592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:134.40, Y:1.48, Z:-1.86 [[ 9.99764283e-01 -2.13089565e-02 -4.16022157e-03 1.34403056e+02] [ 2.13093716e-02 9.99772928e-01 5.54695418e-05 1.48346416e+00] [ 4.15809490e-03 -1.44108174e-04 9.99991345e-01 -1.85900785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.44592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.43, Y:1.48, Z:-1.86 [[ 9.99763236e-01 -2.13578580e-02 -4.16102330e-03 1.34433230e+02] [ 2.13581523e-02 9.99771888e-01 2.62987131e-05 1.47921790e+00] [ 4.15951244e-03 -1.15164256e-04 9.99991343e-01 -1.85948310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.47592 meters Centerline goodness : 0.995827 Centerline is valid? [True, True] Translation: X:134.49, Y:1.46, Z:-1.87 [[ 9.99141504e-01 -4.12182365e-02 -4.16081548e-03 1.34494585e+02] [ 4.12187341e-02 9.99150146e-01 3.38638667e-05 1.46418039e+00] [ 4.15588359e-03 -2.05338342e-04 9.99991343e-01 -1.87278278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.50592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:134.49, Y:1.46, Z:-1.86 [[ 9.99488640e-01 -3.17061113e-02 -4.14498040e-03 1.34487606e+02] [ 3.17087923e-02 9.99496980e-01 5.82692466e-04 1.46279301e+00] [ 4.12442048e-03 -7.13826824e-04 9.99991240e-01 -1.85952828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.53592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:134.52, Y:1.46, Z:-1.86 [[ 9.99455363e-01 -3.27365269e-02 -4.15891325e-03 1.34518861e+02] [ 3.27368922e-02 9.99464004e-01 1.97671517e-05 1.45862741e+00] [ 4.15603698e-03 -1.55906280e-04 9.99991351e-01 -1.85902403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.56592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.55, Y:1.45, Z:-1.86 [[ 9.99284864e-01 -3.75827013e-02 -4.15934880e-03 1.34550383e+02] [ 3.75830379e-02 9.99293508e-01 2.76563298e-06 1.44900189e+00] [ 4.15630632e-03 -1.59084619e-04 9.99991350e-01 -1.85728688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.59592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:134.58, Y:1.45, Z:-1.85 [[ 9.99397877e-01 -3.44468326e-02 -4.15917250e-03 1.34582990e+02] [ 3.44471694e-02 9.99406520e-01 9.34935927e-06 1.44632784e+00] [ 4.15638206e-03 -1.52615450e-04 9.99991351e-01 -1.85422785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.62592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.61, Y:1.44, Z:-1.86 [[ 9.99289011e-01 -3.74724427e-02 -4.15786466e-03 1.34613334e+02] [ 3.74730032e-02 9.99297639e-01 5.69766824e-05 1.43744546e+00] [ 4.15280928e-03 -2.12743849e-04 9.99991354e-01 -1.86048580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.65592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.64, Y:1.43, Z:-1.86 [[ 9.99310265e-01 -3.69012674e-02 -4.15828735e-03 1.34644766e+02] [ 3.69017607e-02 9.99318897e-01 4.19458722e-05 1.43185130e+00] [ 4.15390728e-03 -1.95365065e-04 9.99991353e-01 -1.86072325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.68592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.68, Y:1.42, Z:-1.86 [[ 9.99403428e-01 -3.42855108e-02 -4.15830969e-03 1.34676388e+02] [ 3.42859783e-02 9.99412062e-01 4.11678345e-05 1.42226475e+00] [ 4.15445340e-03 -1.83714991e-04 9.99991353e-01 -1.86180429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.71592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.71, Y:1.42, Z:-1.87 [[ 9.99554666e-01 -2.95496200e-02 -4.15799265e-03 1.34710519e+02] [ 2.95500915e-02 9.99563299e-01 5.19909055e-05 1.41946306e+00] [ 4.15464054e-03 -1.74836815e-04 9.99991354e-01 -1.87077398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.74592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.74, Y:1.41, Z:-1.87 [[ 9.99603346e-01 -2.78546314e-02 -4.15582069e-03 1.34740085e+02] [ 2.78553889e-02 9.99611956e-01 1.24494736e-04 1.41483912e+00] [ 4.15074029e-03 -2.40207356e-04 9.99991357e-01 -1.87027990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.77592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.77, Y:1.41, Z:-1.87 [[ 9.99684002e-01 -2.47916388e-02 -4.15582765e-03 1.34769336e+02] [ 2.47923690e-02 9.99692614e-01 1.24261855e-04 1.40604539e+00] [ 4.15146955e-03 -2.27255401e-04 9.99991357e-01 -1.86969765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.80592000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.80, Y:1.41, Z:-1.87 [[ 9.99682586e-01 -2.48486824e-02 -4.15583470e-03 1.34799477e+02] [ 2.48494120e-02 9.99691198e-01 1.24025552e-04 1.40512976e+00] [ 4.15146950e-03 -2.27256233e-04 9.99991357e-01 -1.86957225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.83592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.83, Y:1.40, Z:-1.86 [[ 9.99668491e-01 -2.54093828e-02 -4.15584176e-03 1.34828694e+02] [ 2.54101163e-02 9.99677103e-01 1.23788415e-04 1.40008356e+00] [ 4.15135447e-03 -2.29347801e-04 9.99991357e-01 -1.86235029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.86592000000002 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:134.86, Y:1.39, Z:-1.87 [[ 9.99689077e-01 -2.45859660e-02 -4.15693604e-03 1.34858720e+02] [ 2.45865403e-02 9.99697702e-01 8.71192440e-05 1.39342181e+00] [ 4.15353750e-03 -1.89296832e-04 9.99991356e-01 -1.86616540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.89592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.89, Y:1.39, Z:-1.87 [[ 9.99712133e-01 -2.36299327e-02 -4.15663214e-03 1.34887263e+02] [ 2.36305408e-02 9.99720755e-01 9.72291527e-05 1.38932026e+00] [ 4.15317390e-03 -1.95424629e-04 9.99991356e-01 -1.86614990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.92592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.92, Y:1.39, Z:-1.87 [[ 9.99721307e-01 -2.32385670e-02 -4.15659025e-03 1.34915570e+02] [ 2.32391774e-02 9.99729929e-01 9.86196823e-05 1.38559401e+00] [ 4.15317589e-03 -1.95187936e-04 9.99991356e-01 -1.86535689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.95592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.95, Y:1.38, Z:-1.87 [[ 9.99789400e-01 -2.00966978e-02 -4.15682587e-03 1.34946398e+02] [ 2.00972487e-02 9.99798026e-01 9.07940401e-05 1.38110333e+00] [ 4.15416163e-03 -1.74315682e-04 9.99991356e-01 -1.86841287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.98592000000002 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:134.97, Y:1.37, Z:-1.86 [[ 9.99722689e-01 -2.31792032e-02 -4.15577276e-03 1.34974149e+02] [ 2.31799252e-02 9.99731302e-01 1.25630308e-04 1.37091243e+00] [ 4.15174410e-03 -2.21925970e-04 9.99991357e-01 -1.85511079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.01592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.00, Y:1.37, Z:-1.87 [[ 9.99713656e-01 -2.35653526e-02 -4.15693030e-03 1.35003953e+02] [ 2.35659198e-02 9.99722281e-01 8.75250289e-05 1.36677278e+00] [ 4.15371328e-03 -1.85461853e-04 9.99991356e-01 -1.86628344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.04592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.03, Y:1.36, Z:-1.85 [[ 9.99710676e-01 -2.36914534e-02 -4.15685193e-03 1.35032156e+02] [ 2.36920324e-02 9.99719300e-01 9.00936076e-05 1.36161093e+00] [ 4.15355066e-03 -1.88551812e-04 9.99991356e-01 -1.85355776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.07592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.06, Y:1.36, Z:-1.87 [[ 9.99772419e-01 -2.09243314e-02 -4.15720958e-03 1.35064671e+02] [ 2.09248377e-02 9.99781049e-01 7.83240913e-05 1.35663248e+00] [ 4.15466047e-03 -1.65295202e-04 9.99991356e-01 -1.86778329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.10592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:135.09, Y:1.35, Z:-1.87 [[ 9.99734078e-01 -2.26826795e-02 -4.15570911e-03 1.35092290e+02] [ 2.26834041e-02 9.99742690e-01 1.27305230e-04 1.35208625e+00] [ 4.15175218e-03 -2.21537006e-04 9.99991357e-01 -1.86670746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.13592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:135.12, Y:1.35, Z:-1.87 [[ 9.99832209e-01 -1.78402937e-02 -4.15671435e-03 1.35121891e+02] [ 1.78408392e-02 9.99840835e-01 9.41881784e-05 1.34591018e+00] [ 4.15437240e-03 -1.68331647e-04 9.99991356e-01 -1.86841821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.16592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.15, Y:1.34, Z:-1.87 [[ 9.99872199e-01 -1.54374858e-02 -4.15571730e-03 1.35150686e+02] [ 1.54381461e-02 9.99880817e-01 1.26851885e-04 1.34307508e+00] [ 4.15326373e-03 -1.90992244e-04 9.99991357e-01 -1.86882778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.19592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.18, Y:1.34, Z:-1.87 [[ 9.99904863e-01 -1.31527369e-02 -4.15573199e-03 1.35179344e+02] [ 1.31533755e-02 9.99913483e-01 1.26368763e-04 1.34151750e+00] [ 4.15371035e-03 -1.81018644e-04 9.99991357e-01 -1.86873891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.22592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.21, Y:1.34, Z:-1.87 [[ 9.99963516e-01 -7.46305207e-03 -4.15574662e-03 1.35208001e+02] [ 7.46363960e-03 9.99972139e-01 1.25885719e-04 1.33916641e+00] [ 4.15469135e-03 -1.56898122e-04 9.99991357e-01 -1.86920888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.25592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.24, Y:1.34, Z:-1.87 [[ 9.99985020e-01 -3.56221408e-03 -4.15576143e-03 1.35236584e+02] [ 3.56276593e-03 9.99993645e-01 1.25394966e-04 1.33900131e+00] [ 4.15528834e-03 -1.40199093e-04 9.99991357e-01 -1.86944596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.28592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.27, Y:1.34, Z:-1.87 [[ 9.99989740e-01 -1.80258795e-03 -4.15580974e-03 1.35265451e+02] [ 1.80311788e-03 9.99998367e-01 1.23772887e-04 1.33922845e+00] [ 4.15557984e-03 -1.31265032e-04 9.99991357e-01 -1.86881013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.31592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.29, Y:1.34, Z:-1.87 [[ 9.99991160e-01 -6.39515200e-04 -4.15586191e-03 1.35294578e+02] [ 6.40027720e-04 9.99999788e-01 1.21995801e-04 1.33906569e+00] [ 4.15578301e-03 -1.24654590e-04 9.99991357e-01 -1.86892134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.34592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.32, Y:1.34, Z:-1.87 [[ 9.99982059e-01 4.31401203e-03 -4.15591333e-03 1.35322553e+02] [-4.31354964e-03 9.99990689e-01 1.20218008e-04 1.33871057e+00] [ 4.15639326e-03 -1.02289112e-04 9.99991357e-01 -1.86778592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.37592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.35, Y:1.34, Z:-1.87 [[ 9.99975485e-01 5.63538226e-03 -4.15597157e-03 1.35350858e+02] [-5.63493978e-03 9.99984117e-01 1.18169809e-04 1.33967709e+00] [ 4.15657149e-03 -9.47482622e-05 9.99991357e-01 -1.86858136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.40592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.38, Y:1.34, Z:-1.87 [[ 9.99950198e-01 9.07352022e-03 -4.15602929e-03 1.35379513e+02] [-9.07311600e-03 9.99958832e-01 1.16103913e-04 1.34416050e+00] [ 4.15691166e-03 -7.83899952e-05 9.99991357e-01 -1.87019312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.43592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.41, Y:1.34, Z:-1.87 [[ 9.99941441e-01 9.99209718e-03 -4.15607905e-03 1.35408310e+02] [-9.99170842e-03 9.99950075e-01 1.14294351e-04 1.34439998e+00] [ 4.15701360e-03 -7.27613279e-05 9.99991357e-01 -1.87128274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.46592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:135.44, Y:1.34, Z:-1.87 [[ 9.99930540e-01 1.10291529e-02 -4.15612820e-03 1.35437154e+02] [-1.10287807e-02 9.99939175e-01 1.12478312e-04 1.34437639e+00] [ 4.15711594e-03 -6.66334726e-05 9.99991357e-01 -1.87075418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.49592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.46, Y:1.35, Z:-1.87 [[ 9.99898234e-01 1.36472329e-02 -4.15617653e-03 1.35464899e+02] [-1.36468908e-02 9.99906871e-01 1.10662967e-04 1.34722225e+00] [ 4.15729971e-03 -5.39328184e-05 9.99991357e-01 -1.86895442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.52592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.49, Y:1.35, Z:-1.87 [[ 9.99878642e-01 1.50142237e-02 -4.15623130e-03 1.35493369e+02] [-1.50139021e-02 9.99887279e-01 1.08566202e-04 1.34880308e+00] [ 4.15739285e-03 -4.61517763e-05 9.99991357e-01 -1.86943708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.55592000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.52, Y:1.35, Z:-1.85 [[ 9.99846209e-01 1.70377167e-02 -4.15627835e-03 1.35522241e+02] [-1.70374202e-02 9.99854847e-01 1.06734067e-04 1.35196234e+00] [ 4.15749356e-03 -3.59053916e-05 9.99991357e-01 -1.84975110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.58592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.55, Y:1.35, Z:-1.87 [[ 9.99807696e-01 1.91648944e-02 -4.15660911e-03 1.35552352e+02] [-1.91646700e-02 9.99816336e-01 9.37974316e-05 1.35299195e+00] [ 4.15764331e-03 -1.41193518e-05 9.99991357e-01 -1.87077500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.61592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.58, Y:1.35, Z:-1.86 [[ 9.99805972e-01 1.92546911e-02 -4.15628375e-03 1.35581925e+02] [-1.92544148e-02 9.99814611e-01 1.06495663e-04 1.35370136e+00] [ 4.15756376e-03 -2.64481883e-05 9.99991357e-01 -1.85659550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.64592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.61, Y:1.36, Z:-1.87 [[ 9.99762684e-01 2.13845200e-02 -4.15667902e-03 1.35613181e+02] [-2.13843270e-02 9.99771325e-01 9.08808952e-05 1.35721409e+00] [ 4.15767193e-03 -1.97154445e-06 9.99991357e-01 -1.86916681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.67592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.64, Y:1.36, Z:-1.85 [[ 9.99774283e-01 2.08352390e-02 -4.15631079e-03 1.35642268e+02] [-2.08349808e-02 9.99782923e-01 1.05401262e-04 1.35898698e+00] [ 4.15760461e-03 -1.87808154e-05 9.99991357e-01 -1.85072236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.70592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.67, Y:1.36, Z:-1.86 [[ 9.99765261e-01 2.12636624e-02 -4.15692075e-03 1.35671307e+02] [-2.12635085e-02 9.99773903e-01 8.12199910e-05 1.36225137e+00] [ 4.15770792e-03 7.18979406e-06 9.99991357e-01 -1.86065763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.73592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.70, Y:1.36, Z:-1.86 [[ 9.99785607e-01 2.02845366e-02 -4.15655317e-03 1.35699737e+02] [-2.02843136e-02 9.99794248e-01 9.57922080e-05 1.36329457e+00] [ 4.15764105e-03 -1.14588427e-05 9.99991357e-01 -1.86072289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.76592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.73, Y:1.36, Z:-1.86 [[ 9.99831057e-01 1.79046831e-02 -4.15679733e-03 1.35727553e+02] [-1.79044802e-02 9.99839698e-01 8.60183052e-05 1.36450141e+00] [ 4.15767112e-03 -1.15784777e-05 9.99991357e-01 -1.85915745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.79592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.76, Y:1.36, Z:-1.85 [[ 9.99869987e-01 1.55797557e-02 -4.15699106e-03 1.35755171e+02] [-1.55795651e-02 9.99878628e-01 7.82355363e-05 1.36385687e+00] [ 4.15770541e-03 -1.34612519e-05 9.99991357e-01 -1.85281108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.82592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.78, Y:1.36, Z:-1.86 [[ 9.99937292e-01 1.03985616e-02 -4.15709603e-03 1.35782964e+02] [-1.03983440e-02 9.99945933e-01 7.39577002e-05 1.36095346e+00] [ 4.15764032e-03 -3.07261479e-05 9.99991357e-01 -1.85613395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.85592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.81, Y:1.36, Z:-1.86 [[ 9.99948238e-01 9.28642894e-03 -4.15731479e-03 1.35812401e+02] [-9.28623856e-03 9.99956880e-01 6.50943671e-05 1.35990381e+00] [ 4.15774002e-03 -2.64851808e-05 9.99991356e-01 -1.86282750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.88592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:135.84, Y:1.36, Z:-1.86 [[ 9.99966258e-01 7.08534741e-03 -4.15691906e-03 1.35838846e+02] [-7.08507135e-03 9.99974897e-01 8.11319546e-05 1.35818036e+00] [ 4.15738956e-03 -5.16771488e-05 9.99991357e-01 -1.86201240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.91592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:135.87, Y:1.36, Z:-1.85 [[ 9.99958423e-01 8.11616785e-03 -4.15700724e-03 1.35869299e+02] [-8.11591570e-03 9.99967062e-01 7.75244001e-05 1.35591990e+00] [ 4.15749952e-03 -4.37832566e-05 9.99991357e-01 -1.85210187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.94592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:135.90, Y:1.35, Z:-1.87 [[ 9.99965948e-01 7.12904668e-03 -4.15681117e-03 1.35899376e+02] [-7.12875273e-03 9.99974586e-01 8.55286837e-05 1.35369953e+00] [ 4.15731527e-03 -5.58928924e-05 9.99991357e-01 -1.86629265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.97592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.93, Y:1.35, Z:-1.87 [[ 9.99950847e-01 9.00124988e-03 -4.15705436e-03 1.35928606e+02] [-9.00101299e-03 9.99959487e-01 7.56904069e-05 1.35375748e+00] [ 4.15756725e-03 -3.82689862e-05 9.99991357e-01 -1.86779701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.00592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.96, Y:1.35, Z:-1.87 [[ 9.99946005e-01 9.52400030e-03 -4.15698807e-03 1.35957390e+02] [-9.52375679e-03 9.99954645e-01 7.83695817e-05 1.35382020e+00] [ 4.15754592e-03 -3.87752068e-05 9.99991357e-01 -1.86581726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.03592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.99, Y:1.35, Z:-1.87 [[ 9.99940386e-01 1.00966826e-02 -4.15708585e-03 1.35986048e+02] [-1.00964606e-02 9.99949027e-01 7.43877664e-05 1.35271835e+00] [ 4.15762502e-03 -3.24114782e-05 9.99991357e-01 -1.86673337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.06592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.02, Y:1.35, Z:-1.87 [[ 9.99918732e-01 1.20518797e-02 -4.15722483e-03 1.36015978e+02] [-1.20516983e-02 9.99927373e-01 6.86970580e-05 1.34907352e+00] [ 4.15775084e-03 -1.85898557e-05 9.99991356e-01 -1.86585075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.09592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:136.05, Y:1.35, Z:-1.85 [[ 9.99888701e-01 1.43283627e-02 -4.15732161e-03 1.36046477e+02] [-1.43282175e-02 9.99897344e-01 6.47132431e-05 1.34882863e+00] [ 4.15782207e-03 -5.13903232e-06 9.99991356e-01 -1.85337017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.12592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.08, Y:1.35, Z:-1.87 [[ 9.99885879e-01 1.45240459e-02 -4.15710612e-03 1.36076879e+02] [-1.45238654e-02 9.99894520e-01 7.35877424e-05 1.35063233e+00] [ 4.15773642e-03 -1.32020946e-05 9.99991356e-01 -1.86912191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.15592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.11, Y:1.35, Z:-1.85 [[ 9.99882991e-01 1.47215524e-02 -4.15696016e-03 1.36107042e+02] [-1.47213489e-02 9.99891632e-01 7.95634108e-05 1.34946895e+00] [ 4.15768098e-03 -1.83580403e-05 9.99991357e-01 -1.85473820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.18592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.14, Y:1.35, Z:-1.87 [[ 9.99884447e-01 1.46222862e-02 -4.15707787e-03 1.36136946e+02] [-1.46221019e-02 9.99893089e-01 7.47270661e-05 1.34845776e+00] [ 4.15772611e-03 -1.39332148e-05 9.99991357e-01 -1.86903967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.21592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:136.17, Y:1.35, Z:-1.85 [[ 9.99862409e-01 1.60586659e-02 -4.15717591e-03 1.36167031e+02] [-1.60585108e-02 9.99871051e-01 7.06884172e-05 1.34767872e+00] [ 4.15777501e-03 -3.92063694e-06 9.99991356e-01 -1.85353281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.24592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.20, Y:1.35, Z:-1.86 [[ 9.99853065e-01 1.66302927e-02 -4.15725351e-03 1.36197500e+02] [-1.66301559e-02 9.99861707e-01 6.74734509e-05 1.34697824e+00] [ 4.15780070e-03 1.67223714e-06 9.99991356e-01 -1.85537423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.27592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:136.23, Y:1.35, Z:-1.87 [[ 9.99839172e-01 1.74455841e-02 -4.15708835e-03 1.36227855e+02] [-1.74454260e-02 9.99847814e-01 7.42756166e-05 1.34623779e+00] [ 4.15775148e-03 -1.74149364e-06 9.99991357e-01 -1.86734060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.30592000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.26, Y:1.35, Z:-1.87 [[ 9.99830103e-01 1.79578854e-02 -4.15691451e-03 1.36256443e+02] [-1.79577021e-02 9.99838744e-01 8.14197546e-05 1.34775400e+00] [ 4.15770631e-03 -6.75728911e-06 9.99991357e-01 -1.86635409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.33592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.29, Y:1.35, Z:-1.87 [[ 9.99800670e-01 1.95279686e-02 -4.15688163e-03 1.36285848e+02] [-1.95277932e-02 9.99809311e-01 8.27778131e-05 1.35195367e+00] [ 4.15770544e-03 -1.58658790e-06 9.99991357e-01 -1.86718005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.36592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.32, Y:1.35, Z:-1.86 [[ 9.99764624e-01 2.12935840e-02 -4.15693570e-03 1.36317108e+02] [-2.12934331e-02 9.99773266e-01 8.05476401e-05 1.35215652e+00] [ 4.15770833e-03 7.98675119e-06 9.99991357e-01 -1.85585113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.39592000000002 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:136.35, Y:1.35, Z:-1.87 [[ 9.99775641e-01 2.07699439e-02 -4.15659879e-03 1.36346754e+02] [-2.07697311e-02 9.99784281e-01 9.43716344e-05 1.35145175e+00] [ 4.15766223e-03 -8.01902227e-06 9.99991357e-01 -1.86534291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.42592000000002 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:136.38, Y:1.35, Z:-1.85 [[ 9.99755097e-01 2.17362653e-02 -4.15696180e-03 1.36376042e+02] [-2.17361232e-02 9.99763739e-01 7.93646952e-05 1.35243716e+00] [ 4.15770477e-03 1.10109753e-05 9.99991357e-01 -1.85390218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.45592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.41, Y:1.35, Z:-1.86 [[ 9.99747163e-01 2.20981582e-02 -4.15714781e-03 1.36406236e+02] [-2.20980514e-02 9.99755806e-01 7.16287956e-05 1.35382505e+00] [ 4.15771553e-03 2.02541810e-05 9.99991356e-01 -1.86376205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.48592000000002 meters Centerline goodness : 0.998558 Centerline is valid? [True, True] Translation: X:136.40, Y:1.34, Z:-1.87 [[ 9.99720488e-01 2.32736684e-02 -4.15716351e-03 1.36401701e+02] [-2.32735744e-02 9.99729131e-01 7.09833655e-05 1.34380287e+00] [ 4.15768950e-03 2.57885295e-05 9.99991356e-01 -1.87194040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.51592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.46, Y:1.36, Z:-1.87 [[ 9.99505514e-01 3.11663987e-02 -4.16920247e-03 1.36463625e+02] [-3.11683590e-02 9.99514066e-01 -4.06033324e-04 1.36052711e+00] [ 4.15452191e-03 5.35779746e-04 9.99991226e-01 -1.86881732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.54592 meters Centerline goodness : 0.992245 Centerline is valid? [True, True] Translation: X:136.45, Y:1.35, Z:-1.87 [[ 9.99642251e-01 2.64220447e-02 -4.15289547e-03 1.36448111e+02] [-2.64217449e-02 9.99650877e-01 1.27043113e-04 1.34685277e+00] [ 4.15480234e-03 -1.72709185e-05 9.99991369e-01 -1.86959866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.57592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.52, Y:1.37, Z:-1.87 [[ 9.99273536e-01 3.78815863e-02 -4.16959332e-03 1.36516010e+02] [-3.78837845e-02 9.99282051e-01 -4.49449146e-04 1.36997290e+00] [ 4.14957392e-03 6.07082613e-04 9.99991206e-01 -1.86900796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.60592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.54, Y:1.37, Z:-1.87 [[ 9.99269801e-01 3.79822866e-02 -4.14857097e-03 1.36543834e+02] [-3.79820062e-02 9.99278413e-01 1.46377759e-04 1.37094490e+00] [ 4.15113717e-03 1.13001740e-05 9.99991384e-01 -1.86876409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.63592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.57, Y:1.37, Z:-1.87 [[ 9.99250277e-01 3.84924926e-02 -4.14864549e-03 1.36572922e+02] [-3.84922255e-02 9.99258889e-01 1.44234128e-04 1.37418394e+00] [ 4.15112282e-03 1.55646061e-05 9.99991384e-01 -1.86778506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.66592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.60, Y:1.37, Z:-1.87 [[ 9.99269859e-01 3.79807539e-02 -4.14870977e-03 1.36601307e+02] [-3.79804902e-02 9.99278471e-01 1.42361016e-04 1.37289954e+00] [ 4.15112333e-03 1.53129577e-05 9.99991384e-01 -1.86766688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.69592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:136.63, Y:1.37, Z:-1.87 [[ 9.99303770e-01 3.70777924e-02 -4.14878158e-03 1.36629922e+02] [-3.70775297e-02 9.99312382e-01 1.40236366e-04 1.37469456e+00] [ 4.15112846e-03 1.36878434e-05 9.99991384e-01 -1.86628644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.72592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.66, Y:1.38, Z:-1.87 [[ 9.99353297e-01 3.57179498e-02 -4.14913986e-03 1.36659678e+02] [-3.57177197e-02 9.99361910e-01 1.29575399e-04 1.38018821e+00] [ 4.15112051e-03 1.87062125e-05 9.99991384e-01 -1.86758814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.75592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.69, Y:1.38, Z:-1.87 [[ 9.99398728e-01 3.44233837e-02 -4.14884951e-03 1.36687630e+02] [-3.44231063e-02 9.99407340e-01 1.38286600e-04 1.38175018e+00] [ 4.15115094e-03 4.61283535e-06 9.99991384e-01 -1.86828638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.78592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.72, Y:1.38, Z:-1.87 [[ 9.99426030e-01 3.36213900e-02 -4.14891904e-03 1.36715697e+02] [-3.36211144e-02 9.99434641e-01 1.36168007e-04 1.38341613e+00] [ 4.15115157e-03 3.40143168e-06 9.99991384e-01 -1.86829340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.81592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.74, Y:1.39, Z:-1.87 [[ 9.99493487e-01 3.15524308e-02 -4.14898743e-03 1.36744441e+02] [-3.15521462e-02 9.99502098e-01 1.34051265e-04 1.38524976e+00] [ 4.15115128e-03 -3.07390826e-06 9.99991384e-01 -1.86748045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.84592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.77, Y:1.39, Z:-1.87 [[ 9.99598671e-01 2.80228991e-02 -4.14904689e-03 1.36772862e+02] [-2.80225918e-02 9.99607281e-01 1.32184917e-04 1.38938303e+00] [ 4.15112169e-03 -1.58648202e-05 9.99991384e-01 -1.86899130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.87592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.80, Y:1.39, Z:-1.87 [[ 9.99731496e-01 2.27973736e-02 -4.14911438e-03 1.36801342e+02] [-2.27970302e-02 9.99740105e-01 1.30031388e-04 1.39073926e+00] [ 4.15100042e-03 -3.54089886e-05 9.99991384e-01 -1.86808384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.90592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.83, Y:1.39, Z:-1.87 [[ 9.99784998e-01 2.03160564e-02 -4.14917085e-03 1.36829737e+02] [-2.03156993e-02 9.99793607e-01 1.28203841e-04 1.39005487e+00] [ 4.15091908e-03 -4.38829694e-05 9.99991384e-01 -1.86863926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.93592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.86, Y:1.39, Z:-1.87 [[ 9.99832186e-01 1.78432947e-02 -4.14922634e-03 1.36858038e+02] [-1.78429239e-02 9.99840794e-01 1.26382130e-04 1.38997369e+00] [ 4.15082083e-03 -5.23265916e-05 9.99991384e-01 -1.86834709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.96592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.89, Y:1.39, Z:-1.87 [[ 9.99880914e-01 1.48640679e-02 -4.14928857e-03 1.36885564e+02] [-1.48636801e-02 9.99889522e-01 1.24304794e-04 1.39055732e+00] [ 4.15067784e-03 -6.26162928e-05 9.99991384e-01 -1.86901919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.99592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.91, Y:1.39, Z:-1.87 [[ 9.99938531e-01 1.02819203e-02 -4.14934910e-03 1.36914679e+02] [-1.02815015e-02 9.99947136e-01 1.22250189e-04 1.39227252e+00] [ 4.15038672e-03 -7.95811349e-05 9.99991384e-01 -1.86841695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.02592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:136.94, Y:1.39, Z:-1.87 [[ 9.99957941e-01 8.17918546e-03 -4.14940070e-03 1.36942720e+02] [-8.17875593e-03 9.99966546e-01 1.20473091e-04 1.39136015e+00] [ 4.15024726e-03 -8.65310881e-05 9.99991384e-01 -1.86924679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.05592000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.97, Y:1.39, Z:-1.87 [[ 9.99976281e-01 5.49729617e-03 -4.14945875e-03 1.36971735e+02] [-5.49685200e-03 9.99984885e-01 1.18439423e-04 1.39189959e+00] [ 4.15004713e-03 -9.56276529e-05 9.99991384e-01 -1.86803029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.08592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.00, Y:1.39, Z:-1.87 [[ 9.99983988e-01 3.84783784e-03 -4.14950827e-03 1.36999995e+02] [-3.84738678e-03 9.99992592e-01 1.16678064e-04 1.39283567e+00] [ 4.14992649e-03 -1.00711433e-04 9.99991384e-01 -1.86817661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.11592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.03, Y:1.39, Z:-1.87 [[ 9.99989128e-01 2.12731569e-03 -4.14956387e-03 1.37029198e+02] [-2.12685818e-03 9.99997732e-01 1.14666164e-04 1.39331787e+00] [ 4.14979839e-03 -1.05839383e-04 9.99991384e-01 -1.86874440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.14592000000002 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:137.06, Y:1.39, Z:-1.87 [[ 9.99989347e-01 -2.02144712e-03 -4.14957753e-03 1.37057567e+02] [ 2.02193827e-03 9.99997949e-01 1.14169853e-04 1.39353371e+00] [ 4.14933823e-03 -1.22558826e-04 9.99991384e-01 -1.86946096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.17592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.09, Y:1.39, Z:-1.87 [[ 9.99955009e-01 -8.52997686e-03 -4.14959114e-03 1.37086457e+02] [ 8.53052192e-03 9.99963608e-01 1.13672840e-04 1.39370558e+00] [ 4.14847050e-03 -1.49065904e-04 9.99991384e-01 -1.86886979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.20592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.12, Y:1.39, Z:-1.87 [[ 9.99920095e-01 -1.19409084e-02 -4.14960462e-03 1.37115360e+02] [ 1.19414808e-02 9.99928692e-01 1.13178783e-04 1.39272802e+00] [ 4.14795726e-03 -1.62722163e-04 9.99991384e-01 -1.86753680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.23592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.14, Y:1.39, Z:-1.87 [[ 9.99848397e-01 -1.69104886e-02 -4.14961778e-03 1.37144343e+02] [ 1.69111017e-02 9.99856991e-01 1.12693886e-04 1.38980948e+00] [ 4.14711864e-03 -1.82851410e-04 9.99991384e-01 -1.86850148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.26592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.17, Y:1.38, Z:-1.87 [[ 9.99708917e-01 -2.37668362e-02 -4.14963089e-03 1.37173712e+02] [ 2.37675062e-02 9.99717507e-01 1.12209322e-04 1.38334989e+00] [ 4.14579178e-03 -2.10803037e-04 9.99991384e-01 -1.86817510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.29592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.20, Y:1.38, Z:-1.87 [[ 9.99627045e-01 -2.69916997e-02 -4.14963732e-03 1.37203855e+02] [ 2.69923964e-02 9.99635633e-01 1.11970780e-04 1.38069621e+00] [ 4.14510305e-03 -2.23937676e-04 9.99991384e-01 -1.86734559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.32592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.23, Y:1.38, Z:-1.87 [[ 9.99544806e-01 -2.98824524e-02 -4.14963732e-03 1.37234240e+02] [ 2.98831740e-02 9.99553392e-01 1.11970780e-04 1.37866819e+00] [ 4.14443810e-03 -2.35924146e-04 9.99991384e-01 -1.86714893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.35592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.26, Y:1.37, Z:-1.86 [[ 9.99433966e-01 -3.33845393e-02 -4.14963732e-03 1.37262886e+02] [ 3.33852909e-02 9.99442550e-01 1.11970780e-04 1.37485004e+00] [ 4.14358601e-03 -2.50444250e-04 9.99991384e-01 -1.86163521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.38592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.30, Y:1.37, Z:-1.87 [[ 9.99554833e-01 -2.95449572e-02 -4.15100568e-03 1.37295220e+02] [ 2.95454690e-02 9.99563435e-01 6.19989641e-05 1.37298699e+00] [ 4.14736174e-03 -1.84614774e-04 9.99991383e-01 -1.86733901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.41592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.33, Y:1.37, Z:-1.87 [[ 9.99607123e-01 -2.77196833e-02 -4.14952457e-03 1.37325758e+02] [ 2.77204000e-02 9.99615709e-01 1.15301857e-04 1.36686050e+00] [ 4.14473382e-03 -2.30283039e-04 9.99991384e-01 -1.86819651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.44592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.36, Y:1.36, Z:-1.87 [[ 9.99588172e-01 -2.83948578e-02 -4.14952457e-03 1.37356159e+02] [ 2.83955803e-02 9.99596758e-01 1.15301857e-04 1.36430536e+00] [ 4.14457733e-03 -2.33082531e-04 9.99991384e-01 -1.86746492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.47592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.39, Y:1.36, Z:-1.85 [[ 9.99638444e-01 -2.65661896e-02 -4.14952457e-03 1.37385031e+02] [ 2.65668964e-02 9.99647031e-01 1.15301857e-04 1.35935497e+00] [ 4.14499679e-03 -2.25500159e-04 9.99991384e-01 -1.85428972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.50592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.42, Y:1.36, Z:-1.87 [[ 9.99652289e-01 -2.60398617e-02 -4.15054633e-03 1.37416086e+02] [ 2.60404109e-02 9.99660888e-01 7.83182152e-05 1.35535367e+00] [ 4.14709944e-03 -1.86372915e-04 9.99991383e-01 -1.86681209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.53592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.45, Y:1.35, Z:-1.86 [[ 9.99630758e-01 -2.68538615e-02 -4.14947816e-03 1.37445829e+02] [ 2.68545753e-02 9.99639344e-01 1.16397748e-04 1.34944288e+00] [ 4.14485590e-03 -2.27787243e-04 9.99991384e-01 -1.85562545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.56592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.48, Y:1.35, Z:-1.85 [[ 9.99613304e-01 -2.74958599e-02 -4.14966012e-03 1.37475268e+02] [ 2.74965525e-02 9.99621892e-01 1.09948766e-04 1.34611135e+00] [ 4.14506797e-03 -2.24007597e-04 9.99991384e-01 -1.85455236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.59592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.51, Y:1.34, Z:-1.87 [[ 9.99738056e-01 -2.25076492e-02 -4.15037338e-03 1.37507991e+02] [ 2.25081958e-02 9.99746655e-01 8.50185195e-05 1.34346524e+00] [ 4.14740834e-03 -1.78413666e-04 9.99991384e-01 -1.86698769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.62592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.54, Y:1.34, Z:-1.85 [[ 9.99716579e-01 -2.34423452e-02 -4.14937241e-03 1.37536278e+02] [ 2.34430435e-02 9.99725167e-01 1.19713337e-04 1.33815238e+00] [ 4.14542566e-03 -2.16953325e-04 9.99991384e-01 -1.85263344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.65592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:137.57, Y:1.34, Z:-1.85 [[ 9.99782540e-01 -2.04363951e-02 -4.15037149e-03 1.37565426e+02] [ 2.04369240e-02 9.99791141e-01 8.50636851e-05 1.33521787e+00] [ 4.14776625e-03 -1.69866014e-04 9.99991384e-01 -1.85411052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.68592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:137.60, Y:1.33, Z:-1.86 [[ 9.99857584e-01 -1.63578863e-02 -4.15094654e-03 1.37595166e+02] [ 1.63582981e-02 9.99866192e-01 6.52626597e-05 1.33351347e+00] [ 4.14932356e-03 -1.33155786e-04 9.99991383e-01 -1.85520125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.71592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.63, Y:1.33, Z:-1.86 [[ 9.99959630e-01 -7.96857620e-03 -4.15201190e-03 1.37629613e+02] [ 7.96876619e-03 9.99968248e-01 2.92171913e-05 1.33323449e+00] [ 4.15164724e-03 -6.23024238e-05 9.99991380e-01 -1.86498630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.74592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.66, Y:1.33, Z:-1.87 [[ 9.99990229e-01 -1.52542247e-03 -4.14913329e-03 1.37658284e+02] [ 1.52595369e-03 9.99998828e-01 1.24868265e-04 1.33200201e+00] [ 4.14893795e-03 -1.31198430e-04 9.99991385e-01 -1.86537622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.77592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.69, Y:1.33, Z:-1.86 [[ 9.99987993e-01 2.60722690e-03 -4.14918446e-03 1.37686446e+02] [-2.60673837e-03 9.99996595e-01 1.23144304e-04 1.33254475e+00] [ 4.14949140e-03 -1.12326987e-04 9.99991385e-01 -1.86478909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.80592000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.71, Y:1.33, Z:-1.86 [[ 9.99974800e-01 5.76042790e-03 -4.14924261e-03 1.37714456e+02] [-5.75997476e-03 9.99983404e-01 1.21152689e-04 1.33290799e+00] [ 4.14987164e-03 -9.72501029e-05 9.99991385e-01 -1.86472495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.83592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.74, Y:1.33, Z:-1.86 [[ 9.99935306e-01 1.05909433e-02 -4.14929694e-03 1.37741747e+02] [-1.05905396e-02 9.99943912e-01 1.19262527e-04 1.33246842e+00] [ 4.15032732e-03 -7.53115177e-05 9.99991385e-01 -1.86446526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.86592000000002 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:137.77, Y:1.33, Z:-1.85 [[ 9.99898406e-01 1.36365045e-02 -4.15020000e-03 1.37771150e+02] [-1.36362589e-02 9.99907018e-01 8.74696706e-05 1.33269309e+00] [ 4.15100688e-03 -3.08675825e-05 9.99991384e-01 -1.85186079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.89592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.80, Y:1.34, Z:-1.86 [[ 9.99802409e-01 1.94400248e-02 -4.15072367e-03 1.37804145e+02] [-1.94399061e-02 9.99811025e-01 6.89354095e-05 1.34130194e+00] [ 4.15127939e-03 1.17678900e-05 9.99991383e-01 -1.86276246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.92592000000002 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:137.83, Y:1.35, Z:-1.86 [[ 9.99744344e-01 2.22267961e-02 -4.14930362e-03 1.37832748e+02] [-2.22264953e-02 9.99752954e-01 1.18611950e-04 1.34511908e+00] [ 4.15091492e-03 -2.63571490e-05 9.99991385e-01 -1.86308033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.95592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.86, Y:1.35, Z:-1.86 [[ 9.99693335e-01 2.44134871e-02 -4.14935498e-03 1.37861179e+02] [-2.44132127e-02 9.99701946e-01 1.16787257e-04 1.34713345e+00] [ 4.15096943e-03 -1.54523568e-05 9.99991385e-01 -1.86284839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.98592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.89, Y:1.35, Z:-1.86 [[ 9.99601432e-01 2.79241586e-02 -4.14940586e-03 1.37889771e+02] [-2.79239220e-02 9.99610045e-01 1.14950777e-04 1.35135157e+00] [ 4.15099768e-03 9.62723755e-07 9.99991385e-01 -1.86360484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.01592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.92, Y:1.35, Z:-1.86 [[ 9.99563721e-01 2.92429533e-02 -4.14945640e-03 1.37918073e+02] [-2.92427357e-02 9.99572333e-01 1.13096360e-04 1.35464875e+00] [ 4.15098909e-03 8.29443826e-06 9.99991385e-01 -1.86322831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.04592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.95, Y:1.36, Z:-1.86 [[ 9.99512834e-01 3.09334119e-02 -4.14951323e-03 1.37945963e+02] [-3.09332178e-02 9.99521447e-01 1.10971335e-04 1.36241491e+00] [ 4.15096019e-03 1.74405229e-05 9.99991385e-01 -1.86274519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.07592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.97, Y:1.36, Z:-1.86 [[ 9.99524811e-01 3.05439532e-02 -4.14956900e-03 1.37974148e+02] [-3.05437645e-02 9.99533424e-01 1.08845331e-04 1.36468068e+00] [ 4.15095748e-03 1.79498495e-05 9.99991385e-01 -1.86235499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.10592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.00, Y:1.37, Z:-1.86 [[ 9.99598336e-01 2.80347547e-02 -4.14962418e-03 1.38002787e+02] [-2.80345533e-02 9.99606949e-01 1.06699258e-04 1.37018947e+00] [ 4.15098445e-03 9.67645934e-06 9.99991385e-01 -1.86170295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.13592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.03, Y:1.37, Z:-1.86 [[ 9.99678277e-01 2.50224424e-02 -4.14967126e-03 1.38030842e+02] [-2.50222228e-02 9.99686890e-01 1.04835655e-04 1.37242286e+00] [ 4.15099520e-03 -9.67928241e-07 9.99991385e-01 -1.86159876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.16592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:138.06, Y:1.38, Z:-1.86 [[ 9.99803228e-01 1.93980853e-02 -4.14972465e-03 1.38059338e+02] [-1.93978262e-02 9.99811839e-01 1.02677900e-04 1.37651087e+00] [ 4.15093559e-03 -2.21620582e-05 9.99991385e-01 -1.86216130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.19592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:138.09, Y:1.38, Z:-1.86 [[ 9.99859173e-01 1.62608127e-02 -4.14976982e-03 1.38087699e+02] [-1.62605343e-02 9.99867784e-01 1.00818809e-04 1.37759783e+00] [ 4.15086055e-03 -3.33271361e-05 9.99991385e-01 -1.86321646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.22592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:138.12, Y:1.38, Z:-1.86 [[ 9.99903185e-01 1.32815665e-02 -4.14981380e-03 1.38116540e+02] [-1.32812701e-02 9.99911795e-01 9.89747490e-05 1.37820364e+00] [ 4.15076230e-03 -4.38503689e-05 9.99991385e-01 -1.86218795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.25592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:138.14, Y:1.38, Z:-1.86 [[ 9.99958410e-01 8.12140706e-03 -4.14985671e-03 1.38144974e+02] [-8.12107384e-03 9.99967019e-01 9.71417651e-05 1.38030302e+00] [ 4.15050877e-03 -6.34364322e-05 9.99991385e-01 -1.86191055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.28592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.17, Y:1.38, Z:-1.86 [[ 9.99974772e-01 5.76492316e-03 -4.14989817e-03 1.38173091e+02] [-5.76457714e-03 9.99983380e-01 9.53370547e-05 1.38018390e+00] [ 4.15037881e-03 -7.14122415e-05 9.99991385e-01 -1.86200954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.31592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:138.20, Y:1.38, Z:-1.86 [[ 9.99985784e-01 3.34797179e-03 -4.14994391e-03 1.38202298e+02] [-3.34761341e-03 9.99994392e-01 9.33022784e-05 1.38173527e+00] [ 4.15023302e-03 -7.94085441e-05 9.99991385e-01 -1.86256914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.34592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:138.23, Y:1.38, Z:-1.86 [[ 9.99987168e-01 2.90555962e-03 -4.14998302e-03 1.38231270e+02] [-2.90520478e-03 9.99995776e-01 9.15290753e-05 1.38157479e+00] [ 4.15023143e-03 -7.94713503e-05 9.99991385e-01 -1.86340155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.37592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:138.26, Y:1.38, Z:-1.86 [[ 9.99989524e-01 1.93108316e-03 -4.15002114e-03 1.38259126e+02] [-1.93072725e-03 9.99998132e-01 8.97668239e-05 1.38166085e+00] [ 4.15018674e-03 -8.17533246e-05 9.99991385e-01 -1.86441813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.40592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:138.29, Y:1.38, Z:-1.86 [[ 9.99991311e-01 3.94162390e-04 -4.15006377e-03 1.38288107e+02] [-3.93801608e-04 9.99999919e-01 8.77508675e-05 1.38153412e+00] [ 4.15009802e-03 -8.61158033e-05 9.99991385e-01 -1.86414529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.43592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:138.32, Y:1.38, Z:-1.86 [[ 9.99990517e-01 -1.32002881e-03 -4.15007434e-03 1.38316449e+02] [ 1.32040226e-03 9.99999124e-01 8.72479585e-05 1.38109327e+00] [ 4.14995554e-03 -9.27268987e-05 9.99991385e-01 -1.86392815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.46592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.35, Y:1.38, Z:-1.86 [[ 9.99978882e-01 -5.00129504e-03 -4.15008478e-03 1.38345506e+02] [ 5.00169810e-03 9.99987488e-01 8.67485162e-05 1.37983045e+00] [ 4.14959900e-03 -1.07504155e-04 9.99991385e-01 -1.86452251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.49592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:138.37, Y:1.38, Z:-1.86 [[ 9.99970172e-01 -6.51402922e-03 -4.15009516e-03 1.38374097e+02] [ 6.51444323e-03 9.99978777e-01 8.62491582e-05 1.37853069e+00] [ 4.14944525e-03 -1.13282145e-04 9.99991385e-01 -1.86371210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.52592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:138.40, Y:1.38, Z:-1.86 [[ 9.99948268e-01 -9.28642397e-03 -4.15010543e-03 1.38403145e+02] [ 9.28685977e-03 9.99956873e-01 8.57520836e-05 1.37509199e+00] [ 4.14913011e-03 -1.24289095e-04 9.99991385e-01 -1.86483596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.55592000000001 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:138.43, Y:1.37, Z:-1.86 [[ 9.99948284e-01 -9.28471336e-03 -4.15011559e-03 1.38431946e+02] [ 9.28514710e-03 9.99956888e-01 8.52575355e-05 1.37365215e+00] [ 4.14914508e-03 -1.23787560e-04 9.99991385e-01 -1.86430353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.58592000000002 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:138.46, Y:1.37, Z:-1.86 [[ 9.99952764e-01 -8.78900296e-03 -4.15012562e-03 1.38460624e+02] [ 8.78943040e-03 9.99961369e-01 8.47663401e-05 1.37351818e+00] [ 4.14922028e-03 -1.21239576e-04 9.99991385e-01 -1.86439337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.61592000000002 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:138.49, Y:1.37, Z:-1.86 [[ 9.99951719e-01 -8.90706836e-03 -4.15013553e-03 1.38489918e+02] [ 8.90749479e-03 9.99960324e-01 8.42784522e-05 1.37288751e+00] [ 4.14922019e-03 -1.21241694e-04 9.99991385e-01 -1.86427165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.64592000000002 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:138.52, Y:1.37, Z:-1.86 [[ 9.99961717e-01 -7.70325140e-03 -4.15014542e-03 1.38519173e+02] [ 7.70366544e-03 9.99970323e-01 8.37884444e-05 1.37214383e+00] [ 4.14937681e-03 -1.15756569e-04 9.99991385e-01 -1.86351799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.67592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.55, Y:1.37, Z:-1.86 [[ 9.99972062e-01 -6.21702014e-03 -4.15015526e-03 1.38548390e+02] [ 6.21741935e-03 9.99980668e-01 8.32980120e-05 1.37048087e+00] [ 4.14955717e-03 -1.09098940e-04 9.99991385e-01 -1.86367075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.70592000000002 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:138.58, Y:1.37, Z:-1.86 [[ 9.99986380e-01 -3.16491966e-03 -4.15016518e-03 1.38577418e+02] [ 3.16529055e-03 9.99994987e-01 8.28009303e-05 1.36752674e+00] [ 4.14988232e-03 -9.59362811e-05 9.99991385e-01 -1.86403308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.73592000000002 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:138.60, Y:1.37, Z:-1.87 [[ 9.99990770e-01 -1.11136954e-03 -4.15019937e-03 1.38604984e+02] [ 1.11171549e-03 9.99999379e-01 8.10501035e-05 1.36711345e+00] [ 4.15010672e-03 -8.56631963e-05 9.99991385e-01 -1.86508656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.76592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:138.63, Y:1.37, Z:-1.87 [[ 9.99991386e-01 4.99990459e-05 -4.15023759e-03 1.38633022e+02] [-4.96714248e-05 9.99999996e-01 7.90433717e-05 1.36630183e+00] [ 4.15024153e-03 -7.88365426e-05 9.99991385e-01 -1.86555822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.79592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:138.66, Y:1.36, Z:-1.86 [[ 9.99991159e-01 -6.76453374e-04 -4.15027527e-03 1.38661557e+02] [ 6.76778826e-04 9.99999768e-01 7.70131858e-05 1.36456211e+00] [ 4.15022221e-03 -7.98213234e-05 9.99991385e-01 -1.86446165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.82592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:138.69, Y:1.36, Z:-1.86 [[ 9.99988991e-01 -2.18941545e-03 -4.15028459e-03 1.38689929e+02] [ 2.18975183e-03 9.99997600e-01 7.65071864e-05 1.36207615e+00] [ 4.15010713e-03 -8.55944374e-05 9.99991385e-01 -1.86237127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.85592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:138.72, Y:1.36, Z:-1.86 [[ 9.99984051e-01 -3.83055535e-03 -4.15029388e-03 1.38718330e+02] [ 3.83090375e-03 9.99992659e-01 7.59999168e-05 1.36061196e+00] [ 4.14997229e-03 -9.18980811e-05 9.99991385e-01 -1.86294861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.88592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:138.75, Y:1.36, Z:-1.86 [[ 9.99979374e-01 -4.90164522e-03 -4.15030308e-03 1.38747382e+02] [ 4.90200075e-03 9.99987982e-01 7.54942783e-05 1.35781243e+00] [ 4.14988316e-03 -9.58375100e-05 9.99991385e-01 -1.86285912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.91592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:138.78, Y:1.35, Z:-1.86 [[ 9.99949478e-01 -9.15510794e-03 -4.15031204e-03 1.38776050e+02] [ 9.15549802e-03 9.99958085e-01 7.49982292e-05 1.35041946e+00] [ 4.14945147e-03 -1.12992614e-04 9.99991385e-01 -1.86326235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.94592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:138.80, Y:1.35, Z:-1.86 [[ 9.99935712e-01 -1.05521243e-02 -4.15032098e-03 1.38804442e+02] [ 1.05525243e-02 9.99944318e-01 7.45006928e-05 1.34714102e+00] [ 4.14930374e-03 -1.18292266e-04 9.99991385e-01 -1.86361857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.97592 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:138.83, Y:1.34, Z:-1.86 [[ 9.99922256e-01 -1.17582475e-02 -4.15032983e-03 1.38833432e+02] [ 1.17586559e-02 9.99930862e-01 7.40039418e-05 1.34126279e+00] [ 4.14917273e-03 -1.22800489e-04 9.99991385e-01 -1.86291385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.00592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:138.86, Y:1.34, Z:-1.86 [[ 9.99910299e-01 -1.27345747e-02 -4.15033865e-03 1.38862425e+02] [ 1.27349894e-02 9.99918904e-01 7.35060516e-05 1.33679672e+00] [ 4.14906601e-03 -1.26353977e-04 9.99991385e-01 -1.86168982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.03592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:138.89, Y:1.33, Z:-1.86 [[ 9.99894855e-01 -1.38943960e-02 -4.15034739e-03 1.38891252e+02] [ 1.38948186e-02 9.99903460e-01 7.30092142e-05 1.33180989e+00] [ 4.14893230e-03 -1.30669862e-04 9.99991385e-01 -1.86233085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.06592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:138.92, Y:1.33, Z:-1.86 [[ 9.99880813e-01 -1.48705552e-02 -4.15035600e-03 1.38919656e+02] [ 1.48709842e-02 9.99889418e-01 7.25166173e-05 1.32578215e+00] [ 4.14881868e-03 -1.34227853e-04 9.99991385e-01 -1.86029562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.09592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:138.95, Y:1.32, Z:-1.86 [[ 9.99896206e-01 -1.37967721e-02 -4.15036457e-03 1.38948007e+02] [ 1.37971897e-02 9.99904812e-01 7.20228164e-05 1.32266202e+00] [ 4.14897582e-03 -1.29278708e-04 9.99991385e-01 -1.85989816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.12592 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:138.98, Y:1.31, Z:-1.86 [[ 9.99921527e-01 -1.18200879e-02 -4.15037312e-03 1.38976420e+02] [ 1.18204865e-02 9.99930133e-01 7.15264104e-05 1.31432393e+00] [ 4.14923770e-03 -1.20580227e-04 9.99991385e-01 -1.86055999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.15592 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:139.01, Y:1.31, Z:-1.86 [[ 9.99936158e-01 -1.05097595e-02 -4.15038164e-03 1.39005450e+02] [ 1.05101448e-02 9.99944764e-01 7.10284303e-05 1.31118749e+00] [ 4.14940590e-03 -1.14645008e-04 9.99991385e-01 -1.86053036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.18592 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:139.03, Y:1.31, Z:-1.86 [[ 9.99945581e-01 -9.57130431e-03 -4.15039020e-03 1.39034596e+02] [ 9.57167942e-03 9.99954188e-01 7.05247636e-05 1.30915805e+00] [ 4.14952505e-03 -1.10247130e-04 9.99991385e-01 -1.85980008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.21592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:139.06, Y:1.30, Z:-1.86 [[ 9.99952569e-01 -8.81100454e-03 -4.15039861e-03 1.39063536e+02] [ 8.81137104e-03 9.99961177e-01 7.00264290e-05 1.30376334e+00] [ 4.14962047e-03 -1.06593810e-04 9.99991385e-01 -1.85870234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.24592 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:139.09, Y:1.30, Z:-1.86 [[ 9.99951704e-01 -8.90868113e-03 -4.15040696e-03 1.39092348e+02] [ 8.90904640e-03 9.99960311e-01 6.95281785e-05 1.29581493e+00] [ 4.14962283e-03 -1.06500989e-04 9.99991385e-01 -1.85906391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.27592 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:139.12, Y:1.29, Z:-1.86 [[ 9.99962535e-01 -7.59620380e-03 -4.15041530e-03 1.39121468e+02] [ 7.59655569e-03 9.99971143e-01 6.90264760e-05 1.29208324e+00] [ 4.14977119e-03 -1.00552751e-04 9.99991385e-01 -1.86054658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.30592000000001 meters Centerline goodness : 0.999502 Centerline is valid? [True, True] Translation: X:139.15, Y:1.29, Z:-1.86 [[ 9.99966353e-01 -7.07577631e-03 -4.15042362e-03 1.39150222e+02] [ 7.07612163e-03 9.99974962e-01 6.85223578e-05 1.28915849e+00] [ 4.14983485e-03 -9.78889547e-05 9.99991385e-01 -1.85988550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.33592000000002 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:139.18, Y:1.28, Z:-1.86 [[ 9.99985581e-01 -3.40772780e-03 -4.15043199e-03 1.39179315e+02] [ 3.40803943e-03 9.99994190e-01 6.80119529e-05 1.28372264e+00] [ 4.15017611e-03 -8.21558080e-05 9.99991385e-01 -1.85855281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.36592000000002 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:139.21, Y:1.28, Z:-1.86 [[ 9.99991152e-01 -6.85262311e-04 -4.15046048e-03 1.39208490e+02] [ 6.85543083e-04 9.99999763e-01 6.62260534e-05 1.28168392e+00] [ 4.15041412e-03 -6.90707869e-05 9.99991385e-01 -1.85960998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.39592000000002 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:139.24, Y:1.28, Z:-1.84 [[ 9.99956410e-01 8.36372989e-03 -4.15048836e-03 1.39239017e+02] [-8.36353450e-03 9.99965023e-01 6.44303143e-05 1.27955834e+00] [ 4.15088207e-03 -2.97147531e-05 9.99991385e-01 -1.84143735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.42592000000002 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:139.27, Y:1.28, Z:-1.86 [[ 9.99928714e-01 1.11956665e-02 -4.15021638e-03 1.39268487e+02] [-1.11954222e-02 9.99937326e-01 8.21123163e-05 1.27924841e+00] [ 4.15087557e-03 -3.56430384e-05 9.99991384e-01 -1.85940183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.45592000000002 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:139.30, Y:1.28, Z:-1.86 [[ 9.99892129e-01 1.40891128e-02 -4.15050619e-03 1.39297584e+02] [-1.40889726e-02 9.99900744e-01 6.30277820e-05 1.27815555e+00] [ 4.15098223e-03 -4.54461515e-06 9.99991385e-01 -1.85756543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.48592000000002 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:139.33, Y:1.28, Z:-1.86 [[ 9.99853032e-01 1.66339425e-02 -4.15053207e-03 1.39325168e+02] [-1.66338315e-02 9.99861646e-01 6.12744198e-05 1.27683691e+00] [ 4.15097707e-03 7.77383669e-06 9.99991385e-01 -1.85825424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.51592 meters Centerline goodness : 0.998348 Centerline is valid? [True, True] Translation: X:139.36, Y:1.28, Z:-1.84 [[ 9.99732184e-01 2.27669357e-02 -4.15056320e-03 1.39357603e+02] [-2.27668866e-02 9.99740799e-01 5.90876217e-05 1.27662714e+00] [ 4.15083262e-03 3.54236048e-05 9.99991385e-01 -1.83820966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.54592 meters Centerline goodness : 0.998159 Centerline is valid? [True, True] Translation: X:139.39, Y:1.28, Z:-1.84 [[ 9.99620124e-01 2.72467856e-02 -4.14970206e-03 1.39386548e+02] [-2.72465234e-02 9.99628737e-01 1.19715407e-04 1.28035704e+00] [ 4.15142329e-03 -6.60497607e-06 9.99991383e-01 -1.83827802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.57592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:139.42, Y:1.28, Z:-1.85 [[ 9.99585202e-01 2.84991505e-02 -4.14990737e-03 1.39415119e+02] [-2.84989614e-02 9.99593817e-01 1.04707509e-04 1.28255427e+00] [ 4.15120582e-03 1.36039734e-05 9.99991384e-01 -1.85227446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.60592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:139.44, Y:1.28, Z:-1.86 [[ 9.99585021e-01 2.85054652e-02 -4.15024842e-03 1.39443501e+02] [-2.85053835e-02 9.99593636e-01 7.88505743e-05 1.28480417e+00] [ 4.15080958e-03 3.94865699e-05 9.99991385e-01 -1.85747693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.63592 meters Centerline goodness : 0.998853 Centerline is valid? [True, True] Translation: X:139.48, Y:1.29, Z:-1.84 [[ 9.99471572e-01 3.22389433e-02 -4.15057447e-03 1.39476473e+02] [-3.22389985e-02 9.99480187e-01 5.36050379e-05 1.28656273e+00] [ 4.15014512e-03 8.02336528e-05 9.99991385e-01 -1.83711380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.66592 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:139.50, Y:1.29, Z:-1.86 [[ 9.99499748e-01 3.13533781e-02 -4.14960425e-03 1.39501168e+02] [-3.13531228e-02 9.99508362e-01 1.26594867e-04 1.28813309e+00] [ 4.15153333e-03 3.57151372e-06 9.99991382e-01 -1.85686467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.69592 meters Centerline goodness : 0.987129 Centerline is valid? [True, True] Translation: X:139.58, Y:1.30, Z:-1.87 [[ 9.99690614e-01 2.45244798e-02 -4.15053651e-03 1.39578510e+02] [-2.45244770e-02 9.99699228e-01 5.15816738e-05 1.30110626e+00] [ 4.15055316e-03 5.02240221e-05 9.99991385e-01 -1.86904850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.72592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:139.55, Y:1.29, Z:-1.84 [[ 9.99765168e-01 2.12712386e-02 -4.14042988e-03 1.39554210e+02] [-2.12675104e-02 9.99773377e-01 9.42391457e-04 1.28552529e+00] [ 4.15953739e-03 -8.54113518e-04 9.99990984e-01 -1.84077474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.75592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:139.59, Y:1.29, Z:-1.85 [[ 9.99755392e-01 2.17254183e-02 -4.14270622e-03 1.39585304e+02] [-2.17255087e-02 9.99763973e-01 2.31883169e-05 1.28800257e+00] [ 4.14223220e-03 6.68197550e-05 9.99991419e-01 -1.85021768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.78592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:139.61, Y:1.29, Z:-1.86 [[ 9.99842096e-01 1.72806672e-02 -4.14266726e-03 1.39612966e+02] [-1.72806540e-02 9.99850678e-01 3.90005127e-05 1.29019289e+00] [ 4.14272262e-03 3.25936450e-05 9.99991418e-01 -1.85577613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.81592 meters Centerline goodness : 0.998459 Centerline is valid? [True, True] Translation: X:139.64, Y:1.29, Z:-1.83 [[ 9.99864253e-01 1.59471925e-02 -4.14272640e-03 1.39642950e+02] [-1.59472967e-02 9.99872834e-01 7.87042180e-06 1.29070049e+00] [ 4.14232510e-03 5.81959337e-05 9.99991419e-01 -1.83237533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.84592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:139.67, Y:1.29, Z:-1.85 [[ 9.99883962e-01 1.46594849e-02 -4.14270836e-03 1.39673274e+02] [-1.46595385e-02 9.99892543e-01 1.74310721e-05 1.29128864e+00] [ 4.14251873e-03 4.33011433e-05 9.99991419e-01 -1.85184464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.87592 meters Centerline goodness : 0.999452 Centerline is valid? [True, True] Translation: X:139.70, Y:1.29, Z:-1.83 [[ 9.99954982e-01 8.53656746e-03 -4.14269805e-03 1.39700959e+02] [-8.53654258e-03 9.99963563e-01 2.36866549e-05 1.29282184e+00] [ 4.14274930e-03 1.16787298e-05 9.99991419e-01 -1.83405462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.90592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:139.73, Y:1.29, Z:-1.85 [[ 9.99973668e-01 5.95833272e-03 -4.14271468e-03 1.39729439e+02] [-5.95833847e-03 9.99982249e-01 1.09550868e-05 1.29380901e+00] [ 4.14270642e-03 1.37288979e-05 9.99991419e-01 -1.85017664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.93592 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:139.76, Y:1.30, Z:-1.84 [[ 9.99990753e-01 -1.15384904e-03 -4.14271293e-03 1.39756766e+02] [ 1.15391129e-03 9.99999334e-01 1.26361426e-05 1.29570917e+00] [ 4.14269560e-03 -1.74163489e-05 9.99991419e-01 -1.83643938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.96592 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:139.79, Y:1.30, Z:-1.84 [[ 9.99987048e-01 -2.95667851e-03 -4.14274250e-03 1.39785829e+02] [ 2.95663537e-03 9.99995629e-01 -1.65354806e-05 1.29620608e+00] [ 4.14277328e-03 4.28668742e-06 9.99991419e-01 -1.83677051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.99592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.82, Y:1.30, Z:-1.85 [[ 9.99972541e-01 -6.14457446e-03 -4.14274183e-03 1.39815883e+02] [ 6.14456139e-03 9.99981122e-01 -1.58832145e-05 1.29605686e+00] [ 4.14276122e-03 -9.57255312e-06 9.99991419e-01 -1.85160634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.02592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:139.84, Y:1.30, Z:-1.83 [[ 9.99928010e-01 -1.12610846e-02 -4.14272667e-03 1.39843795e+02] [ 1.12611811e-02 9.99936591e-01 -5.16565911e-08 1.29598537e+00] [ 4.14246457e-03 -4.66003422e-05 9.99991419e-01 -1.83334229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.05592000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.88, Y:1.30, Z:-1.85 [[ 9.99906220e-01 -1.30533383e-02 -4.14275716e-03 1.39875102e+02] [ 1.30533063e-02 9.99914801e-01 -3.47789935e-05 1.29653341e+00] [ 4.14285818e-03 -1.93009460e-05 9.99991418e-01 -1.84912857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.08592000000002 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:139.90, Y:1.30, Z:-1.85 [[ 9.99862060e-01 -1.60841426e-02 -4.14272701e-03 1.39903995e+02] [ 1.60842470e-02 9.99870640e-01 -8.10558830e-06 1.29663333e+00] [ 4.14232148e-03 -5.85281744e-05 9.99991419e-01 -1.84920471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.11592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.93, Y:1.30, Z:-1.85 [[ 9.99809105e-01 -1.90942550e-02 -4.14273167e-03 1.39933268e+02] [ 1.90943700e-02 9.99817686e-01 -1.18046423e-05 1.29668196e+00] [ 4.14220179e-03 -6.73004623e-05 9.99991419e-01 -1.84679589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.14592000000002 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:139.96, Y:1.30, Z:-1.83 [[ 9.99797077e-01 -1.97140124e-02 -4.14275819e-03 1.39962328e+02] [ 1.97140607e-02 9.99805659e-01 -2.91802442e-05 1.29794980e+00] [ 4.14252834e-03 -5.24962633e-05 9.99991418e-01 -1.83334244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.17592000000002 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:139.99, Y:1.30, Z:-1.84 [[ 9.99764535e-01 -2.13005236e-02 -4.14284074e-03 1.39991973e+02] [ 2.13004270e-02 9.99773118e-01 -6.74488187e-05 1.29815492e+00] [ 4.14333750e-03 -2.08113398e-05 9.99991416e-01 -1.83554992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.20592000000002 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:140.02, Y:1.30, Z:-1.84 [[ 9.99767253e-01 -2.11725346e-02 -4.14282821e-03 1.40022104e+02] [ 2.11724589e-02 9.99775836e-01 -6.21218791e-05 1.29699199e+00] [ 4.14321482e-03 -2.56064395e-05 9.99991417e-01 -1.83962975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.23592000000002 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:140.05, Y:1.29, Z:-1.83 [[ 9.99744966e-01 -2.21999897e-02 -4.14282416e-03 1.40051499e+02] [ 2.21999286e-02 9.99753549e-01 -6.07202220e-05 1.29478684e+00] [ 4.14315115e-03 -3.12656644e-05 9.99991417e-01 -1.83271692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.26592 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:140.08, Y:1.29, Z:-1.83 [[ 9.99719290e-01 -2.33276247e-02 -4.14283025e-03 1.40081201e+02] [ 2.33275664e-02 9.99727873e-01 -6.24157886e-05 1.29427942e+00] [ 4.14315889e-03 -3.42438799e-05 9.99991416e-01 -1.83316843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.29592 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:140.11, Y:1.29, Z:-1.83 [[ 9.99733132e-01 -2.27266567e-02 -4.14284716e-03 1.40110737e+02] [ 2.27265768e-02 9.99741716e-01 -6.63567286e-05 1.29298162e+00] [ 4.14328519e-03 -2.78137141e-05 9.99991416e-01 -1.82974484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.32592 meters Centerline goodness : 0.999502 Centerline is valid? [True, True] Translation: X:140.14, Y:1.29, Z:-1.83 [[ 9.99718426e-01 -2.33646047e-02 -4.14282737e-03 1.40141047e+02] [ 2.33645471e-02 9.99727010e-01 -6.22944413e-05 1.29194875e+00] [ 4.14315191e-03 -3.45183846e-05 9.99991417e-01 -1.83487072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.35592 meters Centerline goodness : 0.993834 Centerline is valid? [True, True] Translation: X:140.21, Y:1.30, Z:-1.84 [[ 9.99592291e-01 -2.82504509e-02 -4.14282304e-03 1.40207006e+02] [ 2.82504392e-02 9.99600875e-01 -6.13645800e-05 1.29524180e+00] [ 4.14290311e-03 -5.56970091e-05 9.99991417e-01 -1.84444490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.38592 meters Centerline goodness : 0.991950 Centerline is valid? [True, True] Translation: X:140.25, Y:1.29, Z:-1.85 [[ 9.99377164e-01 -3.50488705e-02 -4.10607131e-03 1.40246871e+02] [ 3.50523690e-02 9.99385170e-01 7.83152999e-04 1.28987413e+00] [ 4.07609815e-03 -9.26592750e-04 9.99991263e-01 -1.84578729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.41592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:140.23, Y:1.27, Z:-1.84 [[ 9.99365275e-01 -3.53863379e-02 -4.10535274e-03 1.40227393e+02] [ 3.53889178e-02 9.99373461e-01 5.57470472e-04 1.27384404e+00] [ 4.08305373e-03 -7.02400623e-04 9.99991418e-01 -1.84224212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.44592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:140.26, Y:1.27, Z:-1.84 [[ 9.99348630e-01 -3.58540526e-02 -4.09903442e-03 1.40259076e+02] [ 3.58540224e-02 9.99357035e-01 -8.08771509e-05 1.27373489e+00] [ 4.09929865e-03 -6.61424019e-05 9.99991596e-01 -1.84300051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.47592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:140.29, Y:1.27, Z:-1.84 [[ 9.99364662e-01 -3.54043883e-02 -4.09903091e-03 1.40289969e+02] [ 3.54043528e-02 9.99373066e-01 -8.12509561e-05 1.27425526e+00] [ 4.09933773e-03 -6.39242023e-05 9.99991596e-01 -1.84287379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.50592 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:140.32, Y:1.27, Z:-1.83 [[ 9.99310243e-01 -3.69084800e-02 -4.09904392e-03 1.40320323e+02] [ 3.69084631e-02 9.99318647e-01 -7.97990103e-05 1.27274529e+00] [ 4.09919628e-03 -7.15454429e-05 9.99991596e-01 -1.83283158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.53592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:140.35, Y:1.27, Z:-1.83 [[ 9.99305087e-01 -3.70478501e-02 -4.09875641e-03 1.40351418e+02] [ 3.70476924e-02 9.99313492e-01 -1.14405149e-04 1.27231518e+00] [ 4.10018105e-03 -3.75238192e-05 9.99991594e-01 -1.83424209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.56592 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:140.38, Y:1.27, Z:-1.83 [[ 9.99197007e-01 -3.98565078e-02 -4.09884602e-03 1.40382333e+02] [ 3.98564211e-02 9.99205412e-01 -1.02873448e-04 1.26820716e+00] [ 4.09968930e-03 -6.05744918e-05 9.99991594e-01 -1.82963154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.59592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:140.41, Y:1.27, Z:-1.84 [[ 9.99243991e-01 -3.86606714e-02 -4.09871608e-03 1.40414241e+02] [ 3.86605008e-02 9.99252396e-01 -1.20885890e-04 1.26759502e+00] [ 4.10032540e-03 -3.76639174e-05 9.99991593e-01 -1.83930832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.62592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:140.45, Y:1.27, Z:-1.84 [[ 9.99229960e-01 -3.90215912e-02 -4.09900592e-03 1.40445510e+02] [ 3.90216032e-02 9.99238364e-01 -7.70567805e-05 1.26700560e+00] [ 4.09889085e-03 -8.29523389e-05 9.99991596e-01 -1.83666411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.65592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:140.48, Y:1.27, Z:-1.84 [[ 9.99307030e-01 -3.69954019e-02 -4.09890063e-03 1.40477102e+02] [ 3.69953219e-02 9.99315434e-01 -9.53621298e-05 1.26649463e+00] [ 4.09962263e-03 -5.63441016e-05 9.99991595e-01 -1.83936201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.68592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:140.51, Y:1.27, Z:-1.84 [[ 9.99364622e-01 -3.54055074e-02 -4.09904254e-03 1.40508835e+02] [ 3.54055295e-02 9.99373025e-01 -6.71853217e-05 1.26513550e+00] [ 4.09885128e-03 -7.79861380e-05 9.99991597e-01 -1.83953472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.71592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:140.54, Y:1.26, Z:-1.84 [[ 9.99338000e-01 -3.61491402e-02 -4.09904061e-03 1.40539838e+02] [ 3.61491668e-02 9.99346403e-01 -6.76103846e-05 1.26257324e+00] [ 4.09880555e-03 -8.06112764e-05 9.99991597e-01 -1.83969436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.74592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.57, Y:1.26, Z:-1.84 [[ 9.99323962e-01 -3.65351451e-02 -4.09904021e-03 1.40570851e+02] [ 3.65351746e-02 9.99332365e-01 -6.77056503e-05 1.26260824e+00] [ 4.09877719e-03 -8.20992711e-05 9.99991597e-01 -1.83993608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.77592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:140.60, Y:1.26, Z:-1.84 [[ 9.99353587e-01 -3.57156230e-02 -4.09906309e-03 1.40601077e+02] [ 3.57156720e-02 9.99361990e-01 -6.12487935e-05 1.26127152e+00] [ 4.09863539e-03 -8.51915915e-05 9.99991597e-01 -1.84028624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.80592000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.63, Y:1.26, Z:-1.84 [[ 9.99356361e-01 -3.56379244e-02 -4.09909308e-03 1.40631446e+02] [ 3.56380109e-02 9.99364763e-01 -5.19623275e-05 1.25958446e+00] [ 4.09834101e-03 -9.41546412e-05 9.99991597e-01 -1.84003207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.83592000000002 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:140.66, Y:1.26, Z:-1.83 [[ 9.99367984e-01 -3.53104864e-02 -4.09911721e-03 1.40661813e+02] [ 3.53106050e-02 9.99376385e-01 -4.34694570e-05 1.25867607e+00] [ 4.09809587e-03 -1.01300325e-04 9.99991598e-01 -1.83413166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.86592000000002 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:140.69, Y:1.26, Z:-1.84 [[ 9.99460287e-01 -3.25934465e-02 -4.09908233e-03 1.40693237e+02] [ 3.25934876e-02 9.99468690e-01 -5.67984489e-05 1.25935814e+00] [ 4.09875570e-03 -7.68355949e-05 9.99991597e-01 -1.83904042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.89592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.72, Y:1.26, Z:-1.83 [[ 9.99546806e-01 -2.98224699e-02 -4.09911404e-03 1.40723685e+02] [ 2.98225482e-02 9.99555208e-01 -4.20550462e-05 1.25930618e+00] [ 4.09854497e-03 -8.02100386e-05 9.99991598e-01 -1.83238421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.92592000000002 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:140.75, Y:1.26, Z:-1.84 [[ 9.99698891e-01 -2.41934781e-02 -4.09910744e-03 1.40753422e+02] [ 2.41934931e-02 9.99707294e-01 -4.59234195e-05 1.26050344e+00] [ 4.09901865e-03 -5.32621362e-05 9.99991598e-01 -1.83769965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.95592000000002 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:140.78, Y:1.26, Z:-1.84 [[ 9.99779826e-01 -2.05790671e-02 -4.09907623e-03 1.40783120e+02] [ 2.05789674e-02 9.99788228e-01 -6.65076441e-05 1.26240164e+00] [ 4.09957683e-03 -1.78617553e-05 9.99991597e-01 -1.83864333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.98592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.81, Y:1.27, Z:-1.84 [[ 9.99871717e-01 -1.54837398e-02 -4.09909475e-03 1.40812297e+02] [ 1.54836579e-02 9.99880120e-01 -5.17255986e-05 1.26690883e+00] [ 4.09940426e-03 -1.17500175e-05 9.99991597e-01 -1.83960361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.01592 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:140.84, Y:1.27, Z:-1.83 [[ 9.99897712e-01 -1.37026883e-02 -4.09910628e-03 1.40841252e+02] [ 1.37026355e-02 9.99906114e-01 -4.09713272e-05 1.26772554e+00] [ 4.09928284e-03 -1.52014228e-05 9.99991598e-01 -1.83071866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.04592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.87, Y:1.27, Z:-1.84 [[ 9.99916666e-01 -1.22416303e-02 -4.09909222e-03 1.40872144e+02] [ 1.22415071e-02 9.99925068e-01 -5.51284340e-05 1.26889940e+00] [ 4.09945993e-03 4.94477322e-06 9.99991597e-01 -1.84054084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.07592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.90, Y:1.27, Z:-1.84 [[ 9.99918612e-01 -1.20816878e-02 -4.09909929e-03 1.40900665e+02] [ 1.20816220e-02 9.99927014e-01 -4.08304675e-05 1.27428803e+00] [ 4.09929341e-03 -8.69662368e-06 9.99991598e-01 -1.83829877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.10592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.93, Y:1.28, Z:-1.84 [[ 9.99935474e-01 -1.05945764e-02 -4.09909662e-03 1.40932047e+02] [ 1.05944682e-02 9.99943876e-01 -4.81060795e-05 1.27843904e+00] [ 4.09937622e-03 4.67522646e-06 9.99991598e-01 -1.84117200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.13592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.96, Y:1.28, Z:-1.84 [[ 9.99903107e-01 -1.33031685e-02 -4.09910000e-03 1.40959433e+02] [ 1.33032791e-02 9.99911507e-01 -2.89807979e-07 1.28424465e+00] [ 4.09874112e-03 -5.42416913e-05 9.99991599e-01 -1.83958633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.16592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:140.99, Y:1.29, Z:-1.83 [[ 9.99899615e-01 -1.35630751e-02 -4.09909364e-03 1.40987647e+02] [ 1.35629998e-02 9.99908017e-01 -4.61608272e-05 1.28503576e+00] [ 4.09934268e-03 -9.43981285e-06 9.99991598e-01 -1.82850564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.19592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.02, Y:1.29, Z:-1.84 [[ 9.99880148e-01 -1.49294023e-02 -4.09909272e-03 1.41018828e+02] [ 1.49293006e-02 9.99888550e-01 -5.54060839e-05 1.28524074e+00] [ 4.09946306e-03 -5.79714402e-06 9.99991597e-01 -1.84113514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.22592 meters Centerline goodness : 0.994622 Centerline is valid? [True, True] Translation: X:141.09, Y:1.30, Z:-1.84 [[ 9.99761413e-01 -2.14549378e-02 -4.09909484e-03 1.41087035e+02] [ 2.14550033e-02 9.99769815e-01 -2.80199470e-05 1.29800491e+00] [ 4.09875246e-03 -5.99328314e-05 9.99991598e-01 -1.84166999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.25592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:141.07, Y:1.28, Z:-1.84 [[ 9.99631670e-01 -2.68276831e-02 -4.09882214e-03 1.41071761e+02] [ 2.68306586e-02 9.99639767e-01 6.72674358e-04 1.28190606e+00] [ 4.07929931e-03 -7.82400689e-04 9.99991374e-01 -1.83832395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.28592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:141.10, Y:1.28, Z:-1.84 [[ 9.99523051e-01 -3.06089314e-02 -4.09437402e-03 1.41102575e+02] [ 3.06089711e-02 9.99531434e-01 -5.29829306e-05 1.28204400e+00] [ 4.09407729e-03 -7.23669156e-05 9.99991617e-01 -1.83957779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.31592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.13, Y:1.28, Z:-1.84 [[ 9.99459895e-01 -3.26060406e-02 -4.09433872e-03 1.41132884e+02] [ 3.26060722e-02 9.99468279e-01 -5.90598073e-05 1.28114037e+00] [ 4.09408738e-03 -7.44723949e-05 9.99991616e-01 -1.84028537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.34592 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:141.16, Y:1.28, Z:-1.83 [[ 9.99415609e-01 -3.39363446e-02 -4.09439189e-03 1.41162902e+02] [ 3.39364258e-02 9.99423992e-01 -4.96689333e-05 1.28036612e+00] [ 4.09371907e-03 -8.93091191e-05 9.99991617e-01 -1.82789925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.37592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:141.19, Y:1.28, Z:-1.84 [[ 9.99280656e-01 -3.77015491e-02 -4.09436698e-03 1.41194756e+02] [ 3.77016417e-02 9.99289039e-01 -5.45731446e-05 1.27866127e+00] [ 4.09351354e-03 -9.98304694e-05 9.99991617e-01 -1.84274967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.40592 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:141.23, Y:1.28, Z:-1.83 [[ 9.99326402e-01 -3.64688597e-02 -4.09439521e-03 1.41225850e+02] [ 3.64689671e-02 9.99334785e-01 -4.84661965e-05 1.27729065e+00] [ 4.09343906e-03 -1.00884814e-04 9.99991617e-01 -1.82991342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.43592 meters Centerline goodness : 0.998454 Centerline is valid? [True, True] Translation: X:141.26, Y:1.27, Z:-1.83 [[ 9.99164654e-01 -4.06599364e-02 -4.09442171e-03 1.41256748e+02] [ 4.06601042e-02 9.99173035e-01 -4.22815551e-05 1.27337535e+00] [ 4.09275493e-03 -1.24233378e-04 9.99991617e-01 -1.82630861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.46592 meters Centerline goodness : 0.998408 Centerline is valid? [True, True] Translation: X:141.29, Y:1.27, Z:-1.84 [[ 9.99054233e-01 -4.32882829e-02 -4.09434938e-03 1.41288276e+02] [ 4.32884166e-02 9.99062616e-01 -5.60003876e-05 1.27252774e+00] [ 4.09293556e-03 -1.21290477e-04 9.99991617e-01 -1.83749134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.49592 meters Centerline goodness : 0.845755 Centerline is valid? [True, False] Translation: X:141.29, Y:1.28, Z:-1.84 [[ 9.99557555e-01 -2.95058990e-02 -3.75448022e-03 1.41288917e+02] [ 2.94821406e-02 9.99545871e-01 -6.23337237e-03 1.27922309e+00] [ 3.93669646e-03 6.11992433e-03 9.99973524e-01 -1.83844620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.52592 meters Centerline goodness : 0.997955 Centerline is valid? [False, True] Translation: X:141.29, Y:1.28, Z:-1.84 [[ 9.99848883e-01 -1.71423715e-02 2.88960416e-03 1.41285983e+02] [ 1.71781513e-02 9.99769880e-01 -1.28490446e-02 1.28481945e+00] [-2.66867611e-03 1.28967409e-02 9.99913272e-01 -1.84066348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.55592000000001 meters Centerline goodness : 0.997409 Centerline is valid? [True, True] Translation: X:141.31, Y:1.27, Z:-1.83 [[ 9.99905959e-01 -1.33142851e-02 3.28682890e-03 1.41310266e+02] [ 1.33139008e-02 9.99911356e-01 1.38771802e-04 1.26960890e+00] [-3.28838519e-03 -9.49982382e-05 9.99994589e-01 -1.83369230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.58592000000002 meters Centerline goodness : 0.998357 Centerline is valid? [True, True] Translation: X:141.34, Y:1.27, Z:-1.84 [[ 9.99904533e-01 -1.34224752e-02 3.28060147e-03 1.41340600e+02] [ 1.34227860e-02 9.99909908e-01 -7.27577308e-05 1.26712076e+00] [-3.27932932e-03 1.16785596e-04 9.99994616e-01 -1.84292122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.61592000000002 meters Centerline goodness : 0.998458 Centerline is valid? [True, True] Translation: X:141.37, Y:1.26, Z:-1.85 [[ 9.99849757e-01 -1.70205891e-02 3.28077332e-03 1.41372544e+02] [ 1.70209004e-02 9.99855132e-01 -6.69807212e-05 1.26400294e+00] [-3.27915799e-03 1.22812374e-04 9.99994616e-01 -1.84843437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.64592000000002 meters Centerline goodness : 0.997857 Centerline is valid? [True, True] Translation: X:141.40, Y:1.26, Z:-1.84 [[ 9.99881369e-01 -1.50495932e-02 3.27979188e-03 1.41403299e+02] [ 1.50500000e-02 9.99886737e-01 -9.93730870e-05 1.25922299e+00] [-3.27792487e-03 1.48722166e-04 9.99994617e-01 -1.83511637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.67592000000002 meters Centerline goodness : 0.998805 Centerline is valid? [True, True] Translation: X:141.44, Y:1.26, Z:-1.84 [[ 9.99872350e-01 -1.56373396e-02 3.27970414e-03 1.41435211e+02] [ 1.56377589e-02 9.99877718e-01 -1.02231312e-04 1.25554468e+00] [-3.27770446e-03 1.53505485e-04 9.99994617e-01 -1.84296223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.70592000000002 meters Centerline goodness : 0.997656 Centerline is valid? [True, True] Translation: X:141.46, Y:1.25, Z:-1.84 [[ 9.99849190e-01 -1.70540872e-02 3.27947744e-03 1.41464624e+02] [ 1.70545381e-02 9.99854555e-01 -1.09574447e-04 1.25230448e+00] [-3.27713177e-03 1.65487895e-04 9.99994616e-01 -1.83602230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.73592000000002 meters Centerline goodness : 0.997807 Centerline is valid? [True, True] Translation: X:141.50, Y:1.25, Z:-1.84 [[ 9.99911508e-01 -1.28926069e-02 3.27967041e-03 1.41496020e+02] [ 1.28930148e-02 9.99916876e-01 -1.03254279e-04 1.25119949e+00] [-3.27806657e-03 1.45529981e-04 9.99994617e-01 -1.83646247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.76592 meters Centerline goodness : 0.849578 Centerline is valid? [True, False] Translation: X:141.52, Y:1.25, Z:-1.83 [[ 9.99983252e-01 -5.78695027e-03 -8.34383882e-05 1.41516954e+02] [ 5.78675125e-03 9.99980803e-01 -2.21526807e-03 1.25297543e+00] [ 9.62564326e-05 2.21474813e-03 9.99997543e-01 -1.83235522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.79592 meters Centerline goodness : 0.997706 Centerline is valid? [False, True] Translation: X:141.54, Y:1.25, Z:-1.83 [[ 9.99988324e-01 9.07429754e-04 -4.74647534e-03 1.41539167e+02] [-9.25797414e-04 9.99992087e-01 -3.86898257e-03 1.25292001e+00] [ 4.74292695e-03 3.87333167e-03 9.99981251e-01 -1.82902669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.82592 meters Centerline goodness : 0.973170 Centerline is valid? [True, True] Translation: X:141.62, Y:1.26, Z:-1.85 [[ 9.99989603e-01 4.52614792e-05 -4.55982273e-03 1.41622893e+02] [-4.44409850e-05 9.99999983e-01 1.80041101e-04 1.25554413e+00] [ 4.55983080e-03 -1.79836586e-04 9.99989588e-01 -1.85144154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.85592 meters Centerline goodness : 0.987691 Centerline is valid? [True, True] Translation: X:141.65, Y:1.25, Z:-1.85 [[ 9.99986809e-01 -2.63423873e-03 -4.40948757e-03 1.41646035e+02] [ 2.64069170e-03 9.99995450e-01 1.45824741e-03 1.25073514e+00] [ 4.40562614e-03 -1.46987227e-03 9.99989215e-01 -1.85085702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.88592 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:141.65, Y:1.24, Z:-1.84 [[ 9.99477889e-01 3.20016339e-02 -4.45475283e-03 1.41645649e+02] [-3.19977965e-02 9.99487507e-01 9.30054956e-04 1.23661438e+00] [ 4.48223308e-03 -7.87027090e-04 9.99989645e-01 -1.83843113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.91592 meters Centerline goodness : 0.998606 Centerline is valid? [True, True] Translation: X:141.68, Y:1.23, Z:-1.84 [[ 9.99498865e-01 3.13336602e-02 -4.49675648e-03 1.41675823e+02] [-3.13321614e-02 9.99508946e-01 4.03372641e-04 1.23358337e+00] [ 4.50718747e-03 -2.62277397e-04 9.99989808e-01 -1.83696130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.94592 meters Centerline goodness : 0.998801 Centerline is valid? [True, True] Translation: X:141.70, Y:1.23, Z:-1.84 [[ 9.99589111e-01 2.83092853e-02 -4.49367611e-03 1.41704709e+02] [-2.83075826e-02 9.99599162e-01 4.42060622e-04 1.22954129e+00] [ 4.50438930e-03 -3.14673877e-04 9.99989806e-01 -1.83774223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.97592 meters Centerline goodness : 0.997707 Centerline is valid? [True, True] Translation: X:141.73, Y:1.23, Z:-1.83 [[ 9.99528871e-01 3.03615736e-02 -4.49566719e-03 1.41730123e+02] [-3.03600083e-02 9.99538942e-01 4.16025730e-04 1.22761257e+00] [ 4.50622562e-03 -2.79341235e-04 9.99989808e-01 -1.82910530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.00592 meters Centerline goodness : 0.998353 Centerline is valid? [True, True] Translation: X:141.76, Y:1.22, Z:-1.84 [[ 9.99561324e-01 2.92722565e-02 -4.50504593e-03 1.41759215e+02] [-2.92712177e-02 9.99571462e-01 2.96374590e-04 1.22393907e+00] [ 4.51179090e-03 -1.64376397e-04 9.99989808e-01 -1.83747524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.03592 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:141.79, Y:1.22, Z:-1.84 [[ 9.99493987e-01 3.14876311e-02 -4.50547503e-03 1.41787275e+02] [-3.14866393e-02 9.99504131e-01 2.90919981e-04 1.22179396e+00] [ 4.51240128e-03 -1.48910505e-04 9.99989808e-01 -1.84027325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.06592 meters Centerline goodness : 0.997802 Centerline is valid? [True, True] Translation: X:141.82, Y:1.22, Z:-1.83 [[ 9.99360235e-01 3.54798148e-02 -4.50595318e-03 1.41819104e+02] [-3.54788908e-02 9.99370385e-01 2.84848059e-04 1.21966991e+00] [ 4.51322252e-03 -1.24799602e-04 9.99989808e-01 -1.83062851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.09592 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:141.85, Y:1.22, Z:-1.84 [[ 9.99548770e-01 2.96980284e-02 -4.50363764e-03 1.41850439e+02] [-2.96969136e-02 9.99558900e-01 3.14209217e-04 1.21555367e+00] [ 4.51098248e-03 -1.80323299e-04 9.99989809e-01 -1.84190296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.12592 meters Centerline goodness : 0.993616 Centerline is valid? [True, True] Translation: X:141.84, Y:1.23, Z:-1.86 [[ 9.97784325e-01 6.63791279e-02 -4.50034669e-03 1.41843956e+02] [-6.63781980e-02 9.97794472e-01 3.55831347e-04 1.22878632e+00] [ 4.51404082e-03 -5.63180367e-05 9.99989810e-01 -1.85525873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.15592 meters Centerline goodness : 0.998356 Centerline is valid? [True, True] Translation: X:141.90, Y:1.21, Z:-1.83 [[ 9.99252348e-01 3.83937616e-02 -4.54578797e-03 1.41898812e+02] [-3.83950131e-02 9.99262622e-01 -1.88325139e-04 1.21381616e+00] [ 4.53520550e-03 3.62719926e-04 9.99989650e-01 -1.83016644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.18592 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:141.93, Y:1.21, Z:-1.84 [[ 9.99143126e-01 4.11425493e-02 -4.50607103e-03 1.41932666e+02] [-4.11417868e-02 9.99153284e-01 2.61820153e-04 1.21032735e+00] [ 4.51302762e-03 -7.62079925e-05 9.99989813e-01 -1.84199751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.21592 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:141.98, Y:1.21, Z:-1.85 [[ 9.98864463e-01 4.74295346e-02 -4.49709680e-03 1.41979119e+02] [-4.74283804e-02 9.98874575e-01 3.63012893e-04 1.20817288e+00] [ 4.50925318e-03 -1.49310661e-04 9.99989822e-01 -1.85176423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.24592 meters Centerline goodness : 0.997103 Centerline is valid? [True, True] Translation: X:141.99, Y:1.20, Z:-1.83 [[ 9.99038105e-01 4.36220780e-02 -4.46979634e-03 1.41990011e+02] [-4.36194674e-02 9.99047987e-01 6.79920783e-04 1.20144257e+00] [ 4.49520059e-03 -4.84296634e-04 9.99989779e-01 -1.82728864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.27592 meters Centerline goodness : 0.954756 Centerline is valid? [True, True] Translation: X:142.07, Y:1.21, Z:-1.85 [[ 9.98998703e-01 4.45123154e-02 -4.49956091e-03 1.42071507e+02] [-4.45113206e-02 9.99008828e-01 3.21037981e-04 1.20868663e+00] [ 4.50939122e-03 -1.20435128e-04 9.99989825e-01 -1.85034217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.30592000000001 meters Centerline goodness : 0.938856 Centerline is valid? [True, False] Translation: X:142.06, Y:1.20, Z:-1.85 [[ 9.99457550e-01 3.21784087e-02 7.01106281e-03 1.42063813e+02] [-3.22072288e-02 9.99473059e-01 4.03726115e-03 1.20043924e+00] [-6.87745575e-03 -4.26087804e-03 9.99967272e-01 -1.85137441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.33592000000002 meters Centerline goodness : 0.946949 Centerline is valid? [False, False] Translation: X:142.06, Y:1.20, Z:-1.85 [[ 9.99821688e-01 1.62096236e-02 9.68710684e-03 1.42062676e+02] [-1.62919258e-02 9.99831331e-01 8.47840707e-03 1.19508681e+00] [-9.54804114e-03 -8.63471690e-03 9.99917135e-01 -1.85139577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.36592000000002 meters Centerline goodness : 0.893286 Centerline is valid? [False, False] Translation: X:142.06, Y:1.20, Z:-1.85 [[ 9.99877602e-01 1.22023546e-02 9.79197687e-03 1.42062266e+02] [-1.22361627e-02 9.99919354e-01 3.40017988e-03 1.19909456e+00] [-9.74969699e-03 -3.51957993e-03 9.99946277e-01 -1.85095081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.39592000000002 meters Centerline goodness : 0.897288 Centerline is valid? [False, False] Translation: X:142.06, Y:1.20, Z:-1.85 [[ 9.99918365e-01 8.12928216e-03 9.85785344e-03 1.42062029e+02] [-8.11361773e-03 9.99965759e-01 -1.62798465e-03 1.20244101e+00] [-9.87075024e-03 1.54786889e-03 9.99950085e-01 -1.85120629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.42592000000002 meters Centerline goodness : 0.897288 Centerline is valid? [False, False] Translation: X:142.06, Y:1.21, Z:-1.85 [[ 9.99943300e-01 4.39467357e-03 9.69968274e-03 1.42062435e+02] [-4.33530102e-03 9.99971791e-01 -6.13364355e-03 1.20502908e+00] [-9.72636448e-03 6.09124473e-03 9.99934145e-01 -1.85103251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.45592000000002 meters Centerline goodness : 0.994667 Centerline is valid? [False, True] Translation: X:142.06, Y:1.21, Z:-1.85 [[ 9.99956005e-01 4.59728139e-04 9.36888224e-03 1.42063314e+02] [-3.56572491e-04 9.99939334e-01 -1.10091517e-02 1.20842381e+00] [-9.37337508e-03 1.10053267e-02 9.99895506e-01 -1.85107114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.48592000000002 meters Centerline goodness : 0.994965 Centerline is valid? [True, True] Translation: X:142.10, Y:1.20, Z:-1.86 [[ 9.99950395e-01 2.48490190e-03 9.64537034e-03 1.42095251e+02] [-2.48233252e-03 9.99996880e-01 -2.78347706e-04 1.19885783e+00] [-9.64603191e-03 2.54390882e-04 9.99953444e-01 -1.85899633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.51592 meters Centerline goodness : 0.998704 Centerline is valid? [True, True] Translation: X:142.13, Y:1.20, Z:-1.88 [[ 9.99944241e-01 4.29480571e-03 9.64721070e-03 1.42126712e+02] [-4.29300255e-03 9.99990763e-01 -2.07610868e-04 1.19683870e+00] [-9.64801324e-03 1.66183792e-04 9.99953443e-01 -1.88372054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.54592 meters Centerline goodness : 0.874838 Centerline is valid? [True, False] Translation: X:142.15, Y:1.20, Z:-1.88 [[ 9.99995586e-01 1.65497511e-03 2.46754504e-03 1.42150887e+02] [-1.62659297e-03 9.99933007e-01 -1.14601561e-02 1.20405233e+00] [-2.48634601e-03 1.14560919e-02 9.99931286e-01 -1.88095826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.57592 meters Centerline goodness : 0.985747 Centerline is valid? [False, True] Translation: X:142.15, Y:1.20, Z:-1.88 [[ 9.99996152e-01 1.70685825e-03 2.18704724e-03 1.42151707e+02] [-1.68258021e-03 9.99937476e-01 -1.10549943e-02 1.20224593e+00] [-2.20577980e-03 1.10512719e-02 9.99936500e-01 -1.88152248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.60592 meters Centerline goodness : 0.956132 Centerline is valid? [True, True] Translation: X:142.19, Y:1.19, Z:-1.88 [[ 9.99990454e-01 -3.10524556e-03 3.07386091e-03 1.42188997e+02] [ 3.11015679e-03 9.99993893e-01 -1.59425171e-03 1.19456279e+00] [-3.06889159e-03 1.60379668e-03 9.99994005e-01 -1.88375134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.63592 meters Centerline goodness : 0.993527 Centerline is valid? [True, True] Translation: X:142.16, Y:1.17, Z:-1.86 [[ 9.99988035e-01 -3.78607207e-03 3.09770852e-03 1.42160249e+02] [ 3.78749397e-03 9.99992725e-01 -4.53280280e-04 1.17466201e+00] [-3.09596983e-03 4.65007409e-04 9.99995099e-01 -1.85868995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.66592 meters Centerline goodness : 0.992877 Centerline is valid? [True, True] Translation: X:142.19, Y:1.17, Z:-1.85 [[ 9.99990842e-01 -2.94755966e-03 3.10297866e-03 1.42192961e+02] [ 2.94763129e-03 9.99995656e-01 -1.85110654e-05 1.17482017e+00] [-3.10291062e-03 2.76573329e-05 9.99995186e-01 -1.85350921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.69592 meters Centerline goodness : 0.997410 Centerline is valid? [True, True] Translation: X:142.26, Y:1.18, Z:-1.87 [[ 9.99991592e-01 -2.68100198e-03 3.10303807e-03 1.42256714e+02] [ 2.68105736e-03 9.99996406e-01 -1.36887043e-05 1.18031872e+00] [-3.10299022e-03 2.20080123e-05 9.99995185e-01 -1.87143391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.72592 meters Centerline goodness : 0.994528 Centerline is valid? [True, True] Translation: X:142.25, Y:1.17, Z:-1.86 [[ 9.99986702e-01 -4.12398322e-03 3.09646402e-03 1.42250453e+02] [ 4.12551866e-03 9.99991370e-01 -4.89644762e-04 1.17083852e+00] [-3.09441801e-03 5.02412771e-04 9.99995086e-01 -1.85816451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.75592 meters Centerline goodness : 0.868715 Centerline is valid? [True, False] Translation: X:142.27, Y:1.18, Z:-1.85 [[ 9.99998459e-01 -1.46589448e-03 -9.66221148e-04 1.42271321e+02] [ 1.45786907e-03 9.99964864e-01 -8.25499593e-03 1.17887250e+00] [ 9.78288152e-04 8.25357459e-03 9.99965460e-01 -1.85339876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.78592 meters Centerline goodness : 0.997162 Centerline is valid? [False, True] Translation: X:142.29, Y:1.19, Z:-1.85 [[ 9.99984465e-01 1.10567181e-03 -5.46323797e-03 1.42292644e+02] [-1.19185018e-03 9.99874521e-01 -1.57962371e-02 1.18647708e+00] [ 5.44508700e-03 1.58025030e-02 9.99860306e-01 -1.84850059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.81592 meters Centerline goodness : 0.873918 Centerline is valid? [True, False] Translation: X:142.31, Y:1.18, Z:-1.85 [[ 9.99913998e-01 -4.16163913e-03 -1.24368956e-02 1.42314912e+02] [ 4.00112729e-03 9.99908745e-01 -1.29032330e-02 1.18173028e+00] [ 1.24894593e-02 1.28523617e-02 9.99839402e-01 -1.84537170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.84592 meters Centerline goodness : 0.981386 Centerline is valid? [False, True] Translation: X:142.34, Y:1.19, Z:-1.85 [[ 9.99906053e-01 1.33254583e-03 -1.36422203e-02 1.42338347e+02] [-1.58466569e-03 9.99827850e-01 -1.84867546e-02 1.18860864e+00] [ 1.36152373e-02 1.85066362e-02 9.99736030e-01 -1.84519731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.87592 meters Centerline goodness : 0.963928 Centerline is valid? [True, True] Translation: X:142.45, Y:1.15, Z:-1.84 [[ 9.97896668e-01 -6.33126669e-02 -1.39193064e-02 1.42448424e+02] [ 6.32684052e-02 9.97990062e-01 -3.59799935e-03 1.14832782e+00] [ 1.41191284e-02 2.70977924e-03 9.99896648e-01 -1.84358835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.90592 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:142.42, Y:1.16, Z:-1.87 [[ 9.99904462e-01 -5.11006223e-04 -1.38132417e-02 1.42415114e+02] [ 5.71208538e-04 9.99990355e-01 4.35471075e-03 1.15692141e+00] [ 1.38108831e-02 -4.36218495e-03 9.99895110e-01 -1.86747694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.93592 meters Centerline goodness : 0.910518 Centerline is valid? [True, False] Translation: X:142.44, Y:1.17, Z:-1.86 [[ 9.99849166e-01 -1.27242050e-03 -1.73212865e-02 1.42437305e+02] [ 1.14139254e-03 9.99970678e-01 -7.57234832e-03 1.16663289e+00] [ 1.73304139e-02 7.55143576e-03 9.99821300e-01 -1.86305152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.96592 meters Centerline goodness : 0.990643 Centerline is valid? [False, True] Translation: X:142.44, Y:1.17, Z:-1.86 [[ 9.99849456e-01 -1.22213609e-03 -1.73081139e-02 1.42437305e+02] [ 1.09257761e-03 9.99971331e-01 -7.49289789e-03 1.16643006e+00] [ 1.73167750e-02 7.47285942e-03 9.99822127e-01 -1.86303835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.99592 meters Centerline goodness : 0.808623 Centerline is valid? [True, False] Translation: X:142.43, Y:1.17, Z:-1.86 [[ 9.99995076e-01 -1.01699339e-03 -2.96892181e-03 1.42430738e+02] [ 9.86687264e-04 9.99947579e-01 -1.01914688e-02 1.16847470e+00] [ 2.97913084e-03 1.01884892e-02 9.99943658e-01 -1.86298436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.02592 meters Centerline goodness : 0.997709 Centerline is valid? [False, True] Translation: X:142.43, Y:1.17, Z:-1.86 [[ 9.99995171e-01 -9.28365498e-04 -2.96585759e-03 1.42430789e+02] [ 8.96599457e-04 9.99942415e-01 -1.06940103e-02 1.17082957e+00] [ 2.97561475e-03 1.06912995e-02 9.99938419e-01 -1.86254257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.05592000000001 meters Centerline goodness : 0.999253 Centerline is valid? [True, True] Translation: X:142.43, Y:1.16, Z:-1.86 [[ 9.99974188e-01 6.66449723e-03 -2.68466748e-03 1.42433723e+02] [-6.66032120e-03 9.99976601e-01 1.56146302e-03 1.16342179e+00] [ 2.69501103e-03 -1.54354197e-03 9.99995177e-01 -1.86030939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.08592000000002 meters Centerline goodness : 0.997710 Centerline is valid? [True, True] Translation: X:142.42, Y:1.16, Z:-1.85 [[ 9.99206154e-01 -3.97462297e-02 -2.70168996e-03 1.42417595e+02] [ 3.97469917e-02 9.99209750e-01 2.28929792e-04 1.16286536e+00] [ 2.69045586e-03 -3.36132106e-04 9.99996324e-01 -1.84800011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.11592000000002 meters Centerline goodness : 0.944978 Centerline is valid? [True, False] Translation: X:142.42, Y:1.17, Z:-1.85 [[ 9.99652788e-01 -2.62872379e-02 -1.81216717e-03 1.42417621e+02] [ 2.62746260e-02 9.99632553e-01 -6.66357649e-03 1.17077746e+00] [ 1.98666831e-03 6.61364881e-03 9.99976156e-01 -1.84895465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.14592000000002 meters Centerline goodness : 0.999701 Centerline is valid? [False, True] Translation: X:142.42, Y:1.18, Z:-1.85 [[ 9.99939385e-01 -1.09914128e-02 6.44566786e-04 1.42417003e+02] [ 1.09979946e-02 9.99875711e-01 -1.12963000e-02 1.17754613e+00] [-5.20324377e-04 1.13027042e-02 9.99935987e-01 -1.84962461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.17592000000002 meters Centerline goodness : 0.922411 Centerline is valid? [True, False] Translation: X:142.44, Y:1.17, Z:-1.85 [[ 9.99997184e-01 1.02869055e-04 -2.37108079e-03 1.42437246e+02] [-1.23190608e-04 9.99963252e-01 -8.57203431e-03 1.17475904e+00] [ 2.37011186e-03 8.57230226e-03 9.99960448e-01 -1.84533770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.20592000000002 meters Centerline goodness : 0.891563 Centerline is valid? [False, False] Translation: X:142.44, Y:1.17, Z:-1.85 [[ 9.99996496e-01 1.81154587e-04 -2.64112620e-03 1.42437982e+02] [-2.03220525e-04 9.99965060e-01 -8.35687257e-03 1.17391685e+00] [ 2.63952003e-03 8.35738002e-03 9.99961593e-01 -1.84562752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.23592000000002 meters Centerline goodness : 0.998208 Centerline is valid? [False, True] Translation: X:142.46, Y:1.18, Z:-1.84 [[ 9.99974423e-01 3.58446154e-03 -6.18912433e-03 1.42459631e+02] [-3.67885579e-03 9.99876055e-01 -1.53082136e-02 1.18036243e+00] [ 6.13348552e-03 1.53305909e-02 9.99863667e-01 -1.84189984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.26592 meters Centerline goodness : 0.987953 Centerline is valid? [True, True] Translation: X:142.49, Y:1.16, Z:-1.85 [[ 9.99496657e-01 -3.12569414e-02 -5.42550727e-03 1.42494797e+02] [ 3.12588441e-02 9.99511287e-01 2.66243465e-04 1.16193188e+00] [ 5.41453380e-03 -4.35704539e-04 9.99985246e-01 -1.85106145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.29592 meters Centerline goodness : 0.781772 Centerline is valid? [True, False] Translation: X:142.50, Y:1.17, Z:-1.85 [[ 9.99816544e-01 -1.78939209e-02 -6.83270339e-03 1.42497847e+02] [ 1.78440935e-02 9.99814241e-01 -7.28510858e-03 1.17165771e+00] [ 6.96179331e-03 7.16184868e-03 9.99950119e-01 -1.85207556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.32592 meters Centerline goodness : 0.999900 Centerline is valid? [False, True] Translation: X:142.52, Y:1.18, Z:-1.85 [[ 9.99904711e-01 -1.00955464e-02 -9.41533853e-03 1.42518598e+02] [ 1.00040575e-02 9.99902774e-01 -9.71400149e-03 1.17623520e+00] [ 9.51249127e-03 9.61888426e-03 9.99908491e-01 -1.84779520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.35592 meters Centerline goodness : 0.967280 Centerline is valid? [True, True] Translation: X:142.55, Y:1.12, Z:-1.81 [[ 9.96886086e-01 -7.82687669e-02 -9.59854881e-03 1.42552745e+02] [ 7.82698884e-02 9.96932173e-01 -2.59325833e-04 1.11805469e+00] [ 9.58939923e-03 -4.92759029e-04 9.99953899e-01 -1.81337233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.38592 meters Centerline goodness : 0.830140 Centerline is valid? [True, False] Translation: X:142.55, Y:1.13, Z:-1.81 [[ 9.97908102e-01 -6.40160594e-02 -9.02024074e-03 1.42552846e+02] [ 6.39620524e-02 9.97933356e-01 -6.15401968e-03 1.12597765e+00] [ 9.39555521e-03 5.56419299e-03 9.99940380e-01 -1.81355383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.41592 meters Centerline goodness : 0.947969 Centerline is valid? [False, False] Translation: X:142.55, Y:1.14, Z:-1.82 [[ 9.98733604e-01 -5.01289269e-02 -4.27530466e-03 1.42550806e+02] [ 5.00747282e-02 9.98673854e-01 -1.19605308e-02 1.13535193e+00] [ 4.86920356e-03 1.17312993e-02 9.99919330e-01 -1.81510217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.44592 meters Centerline goodness : 0.964584 Centerline is valid? [False, True] Translation: X:142.55, Y:1.14, Z:-1.82 [[ 9.99356011e-01 -3.58769477e-02 6.38965497e-04 1.42548839e+02] [ 3.58826296e-02 9.99208880e-01 -1.71478932e-02 1.14379799e+00] [-2.32459319e-05 1.71597779e-02 9.99852760e-01 -1.81649865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.47592 meters Centerline goodness : 0.941498 Centerline is valid? [True, False] Translation: X:142.55, Y:1.15, Z:-1.82 [[ 9.99766504e-01 -2.11802628e-02 4.28170923e-03 1.42546867e+02] [ 2.12708423e-02 9.99523898e-01 -2.23501382e-02 1.15189921e+00] [-3.80628890e-03 2.24359951e-02 9.99741036e-01 -1.81658281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.50592 meters Centerline goodness : 0.996962 Centerline is valid? [False, True] Translation: X:142.57, Y:1.15, Z:-1.81 [[ 9.99982236e-01 -5.92782141e-03 6.23108455e-04 1.42568354e+02] [ 5.93622084e-03 9.99877611e-01 -1.44749852e-02 1.14610711e+00] [-5.37227065e-04 1.44784270e-02 9.99895038e-01 -1.81384856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.53592 meters Centerline goodness : 0.887193 Centerline is valid? [True, False] Translation: X:142.57, Y:1.14, Z:-1.81 [[ 9.99998242e-01 -1.80145256e-03 5.20999066e-04 1.42568601e+02] [ 1.80620891e-03 9.99955330e-01 -9.27764339e-03 1.14148160e+00] [-5.04262559e-04 9.27856811e-03 9.99956826e-01 -1.81424240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.56592 meters Centerline goodness : 0.998010 Centerline is valid? [False, True] Translation: X:142.59, Y:1.15, Z:-1.81 [[ 9.99988930e-01 1.62662752e-03 -4.41526471e-03 1.42592474e+02] [-1.69630912e-03 9.99873348e-01 -1.58243832e-02 1.14807573e+00] [ 4.38896513e-03 1.58316976e-02 9.99865038e-01 -1.81160725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.59592 meters Centerline goodness : 0.998755 Centerline is valid? [True, True] Translation: X:142.62, Y:1.13, Z:-1.82 [[ 9.99991102e-01 1.18499110e-03 -4.04872376e-03 1.42622452e+02] [-1.18550375e-03 9.99999290e-01 -1.24223994e-04 1.13203016e+00] [ 4.04857368e-03 1.29022665e-04 9.99991796e-01 -1.82176711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.62592 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] Translation: X:142.65, Y:1.13, Z:-1.82 [[ 9.99989771e-01 -2.02521991e-03 -4.04425459e-03 1.42651156e+02] [ 2.02550242e-03 9.99997947e-01 6.57598587e-05 1.12774965e+00] [ 4.04411311e-03 -7.39508336e-05 9.99991820e-01 -1.82244375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.65592 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:142.68, Y:1.12, Z:-1.81 [[ 9.99980580e-01 -4.74186558e-03 -4.04415954e-03 1.42679604e+02] [ 4.74218668e-03 9.99988753e-01 6.98144634e-05 1.12470123e+00] [ 4.04378301e-03 -8.89912671e-05 9.99991820e-01 -1.81212753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.68592 meters Centerline goodness : 0.870494 Centerline is valid? [True, False] Translation: X:142.70, Y:1.13, Z:-1.81 [[ 9.99978450e-01 -9.15752259e-04 -6.50087352e-03 1.42701024e+02] [ 8.74806025e-04 9.99979781e-01 -6.29862600e-03 1.12902832e+00] [ 6.50651006e-03 6.29280326e-03 9.99959032e-01 -1.80884315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.71592 meters Centerline goodness : 0.999651 Centerline is valid? [False, True] Translation: X:142.70, Y:1.13, Z:-1.81 [[ 9.99977768e-01 -9.71278333e-04 -6.59695225e-03 1.42701343e+02] [ 9.33437890e-04 9.99983109e-01 -5.73670820e-03 1.12634177e+00] [ 6.60241276e-03 5.73042282e-03 9.99961784e-01 -1.80934854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.74592 meters Centerline goodness : 0.896816 Centerline is valid? [True, False] Translation: X:142.70, Y:1.12, Z:-1.81 [[ 9.99977416e-01 -1.04164886e-03 -6.63946593e-03 1.42701512e+02] [ 1.00712979e-03 9.99985971e-01 -5.20029866e-03 1.12368255e+00] [ 6.64478968e-03 5.19349442e-03 9.99964437e-01 -1.80970195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.77592 meters Centerline goodness : 0.928283 Centerline is valid? [False, False] Translation: X:142.70, Y:1.12, Z:-1.81 [[ 9.99977006e-01 -1.17605212e-03 -6.67860548e-03 1.42701640e+02] [ 1.15032033e-03 9.99991906e-01 -3.85540358e-03 1.11724567e+00] [ 6.68308559e-03 3.84763239e-03 9.99970266e-01 -1.81006258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.80592000000001 meters Centerline goodness : 0.999701 Centerline is valid? [False, True] Translation: X:142.70, Y:1.11, Z:-1.81 [[ 9.99976943e-01 -1.26065363e-03 -6.67258424e-03 1.42701631e+02] [ 1.23897648e-03 9.99993945e-01 -3.25182666e-03 1.11425244e+00] [ 6.67664327e-03 3.24348451e-03 9.99972451e-01 -1.81008400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.83592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.73, Y:1.10, Z:-1.82 [[ 9.99978348e-01 -1.03902206e-03 -6.49805256e-03 1.42732376e+02] [ 1.04077681e-03 9.99999423e-01 2.66667418e-04 1.10497348e+00] [ 6.49777174e-03 -2.73424667e-04 9.99978852e-01 -1.82338521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.86592000000002 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:142.76, Y:1.10, Z:-1.81 [[ 9.99962730e-01 -5.68768434e-03 -6.49524659e-03 1.42758796e+02] [ 5.68990251e-03 9.99983760e-01 3.23079414e-04 1.09941258e+00] [ 6.49330354e-03 -3.60024693e-04 9.99978853e-01 -1.80736108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.89592000000002 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:142.79, Y:1.09, Z:-1.81 [[ 9.99903520e-01 -1.22763703e-02 -6.49937751e-03 1.42792672e+02] [ 1.22781855e-02 9.99924592e-01 2.39454926e-04 1.09093423e+00] [ 6.49594776e-03 -3.19232386e-04 9.99978850e-01 -1.81125491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.92592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.82, Y:1.08, Z:-1.81 [[ 9.99854731e-01 -1.57601027e-02 -6.49117388e-03 1.42823210e+02] [ 1.57630370e-02 9.99875675e-01 4.01126116e-04 1.07960777e+00] [ 6.48404508e-03 -5.03388459e-04 9.99978852e-01 -1.81204892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.95592000000002 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:142.87, Y:1.07, Z:-1.82 [[ 9.99586403e-01 -2.80161465e-02 -6.48987608e-03 1.42867101e+02] [ 2.80195019e-02 9.99607286e-01 4.26661176e-04 1.07009623e+00] [ 6.47537401e-03 -6.08327806e-04 9.99978850e-01 -1.81723434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.98592000000002 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:142.90, Y:1.06, Z:-1.82 [[ 9.99656182e-01 -2.54113302e-02 -6.46390964e-03 1.42895109e+02] [ 2.54175679e-02 9.99676530e-01 8.84682480e-04 1.05995320e+00] [ 6.43933780e-03 -1.04867517e-03 9.99978717e-01 -1.81505379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.01592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.91, Y:1.06, Z:-1.83 [[ 9.99777355e-01 -2.00836777e-02 -6.47203166e-03 1.42908053e+02] [ 2.00886311e-02 9.99797957e-01 7.01261672e-04 1.05757619e+00] [ 6.45664012e-03 -8.31119796e-04 9.99978810e-01 -1.82525836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.04592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.94, Y:1.05, Z:-1.81 [[ 9.99807369e-01 -1.85230966e-02 -6.48996972e-03 1.42935025e+02] [ 1.85252370e-02 9.99828357e-01 2.69832104e-04 1.04879857e+00] [ 6.48385764e-03 -3.90008353e-04 9.99978904e-01 -1.80786276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.07592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.96, Y:1.04, Z:-1.81 [[ 9.99820839e-01 -1.77801133e-02 -6.49281672e-03 1.42963418e+02] [ 1.77817908e-02 9.99841871e-01 2.00708877e-04 1.04459416e+00] [ 6.48822139e-03 -3.16126826e-04 9.99978901e-01 -1.80798059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.10592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.99, Y:1.04, Z:-1.81 [[ 9.99865300e-01 -1.50738853e-02 -6.49305508e-03 1.42992935e+02] [ 1.50754684e-02 9.99886340e-01 1.94936667e-04 1.04135112e+00] [ 6.48937862e-03 -2.92796256e-04 9.99978901e-01 -1.80847840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.13592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:143.02, Y:1.04, Z:-1.81 [[ 9.99915822e-01 -1.12345069e-02 -6.49110431e-03 1.43023722e+02] [ 1.12363134e-02 9.99936841e-01 2.41889770e-04 1.03579498e+00] [ 6.48797683e-03 -3.14805490e-04 9.99978903e-01 -1.81033583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.16592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.05, Y:1.03, Z:-1.81 [[ 9.99921349e-01 -1.07320240e-02 -6.48991801e-03 1.43052667e+02] [ 1.07340050e-02 9.99942352e-01 2.70499125e-04 1.03248002e+00] [ 6.48664088e-03 -3.40140662e-04 9.99978904e-01 -1.80959641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.19592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.08, Y:1.03, Z:-1.81 [[ 9.99865201e-01 -1.50818480e-02 -6.48976739e-03 1.43078005e+02] [ 1.50839440e-02 9.99886193e-01 2.74150359e-04 1.02706714e+00] [ 6.48489411e-03 -3.72004691e-04 9.99978904e-01 -1.81233458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.22592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.11, Y:1.02, Z:-1.81 [[ 9.99925700e-01 -1.03155366e-02 -6.49487406e-03 1.43109858e+02] [ 1.03167355e-02 9.99946770e-01 1.51112678e-04 1.02451183e+00] [ 6.49296953e-03 -2.18107348e-04 9.99978897e-01 -1.80863757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.25592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.14, Y:1.02, Z:-1.82 [[ 9.99916125e-01 -1.12075591e-02 -6.49099199e-03 1.43140524e+02] [ 1.12093785e-02 9.99937143e-01 2.43984646e-04 1.02150506e+00] [ 6.48784951e-03 -3.16724168e-04 9.99978904e-01 -1.82329017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.28592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.17, Y:1.02, Z:-1.81 [[ 9.99935246e-01 -9.34807721e-03 -6.48977735e-03 1.43168762e+02] [ 9.35004456e-03 9.99956250e-01 2.72872529e-04 1.01696006e+00] [ 6.48694259e-03 -3.33534567e-04 9.99978904e-01 -1.80785673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.31592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.20, Y:1.02, Z:-1.81 [[ 9.99936035e-01 -9.26163333e-03 -6.49212320e-03 1.43197069e+02] [ 9.26323621e-03 9.99957072e-01 2.16869023e-04 1.01588045e+00] [ 6.48983595e-03 -2.76993222e-04 9.99978902e-01 -1.80767200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.34592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:143.22, Y:1.01, Z:-1.81 [[ 9.99917420e-01 -1.10907818e-02 -6.49219089e-03 1.43223886e+02] [ 1.10924127e-02 9.99938454e-01 2.15251963e-04 1.01312168e+00] [ 6.48940401e-03 -2.87248248e-04 9.99978902e-01 -1.81154578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.37592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:143.25, Y:1.01, Z:-1.81 [[ 9.99966916e-01 -4.89780408e-03 -6.49447891e-03 1.43254855e+02] [ 4.89895057e-03 9.99987987e-01 1.60637336e-04 1.01030107e+00] [ 6.49361412e-03 -1.92448153e-04 9.99978898e-01 -1.80565291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.40592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:143.28, Y:1.01, Z:-1.81 [[ 9.99973265e-01 -3.36572564e-03 -6.49166999e-03 1.43283964e+02] [ 3.36726811e-03 9.99994305e-01 2.26693016e-04 1.00744226e+00] [ 6.49087003e-03 -2.48546149e-04 9.99978903e-01 -1.80815668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.43592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.31, Y:1.00, Z:-1.81 [[ 9.99977313e-01 -1.79658595e-03 -6.49192466e-03 1.43312895e+02] [ 1.79805657e-03 9.99998359e-01 2.20701408e-04 1.00136540e+00] [ 6.49151750e-03 -2.32369249e-04 9.99978903e-01 -1.80981146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.46592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:143.34, Y:1.00, Z:-1.82 [[ 9.99975150e-01 -2.75332567e-03 -6.48992475e-03 1.43340051e+02] [ 2.75511974e-03 9.99996169e-01 2.67515155e-04 9.98735781e-01] [ 6.48916333e-03 -2.85389027e-04 9.99978904e-01 -1.81715754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.49592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.37, Y:1.00, Z:-1.81 [[ 9.99978887e-01 -2.40608449e-04 -6.49363966e-03 1.43371061e+02] [ 2.41783116e-04 9.99999955e-01 1.80110515e-04 9.95376076e-01] [ 6.49359603e-03 -1.81676765e-04 9.99978900e-01 -1.80939478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.52592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.40, Y:0.99, Z:-1.81 [[ 9.99975469e-01 2.63196440e-03 -6.49101140e-03 1.43402088e+02] [-2.63045167e-03 9.99996511e-01 2.41576334e-04 9.92908208e-01] [ 6.49162457e-03 -2.24496116e-04 9.99978904e-01 -1.81004247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.55592000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.43, Y:0.99, Z:-1.81 [[ 9.99977870e-01 1.46235902e-03 -6.49003940e-03 1.43429287e+02] [-1.46067470e-03 9.99998898e-01 2.64257129e-04 9.89135808e-01] [ 6.49041869e-03 -2.54771445e-04 9.99978905e-01 -1.80583964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.58592000000002 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:143.46, Y:0.98, Z:-1.81 [[ 9.99967965e-01 4.68283382e-03 -6.49158745e-03 1.43459842e+02] [-4.68145386e-03 9.99989016e-01 2.27755805e-04 9.82557531e-01] [ 6.49258269e-03 -1.97358442e-04 9.99978903e-01 -1.80843009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.61592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.49, Y:0.98, Z:-1.81 [[ 9.99972762e-01 3.51705165e-03 -6.48890757e-03 1.43486737e+02] [-3.51523707e-03 9.99993779e-01 2.91026691e-04 9.78489784e-01] [ 6.48989076e-03 -2.68208715e-04 9.99978904e-01 -1.80889311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.64592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.52, Y:0.97, Z:-1.82 [[ 9.99957470e-01 6.55089889e-03 -6.49183914e-03 1.43517321e+02] [-6.54960228e-03 9.99978527e-01 2.20969491e-04 9.73834325e-01] [ 6.49314729e-03 -1.78441129e-04 9.99978903e-01 -1.82220523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.67592000000002 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:143.55, Y:0.97, Z:-1.81 [[ 9.99939795e-01 8.84821511e-03 -6.48963756e-03 1.43545841e+02] [-8.84662781e-03 9.99960830e-01 2.73255757e-04 9.71233997e-01] [ 6.49180119e-03 -2.15827898e-04 9.99978905e-01 -1.81253523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.70592000000002 meters Centerline goodness : 0.899432 Centerline is valid? [True, False] Translation: X:143.55, Y:0.97, Z:-1.81 [[ 9.99968015e-01 4.75990793e-03 -6.42744956e-03 1.43545643e+02] [-4.78899438e-03 9.99978328e-01 -4.51756647e-03 9.74255585e-01] [ 6.40580707e-03 4.54820299e-03 9.99969139e-01 -1.81217744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.73592000000002 meters Centerline goodness : 0.998354 Centerline is valid? [False, True] Translation: X:143.55, Y:0.97, Z:-1.81 [[ 9.99967364e-01 4.78338401e-03 -6.51072531e-03 1.43545834e+02] [-4.80956380e-03 9.99980388e-01 -4.01132503e-03 9.72060505e-01] [ 6.49140991e-03 4.04250787e-03 9.99970759e-01 -1.81211974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.76592 meters Centerline goodness : 0.997710 Centerline is valid? [True, True] Translation: X:143.57, Y:0.97, Z:-1.81 [[ 9.99967744e-01 4.88736520e-03 -6.37379079e-03 1.43573436e+02] [-4.88635199e-03 9.99988046e-01 1.74527412e-04 9.65646581e-01] [ 6.37456758e-03 -1.43377197e-04 9.99979672e-01 -1.81280837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.79592 meters Centerline goodness : 0.997261 Centerline is valid? [True, True] Translation: X:143.60, Y:0.96, Z:-1.83 [[ 9.99931700e-01 9.79603104e-03 -6.37437555e-03 1.43604756e+02] [-9.79523135e-03 9.99952013e-01 1.56663165e-04 9.64641532e-01] [ 6.37560434e-03 -9.42139821e-05 9.99979671e-01 -1.82648766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.82592 meters Centerline goodness : 0.996412 Centerline is valid? [True, True] Translation: X:143.64, Y:0.96, Z:-1.81 [[ 9.99880616e-01 1.40763253e-02 -6.37269469e-03 1.43636175e+02] [-1.40752846e-02 9.99900917e-01 2.08129554e-04 9.63961435e-01] [ 6.37499296e-03 -1.18407215e-04 9.99979673e-01 -1.81273427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.85592 meters Centerline goodness : 0.996514 Centerline is valid? [True, True] Translation: X:143.66, Y:0.96, Z:-1.83 [[ 9.99851442e-01 1.60157961e-02 -6.37085365e-03 1.43664527e+02] [-1.60144362e-02 9.99871726e-01 2.64415881e-04 9.63786624e-01] [ 6.37427126e-03 -1.62350971e-04 9.99979671e-01 -1.82606204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.88592 meters Centerline goodness : 0.996166 Centerline is valid? [True, True] Translation: X:143.70, Y:0.96, Z:-1.81 [[ 9.99826633e-01 1.74954856e-02 -6.37273862e-03 1.43695076e+02] [-1.74945270e-02 9.99846938e-01 2.06144242e-04 9.62006420e-01] [ 6.37536979e-03 -9.46204554e-05 9.99979673e-01 -1.81476192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.91592 meters Centerline goodness : 0.996315 Centerline is valid? [True, True] Translation: X:143.73, Y:0.96, Z:-1.83 [[ 9.99769663e-01 2.04941818e-02 -6.37249237e-03 1.43725402e+02] [-2.04932353e-02 9.99789969e-01 2.13795260e-04 9.62918874e-01] [ 6.37553551e-03 -8.31530298e-05 9.99979673e-01 -1.82533831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.94592 meters Centerline goodness : 0.977430 Centerline is valid? [True, True] Translation: X:143.76, Y:0.94, Z:-1.82 [[ 9.99013170e-01 -4.39553565e-02 -6.37281724e-03 1.43756768e+02] [ 4.39575446e-02 9.99033379e-01 2.03628032e-04 9.38410474e-01] [ 6.35770660e-03 -4.83560484e-04 9.99979673e-01 -1.82322014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.97592 meters Centerline goodness : 0.996018 Centerline is valid? [True, True] Translation: X:143.78, Y:0.97, Z:-1.82 [[ 9.99554700e-01 2.91517980e-02 -6.36973441e-03 1.43784436e+02] [-2.91504855e-02 9.99574990e-01 2.98810679e-04 9.69078315e-01] [ 6.37573807e-03 -1.12996768e-04 9.99979668e-01 -1.82433101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.00592 meters Centerline goodness : 0.996365 Centerline is valid? [True, True] Translation: X:143.81, Y:0.97, Z:-1.82 [[ 9.99483311e-01 3.15039382e-02 -6.37279884e-03 1.43813680e+02] [-3.15032890e-02 9.99503628e-01 2.02255717e-04 9.71251965e-01] [ 6.37600741e-03 -1.38709021e-06 9.99979673e-01 -1.82382103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.03592 meters Centerline goodness : 0.996410 Centerline is valid? [True, True] Translation: X:143.86, Y:1.00, Z:-1.82 [[ 9.95730400e-01 9.20888513e-02 -6.37289121e-03 1.43859589e+02] [-9.20894548e-02 9.95750718e-01 1.99301988e-04 9.96267428e-01] [ 6.36416449e-03 3.88425029e-04 9.99979673e-01 -1.81974187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.06592 meters Centerline goodness : 0.995515 Centerline is valid? [True, True] Translation: X:143.87, Y:0.98, Z:-1.81 [[ 9.99429521e-01 3.31697109e-02 -6.35639705e-03 1.43873476e+02] [-3.31659786e-02 9.99449618e-01 6.91705571e-04 9.77714520e-01] [ 6.37584228e-03 -4.80494838e-04 9.99979559e-01 -1.80930528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.09592 meters Centerline goodness : 0.961102 Centerline is valid? [True, True] Translation: X:143.95, Y:0.96, Z:-1.83 [[ 9.99845185e-01 -1.64014740e-02 -6.37170428e-03 1.43950329e+02] [ 1.64030359e-02 9.99865443e-01 1.92941056e-04 9.59424729e-01] [ 6.36768240e-03 -2.97426480e-04 9.99979682e-01 -1.82628649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.12592 meters Centerline goodness : 0.993619 Centerline is valid? [True, True] Translation: X:143.86, Y:0.96, Z:-1.83 [[ 9.99979741e-01 -9.76258116e-04 -6.29009207e-03 1.43860862e+02] [ 9.89137408e-04 9.99997420e-01 2.04476667e-03 9.62006149e-01] [ 6.28807963e-03 -2.05094701e-03 9.99978127e-01 -1.82921834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.15592 meters Centerline goodness : 0.979410 Centerline is valid? [True, True] Translation: X:143.89, Y:0.97, Z:-1.83 [[ 9.98360185e-01 5.68944102e-02 -6.32199561e-03 1.43893827e+02] [-5.68979746e-02 9.98379924e-01 -3.85241820e-04 9.68215287e-01] [ 6.28983539e-03 7.44318840e-04 9.99979942e-01 -1.82681529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.18592 meters Centerline goodness : 0.975098 Centerline is valid? [True, True] Translation: X:143.92, Y:1.00, Z:-1.82 [[ 9.95828363e-01 9.10257885e-02 -6.33853022e-03 1.43922974e+02] [-9.10322226e-02 9.95847677e-01 -7.33478938e-04 9.96029159e-01] [ 6.24544510e-03 1.30742962e-03 9.99979642e-01 -1.82350492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.21592 meters Centerline goodness : 0.995620 Centerline is valid? [True, True] Translation: X:143.99, Y:0.99, Z:-1.81 [[ 9.97695420e-01 6.75546150e-02 -6.34215733e-03 1.43985733e+02] [-6.75609908e-02 9.97714828e-01 -7.96263527e-04 9.93675849e-01] [ 6.27387313e-03 1.22291091e-03 9.99979571e-01 -1.80854787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.24592 meters Centerline goodness : 0.989108 Centerline is valid? [True, True] Translation: X:143.97, Y:0.98, Z:-1.85 [[ 9.99293713e-01 3.70513768e-02 -6.26660497e-03 1.43966591e+02] [-3.70497643e-02 9.99313352e-01 3.73256365e-04 9.84868581e-01] [ 6.27613168e-03 -1.40816502e-04 9.99980295e-01 -1.84661317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.27592 meters Centerline goodness : 0.996813 Centerline is valid? [True, True] Translation: X:144.05, Y:0.97, Z:-1.84 [[ 9.99822120e-01 1.77727516e-02 -6.31328598e-03 1.44046863e+02] [-1.77783417e-02 9.99841608e-01 -8.30428687e-04 9.71759574e-01] [ 6.29752700e-03 9.42520726e-04 9.99979726e-01 -1.83877062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.30592000000001 meters Centerline goodness : 0.966280 Centerline is valid? [True, True] Translation: X:144.13, Y:0.94, Z:-1.85 [[ 9.99606033e-01 -2.73645133e-02 -6.24203221e-03 1.44126167e+02] [ 2.73681886e-02 9.99625294e-01 5.04132311e-04 9.36092582e-01] [ 6.22589795e-03 -6.74766815e-04 9.99980391e-01 -1.85302809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.33592000000002 meters Centerline goodness : 0.998009 Centerline is valid? [True, True] Translation: X:144.15, Y:0.96, Z:-1.86 [[ 9.99799754e-01 1.90473493e-02 -6.13606151e-03 1.44145570e+02] [-1.90366263e-02 9.99817164e-01 1.80124076e-03 9.60444533e-01] [ 6.16924848e-03 -1.68407016e-03 9.99979552e-01 -1.85547838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.36592000000002 meters Centerline goodness : 0.996318 Centerline is valid? [True, True] Translation: X:144.14, Y:0.95, Z:-1.82 [[ 9.99958703e-01 6.69191819e-03 -6.14896704e-03 1.44138560e+02] [-6.68696872e-03 9.99977302e-01 8.25134472e-04 9.47176093e-01] [ 6.15434920e-03 -7.83982446e-04 9.99980754e-01 -1.82212086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.39592000000002 meters Centerline goodness : 0.995661 Centerline is valid? [True, True] Translation: X:144.17, Y:0.95, Z:-1.81 [[ 9.99971794e-01 4.30541157e-03 -6.15418233e-03 1.44166014e+02] [-4.30524132e-03 9.99990732e-01 4.09121066e-05 9.49908312e-01] [ 6.15430143e-03 -1.44157126e-05 9.99981062e-01 -1.81061432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.42592000000002 meters Centerline goodness : 0.846188 Centerline is valid? [True, False] Translation: X:144.17, Y:0.96, Z:-1.81 [[ 9.99971239e-01 4.35078776e-03 -6.21223478e-03 1.44166201e+02] [-4.35797424e-03 9.99989850e-01 -1.14375897e-03 9.55130046e-01] [ 6.20719547e-03 1.17079884e-03 9.99980050e-01 -1.81070604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.45592000000002 meters Centerline goodness : 0.908720 Centerline is valid? [False, False] Translation: X:144.17, Y:0.96, Z:-1.81 [[ 9.99979903e-01 2.59089470e-04 -6.33456090e-03 1.44166561e+02] [-3.03815978e-04 9.99975026e-01 -7.06076915e-03 9.62787867e-01] [ 6.33257333e-03 7.06255179e-03 9.99955008e-01 -1.81098576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.48592000000002 meters Centerline goodness : 0.996016 Centerline is valid? [False, True] Translation: X:144.17, Y:0.96, Z:-1.81 [[ 9.99979276e-01 2.79301444e-04 -6.43190977e-03 1.44166850e+02] [-3.27236141e-04 9.99972174e-01 -7.45279229e-03 9.64607081e-01] [ 6.42964922e-03 7.45474259e-03 9.99951542e-01 -1.81107090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.51592 meters Centerline goodness : 0.995960 Centerline is valid? [True, True] Translation: X:144.19, Y:0.96, Z:-1.80 [[ 9.99975594e-01 -2.74291423e-03 -6.42558100e-03 1.44194563e+02] [ 2.74300688e-03 9.99996238e-01 5.60635284e-06 9.58507772e-01] [ 6.42554145e-03 -2.32316289e-05 9.99979356e-01 -1.80080804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.54592 meters Centerline goodness : 0.996218 Centerline is valid? [True, True] Translation: X:144.23, Y:0.96, Z:-1.81 [[ 9.99979317e-01 2.77002968e-04 -6.42563873e-03 1.44227495e+02] [-2.77480523e-04 9.99999959e-01 -7.34287837e-05 9.60729408e-01] [ 6.42561812e-03 7.52102546e-05 9.99979353e-01 -1.81034166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.57592 meters Centerline goodness : 0.995918 Centerline is valid? [True, True] Translation: X:144.25, Y:0.96, Z:-1.80 [[ 9.99961703e-01 -5.94182952e-03 -6.42555039e-03 1.44254862e+02] [ 5.94199751e-03 9.99982346e-01 7.05434334e-06 9.63033999e-01] [ 6.42539504e-03 -4.52346776e-05 9.99979356e-01 -1.79694422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.60592 meters Centerline goodness : 0.928514 Centerline is valid? [True, False] Translation: X:144.25, Y:0.99, Z:-1.80 [[ 9.99988038e-01 -4.20820367e-03 -2.49285421e-03 1.44251672e+02] [ 4.15383680e-03 9.99761789e-01 -2.14268918e-02 9.85729319e-01] [ 2.58242911e-03 2.14162806e-02 9.99767310e-01 -1.79505695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.63592 meters Centerline goodness : 0.995565 Centerline is valid? [False, True] Translation: X:144.27, Y:1.00, Z:-1.79 [[ 9.99969028e-01 -4.78502726e-03 -6.24878721e-03 1.44273881e+02] [ 4.56925189e-03 9.99407978e-01 -3.41000658e-02 9.97483620e-01] [ 6.40825754e-03 3.40704574e-02 9.99398888e-01 -1.79030099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.66592 meters Centerline goodness : 0.922520 Centerline is valid? [True, False] Translation: X:144.28, Y:1.00, Z:-1.79 [[ 9.99967385e-01 -4.54350253e-03 -6.67718658e-03 1.44275068e+02] [ 4.31260585e-03 9.99405817e-01 -3.41966870e-02 9.97637944e-01] [ 6.82859185e-03 3.41667756e-02 9.99392817e-01 -1.79033220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.69592 meters Centerline goodness : 0.996266 Centerline is valid? [False, True] Translation: X:144.30, Y:0.99, Z:-1.79 [[ 9.99952453e-01 -7.16260532e-03 -6.61725017e-03 1.44296782e+02] [ 6.99855968e-03 9.99675584e-01 -2.44897386e-02 9.87600553e-01] [ 6.79051376e-03 2.44422630e-02 9.99678181e-01 -1.79100345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.72592 meters Centerline goodness : 0.996117 Centerline is valid? [True, True] Translation: X:144.33, Y:0.96, Z:-1.78 [[ 9.99926370e-01 -1.02391901e-02 -6.51253280e-03 1.44325012e+02] [ 1.02395917e-02 9.99947574e-01 2.83352472e-05 9.62502179e-01] [ 6.51190125e-03 -9.50188379e-05 9.99978793e-01 -1.77622479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.75592 meters Centerline goodness : 0.996417 Centerline is valid? [True, True] Translation: X:144.35, Y:0.96, Z:-1.78 [[ 9.99915226e-01 -1.12749842e-02 -6.51271144e-03 1.44353286e+02] [ 1.12751231e-02 9.99936434e-01 -1.53942513e-05 9.62679008e-01] [ 6.51247102e-03 -5.80386771e-05 9.99978792e-01 -1.77644925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.78592 meters Centerline goodness : 0.997115 Centerline is valid? [True, True] Translation: X:144.38, Y:0.96, Z:-1.79 [[ 9.99935091e-01 -9.34871986e-03 -6.51273774e-03 1.44383403e+02] [ 9.34877602e-03 9.99956299e-01 -2.18213732e-05 9.62684837e-01] [ 6.51265713e-03 -3.90661696e-05 9.99978792e-01 -1.79262579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.81592 meters Centerline goodness : 0.996908 Centerline is valid? [True, True] Translation: X:144.41, Y:0.96, Z:-1.78 [[ 9.99929130e-01 -9.96605102e-03 -6.51252936e-03 1.44411426e+02] [ 9.96644152e-03 9.99950333e-01 2.75105759e-05 9.61627979e-01] [ 6.51193173e-03 -9.24153693e-05 9.99978793e-01 -1.77710749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.84592 meters Centerline goodness : 0.998359 Centerline is valid? [True, True] Translation: X:144.44, Y:0.96, Z:-1.77 [[ 9.99937632e-01 -9.07291535e-03 -6.51269193e-03 1.44441449e+02] [ 9.07302711e-03 9.99958839e-01 -1.23858798e-05 9.60226095e-01] [ 6.51253624e-03 -4.67047232e-05 9.99978792e-01 -1.77499724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.87592 meters Centerline goodness : 0.998807 Centerline is valid? [True, True] Translation: X:144.47, Y:0.96, Z:-1.79 [[ 9.99951617e-01 -7.37228201e-03 -6.51259791e-03 1.44472466e+02] [ 7.37250793e-03 9.99972823e-01 1.06824896e-05 9.60427294e-01] [ 6.51234217e-03 -5.86961525e-05 9.99978793e-01 -1.79095697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.90592 meters Centerline goodness : 0.999452 Centerline is valid? [True, True] Translation: X:144.50, Y:0.96, Z:-1.78 [[ 9.99954524e-01 -6.96686327e-03 -6.51252742e-03 1.44501695e+02] [ 6.96718960e-03 9.99975728e-01 2.74231046e-05 9.58683807e-01] [ 6.51217830e-03 -7.27958708e-05 9.99978793e-01 -1.77781251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.93592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.53, Y:0.95, Z:-1.79 [[ 9.99964239e-01 -5.39511404e-03 -6.51257250e-03 1.44532208e+02] [ 5.39533297e-03 9.99985445e-01 1.60473512e-05 9.53869320e-01] [ 6.51239113e-03 -5.11842745e-05 9.99978793e-01 -1.78904398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.96592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.56, Y:0.95, Z:-1.77 [[ 9.99960590e-01 -6.03360929e-03 -6.51253882e-03 1.44561803e+02] [ 6.03389920e-03 9.99981796e-01 2.48675944e-05 9.53133409e-01] [ 6.51227022e-03 -6.41626171e-05 9.99978793e-01 -1.77256964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.99592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:144.59, Y:0.95, Z:-1.77 [[ 9.99958471e-01 -6.37516837e-03 -6.51252898e-03 1.44590155e+02] [ 6.37548257e-03 9.99979676e-01 2.74844966e-05 9.54018114e-01] [ 6.51222140e-03 -6.90038702e-05 9.99978793e-01 -1.76920580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.02592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.62, Y:0.96, Z:-1.79 [[ 9.99978623e-01 -5.81873651e-04 -6.51261721e-03 1.44621563e+02] [ 5.81908635e-04 9.99999831e-01 3.47682484e-06 9.57442008e-01] [ 6.51261409e-03 -7.26649871e-06 9.99978793e-01 -1.78822220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.05592000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.65, Y:0.96, Z:-1.77 [[ 9.99978772e-01 -2.03539898e-04 -6.51253875e-03 1.44651256e+02] [ 2.03703190e-04 9.99999979e-01 2.44100420e-05 9.57440217e-01] [ 6.51253365e-03 -2.57361488e-05 9.99978793e-01 -1.77263280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.08592000000002 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:144.68, Y:0.96, Z:-1.76 [[ 9.99976544e-01 2.12081785e-03 -6.51253364e-03 1.44680262e+02] [-2.12069471e-03 9.99997751e-01 2.58128008e-05 9.57914043e-01] [ 6.51257374e-03 -1.20010997e-05 9.99978793e-01 -1.76350776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.11592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.71, Y:0.96, Z:-1.77 [[ 9.99971641e-01 3.78186957e-03 -6.51263987e-03 1.44710077e+02] [-3.78197969e-03 9.99992848e-01 -4.59382893e-06 9.60173116e-01] [ 6.51257592e-03 2.92243704e-05 9.99978793e-01 -1.76645306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.14592000000002 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:144.74, Y:0.96, Z:-1.77 [[ 9.99967378e-01 4.77812058e-03 -6.51256045e-03 1.44740785e+02] [-4.77810186e-03 9.99988585e-01 1.84334238e-05 9.61697298e-01] [ 6.51257418e-03 1.26848548e-05 9.99978793e-01 -1.77132092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.17592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.77, Y:0.96, Z:-1.78 [[ 9.99959604e-01 6.19490446e-03 -6.51249619e-03 1.44771552e+02] [-6.19479670e-03 9.99980811e-01 3.67181748e-05 9.63832048e-01] [ 6.51259869e-03 3.62689842e-06 9.99978793e-01 -1.78219694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.20592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.80, Y:0.96, Z:-1.78 [[ 9.99965679e-01 5.12151488e-03 -6.51243453e-03 1.44799355e+02] [-5.12126505e-03 9.99986885e-01 5.50375009e-05 9.64854308e-01] [ 6.51263100e-03 -2.16837086e-05 9.99978792e-01 -1.77750566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.23592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.83, Y:0.96, Z:-1.78 [[ 9.99967962e-01 4.65435510e-03 -6.51247831e-03 1.44826820e+02] [-4.65419373e-03 9.99989168e-01 3.99334247e-05 9.64564768e-01] [ 6.51259363e-03 -9.62180958e-06 9.99978793e-01 -1.77732603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.26592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.86, Y:0.97, Z:-1.78 [[ 9.99965230e-01 5.20833431e-03 -6.51248559e-03 1.44855693e+02] [-5.20820423e-03 9.99986437e-01 3.69332897e-05 9.67699532e-01] [ 6.51258962e-03 -3.01365052e-06 9.99978793e-01 -1.77799413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.29592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:144.88, Y:0.97, Z:-1.77 [[ 9.99974266e-01 3.00901943e-03 -6.51247686e-03 1.44883455e+02] [-3.00881592e-03 9.99995473e-01 4.10464079e-05 9.67738379e-01] [ 6.51257089e-03 -2.14505076e-05 9.99978793e-01 -1.76918389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.32592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:144.91, Y:0.97, Z:-1.78 [[ 9.99971867e-01 3.72192349e-03 -6.51256221e-03 1.44913841e+02] [-3.72206000e-03 9.99993073e-01 -8.84146108e-06 9.68172468e-01] [ 6.51248419e-03 3.30813596e-05 9.99978793e-01 -1.77784946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.35592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.94, Y:0.97, Z:-1.78 [[ 9.99974811e-01 2.82217714e-03 -6.51250162e-03 1.44941953e+02] [-2.82206570e-03 9.99996018e-01 2.63010393e-05 9.68629915e-01] [ 6.51254991e-03 -7.92166939e-06 9.99978793e-01 -1.78035781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.38592 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:144.97, Y:0.97, Z:-1.77 [[ 9.99978787e-01 -1.15922604e-04 -6.51250891e-03 1.44968653e+02] [ 1.16054855e-04 9.99999993e-01 1.99293157e-05 9.68716181e-01] [ 6.51250655e-03 -2.06847012e-05 9.99978793e-01 -1.76864316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.41592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:145.00, Y:0.97, Z:-1.77 [[ 9.99978493e-01 7.74222133e-04 -6.51255614e-03 1.44997506e+02] [-7.74554044e-04 9.99999699e-01 -4.84428405e-05 9.68635734e-01] [ 6.51251667e-03 5.34861254e-05 9.99978792e-01 -1.76823047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.44592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:145.03, Y:0.97, Z:-1.77 [[ 9.99972435e-01 3.56605186e-03 -6.51255777e-03 1.45026406e+02] [-3.56646073e-03 9.99993639e-01 -5.11688807e-05 9.70838568e-01] [ 6.51233387e-03 7.43942518e-05 9.99978792e-01 -1.76911129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.47592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:145.06, Y:0.97, Z:-1.77 [[ 9.99958630e-01 6.35016866e-03 -6.51255285e-03 1.45055558e+02] [-6.35053899e-03 9.99979834e-01 -3.61856018e-05 9.72498041e-01] [ 6.51219173e-03 7.75423256e-05 9.99978792e-01 -1.77248809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.50592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:145.08, Y:0.97, Z:-1.77 [[ 9.99943189e-01 8.43830775e-03 -6.51255128e-03 1.45084176e+02] [-8.43862301e-03 9.99964394e-01 -2.09306399e-05 9.74445987e-01] [ 6.51214278e-03 7.58864160e-05 9.99978793e-01 -1.77163935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.53592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.12, Y:0.98, Z:-1.78 [[ 9.99857635e-01 1.55659030e-02 -6.51255354e-03 1.45116404e+02] [-1.55664806e-02 9.99878834e-01 -3.80204499e-05 9.78164819e-01] [ 6.51117261e-03 1.39392576e-04 9.99978792e-01 -1.78134480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.56592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:145.15, Y:0.98, Z:-1.78 [[ 9.99861913e-01 1.52886171e-02 -6.51253285e-03 1.45145271e+02] [-1.52887826e-02 9.99883119e-01 2.43766098e-05 9.82536922e-01] [ 6.51214435e-03 7.51954552e-05 9.99978793e-01 -1.77799074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.59592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:145.17, Y:0.99, Z:-1.78 [[ 9.99844522e-01 1.63865387e-02 -6.51253363e-03 1.45174625e+02] [-1.63869466e-02 9.99865725e-01 -9.27138779e-06 9.85985981e-01] [ 6.51150724e-03 1.15990487e-04 9.99978793e-01 -1.77969387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.62592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:145.20, Y:0.99, Z:-1.78 [[ 9.99879966e-01 1.40584980e-02 -6.51253543e-03 1.45203481e+02] [-1.40587819e-02 9.99901170e-01 2.19431853e-06 9.89947791e-01] [ 6.51192265e-03 8.93642599e-05 9.99978793e-01 -1.77836405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.65592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:145.23, Y:1.00, Z:-1.78 [[ 9.99901044e-01 1.24695665e-02 -6.51252989e-03 1.45231830e+02] [-1.24699371e-02 9.99922247e-01 -1.63036163e-05 9.96093106e-01] [ 6.51182022e-03 9.75128412e-05 9.99978793e-01 -1.78031346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.68592 meters Centerline goodness : 0.998854 Centerline is valid? [True, True] Translation: X:145.26, Y:1.00, Z:-1.77 [[ 9.99933793e-01 9.48665665e-03 -6.51252726e-03 1.45259313e+02] [-9.48698985e-03 9.99954997e-01 -2.02709334e-05 9.97829334e-01] [ 6.51204188e-03 8.20538714e-05 9.99978793e-01 -1.76778530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.71592 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:145.29, Y:1.00, Z:-1.77 [[ 9.99942214e-01 8.55316880e-03 -6.51250140e-03 1.45287615e+02] [-8.55369430e-03 9.99963415e-01 -5.28415214e-05 1.00300632e+00] [ 6.51181118e-03 1.08544414e-04 9.99978792e-01 -1.76721211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.74592 meters Centerline goodness : 0.830238 Centerline is valid? [True, False] Translation: X:145.31, Y:1.01, Z:-1.77 [[ 9.99965880e-01 -1.15034673e-03 -8.18020552e-03 1.45310388e+02] [ 1.15347828e-03 9.99999263e-01 3.78112864e-04 1.00585113e+00] [ 8.17976454e-03 -3.87535652e-04 9.99966470e-01 -1.76513271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.77592 meters Centerline goodness : 0.999602 Centerline is valid? [False, True] Translation: X:145.29, Y:1.03, Z:-1.77 [[ 9.99993932e-01 -3.38079604e-03 -8.39952598e-04 1.45285532e+02] [ 3.36795011e-03 9.99884042e-01 -1.48512365e-02 1.02755035e+00] [ 8.90064201e-04 1.48483175e-02 9.99889362e-01 -1.76738247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.80592000000001 meters Centerline goodness : 0.891792 Centerline is valid? [True, False] Translation: X:145.29, Y:1.03, Z:-1.77 [[ 9.99999206e-01 8.01883870e-04 -9.72057741e-04 1.45285901e+02] [-8.12155349e-04 9.99943353e-01 -1.06128050e-02 1.02744150e+00] [ 9.63492439e-04 1.06135860e-02 9.99943210e-01 -1.76756348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.83592000000002 meters Centerline goodness : 0.996121 Centerline is valid? [False, True] Translation: X:145.29, Y:1.03, Z:-1.77 [[ 9.99994421e-01 2.82034781e-03 -1.79013422e-03 1.45290978e+02] [-2.83639235e-03 9.99955256e-01 -9.02441087e-03 1.02947208e+00] [ 1.76460215e-03 9.02943805e-03 9.99957677e-01 -1.77218403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.86592000000002 meters Centerline goodness : 0.999402 Centerline is valid? [True, True] Translation: X:145.32, Y:1.03, Z:-1.79 [[ 9.99998130e-01 -6.11006665e-04 -1.83498676e-03 1.45320461e+02] [ 6.10885640e-04 9.99999811e-01 -6.65144202e-05 1.02544458e+00] [ 1.83502705e-03 6.53933288e-05 9.99998314e-01 -1.78725605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.89592000000002 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:145.35, Y:1.03, Z:-1.79 [[ 9.99997731e-01 -1.08178127e-03 -1.83527946e-03 1.45349007e+02] [ 1.08176554e-03 9.99999415e-01 -9.56499759e-06 1.02710224e+00] [ 1.83528873e-03 7.57963381e-06 9.99998316e-01 -1.78873788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.92592000000002 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:145.38, Y:1.03, Z:-1.80 [[ 9.99997883e-01 9.31119609e-04 -1.83517543e-03 1.45381493e+02] [-9.31178655e-04 9.99999566e-01 -3.13199726e-05 1.03208232e+00] [ 1.83514547e-03 3.30287825e-05 9.99998316e-01 -1.80239057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.95592000000002 meters Centerline goodness : 0.998803 Centerline is valid? [True, True] Translation: X:145.41, Y:1.04, Z:-1.79 [[ 9.99997820e-01 9.96173719e-04 -1.83527745e-03 1.45407143e+02] [-9.96190160e-04 9.99999504e-01 -8.04424558e-06 1.03509899e+00] [ 1.83526853e-03 9.87251338e-06 9.99998316e-01 -1.79175700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.98592000000002 meters Centerline goodness : 0.997909 Centerline is valid? [True, True] Translation: X:145.44, Y:1.04, Z:-1.79 [[ 9.99998227e-01 -4.23587025e-04 -1.83499618e-03 1.45439034e+02] [ 4.23483849e-04 9.99999909e-01 -5.66151376e-05 1.03734806e+00] [ 1.83501999e-03 5.58379460e-05 9.99998315e-01 -1.78642130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.01592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:145.47, Y:1.04, Z:-1.80 [[ 9.99997274e-01 -1.44405700e-03 -1.83499321e-03 1.45473403e+02] [ 1.44398611e-03 9.99998957e-01 -3.99577229e-05 1.03744124e+00] [ 1.83504900e-03 3.73079093e-05 9.99998316e-01 -1.80481132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.04592 meters Centerline goodness : 0.998059 Centerline is valid? [True, True] Translation: X:145.50, Y:1.04, Z:-1.79 [[ 9.99963018e-01 -8.40207301e-03 -1.83496379e-03 1.45501578e+02] [ 8.40208955e-03 9.99964702e-01 1.30821727e-06 1.03726466e+00] [ 1.83488803e-03 -1.67256990e-05 9.99998316e-01 -1.79014153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.07592 meters Centerline goodness : 0.998210 Centerline is valid? [True, True] Translation: X:145.53, Y:1.04, Z:-1.79 [[ 9.99952576e-01 -9.56446172e-03 -1.83498259e-03 1.45531358e+02] [ 9.56443655e-03 9.99954259e-01 -2.24916451e-05 1.03833479e+00] [ 1.83511378e-03 4.94000387e-06 9.99998316e-01 -1.78647489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.10592 meters Centerline goodness : 0.997763 Centerline is valid? [True, True] Translation: X:145.56, Y:1.04, Z:-1.78 [[ 9.99941272e-01 -1.06810950e-02 -1.83499699e-03 1.45562325e+02] [ 1.06810578e-02 9.99942955e-01 -3.00399509e-05 1.03859031e+00] [ 1.83521317e-03 1.04384777e-05 9.99998316e-01 -1.78403666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.13592 meters Centerline goodness : 0.900567 Centerline is valid? [True, False] Translation: X:145.58, Y:1.04, Z:-1.78 [[ 9.99955635e-01 -7.62840233e-03 -5.52586081e-03 1.45584158e+02] [ 7.59142061e-03 9.99948854e-01 -6.68282327e-03 1.04293673e+00] [ 5.57655745e-03 6.64057766e-03 9.99962402e-01 -1.78002675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.16592 meters Centerline goodness : 0.998057 Centerline is valid? [False, True] Translation: X:145.61, Y:1.04, Z:-1.78 [[ 9.99957608e-01 -6.37541583e-04 -9.18564026e-03 1.45605334e+02] [ 5.56741837e-04 9.99961158e-01 -8.79618427e-03 1.04493094e+00] [ 9.19089141e-03 8.79069735e-03 9.99919122e-01 -1.77599577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.19592 meters Centerline goodness : 0.998258 Centerline is valid? [True, True] Translation: X:145.64, Y:1.04, Z:-1.78 [[ 9.99955629e-01 2.46412454e-03 -9.09217652e-03 1.45635093e+02] [-2.46506866e-03 9.99996957e-01 -9.26336607e-05 1.03627187e+00] [ 9.09192059e-03 1.15042390e-04 9.99958661e-01 -1.77741208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.22592 meters Centerline goodness : 0.998408 Centerline is valid? [True, True] Translation: X:145.67, Y:1.04, Z:-1.78 [[ 9.99953974e-01 3.06768104e-03 -9.09064443e-03 1.45665238e+02] [-3.06737237e-03 9.99995294e-01 4.78972010e-05 1.03593768e+00] [ 9.09074858e-03 -2.00106049e-05 9.99958678e-01 -1.77622418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.25592 meters Centerline goodness : 0.933224 Centerline is valid? [True, False] Translation: X:145.69, Y:1.04, Z:-1.77 [[ 9.99891262e-01 5.24823011e-03 -1.37811825e-02 1.45686290e+02] [-5.35180668e-03 9.99957630e-01 -7.48970513e-03 1.04332233e+00] [ 1.37412909e-02 7.56264493e-03 9.99876984e-01 -1.77110206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.28592 meters Centerline goodness : 0.998507 Centerline is valid? [False, True] Translation: X:145.68, Y:1.05, Z:-1.77 [[ 9.99993645e-01 3.43149454e-03 9.66643227e-04 1.45680306e+02] [-3.41988509e-03 9.99924929e-01 -1.17660481e-02 1.04710146e+00] [-1.00694579e-03 1.17626676e-02 9.99930310e-01 -1.77152960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.31592 meters Centerline goodness : 0.997912 Centerline is valid? [True, True] Translation: X:145.71, Y:1.04, Z:-1.77 [[ 9.99990291e-01 4.27792117e-03 1.05737409e-03 1.45711293e+02] [-4.27789163e-03 9.99990849e-01 -3.01953720e-05 1.03624086e+00] [-1.05749358e-03 2.56717470e-05 9.99999441e-01 -1.77312551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.34592 meters Centerline goodness : 0.997952 Centerline is valid? [True, True] Translation: X:145.74, Y:1.04, Z:-1.77 [[ 9.99992473e-01 3.73300521e-03 1.05749266e-03 1.45741794e+02] [-3.73299215e-03 9.99993032e-01 -1.43253585e-05 1.03790946e+00] [-1.05753877e-03 1.03776388e-05 9.99999441e-01 -1.77361315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.37592 meters Centerline goodness : 0.998257 Centerline is valid? [True, True] Translation: X:145.77, Y:1.04, Z:-1.77 [[ 9.99997463e-01 1.98897033e-03 1.05748184e-03 1.45772308e+02] [-1.98895474e-03 9.99998022e-01 -1.57989547e-05 1.03790885e+00] [-1.05751118e-03 1.36956311e-05 9.99999441e-01 -1.77489166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.40592 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] Translation: X:145.80, Y:1.04, Z:-1.78 [[ 9.99996495e-01 2.42744685e-03 1.05742650e-03 1.45802049e+02] [-2.42742286e-03 9.99997054e-01 -2.39701763e-05 1.03923097e+00] [-1.05748157e-03 2.14032710e-05 9.99999441e-01 -1.78035823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.43592 meters Centerline goodness : 0.997416 Centerline is valid? [True, True] Translation: X:145.84, Y:1.04, Z:-1.77 [[ 9.99982073e-01 5.89362687e-03 1.05747121e-03 1.45835330e+02] [-5.89361212e-03 9.99982632e-01 -1.70583052e-05 1.04006658e+00] [-1.05755338e-03 1.08256742e-05 9.99999441e-01 -1.77237026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.46592 meters Centerline goodness : 0.997659 Centerline is valid? [True, True] Translation: X:145.87, Y:1.04, Z:-1.77 [[ 9.99981818e-01 5.93675760e-03 1.05736448e-03 1.45865787e+02] [-5.93672393e-03 9.99982377e-01 -3.49822344e-05 1.04025148e+00] [-1.05755353e-03 2.87043174e-05 9.99999440e-01 -1.77448706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.49592 meters Centerline goodness : 0.997313 Centerline is valid? [True, True] Translation: X:145.90, Y:1.04, Z:-1.77 [[ 9.99962042e-01 8.64852523e-03 1.05739066e-03 1.45899878e+02] [-8.64849784e-03 9.99962601e-01 -3.04743272e-05 1.04167830e+00] [-1.05761467e-03 2.13283296e-05 9.99999440e-01 -1.77494538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.52592 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:145.92, Y:1.04, Z:-1.78 [[ 9.99990641e-01 4.19524600e-03 1.05726452e-03 1.45921795e+02] [-4.19518553e-03 9.99991198e-01 -5.94070519e-05 1.04107471e+00] [-1.05750445e-03 5.49710751e-05 9.99999439e-01 -1.78198530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.55592000000001 meters Centerline goodness : 0.998407 Centerline is valid? [True, True] Translation: X:145.96, Y:1.04, Z:-1.77 [[ 9.99956806e-01 9.23402892e-03 1.05735563e-03 1.45957352e+02] [-9.23401911e-03 9.99957365e-01 -1.41622755e-05 1.04179096e+00] [-1.05744132e-03 4.39802171e-06 9.99999441e-01 -1.77410106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.58592000000002 meters Centerline goodness : 0.927399 Centerline is valid? [True, False] Translation: X:145.98, Y:1.06, Z:-1.77 [[ 9.99982216e-01 3.89200518e-03 -4.51874516e-03 1.45982407e+02] [-3.97155599e-03 9.99834902e-01 -1.77311930e-02 1.05703093e+00] [ 4.44898923e-03 1.77488241e-02 9.99832579e-01 -1.76862108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.61592000000002 meters Centerline goodness : 0.998409 Centerline is valid? [False, True] Translation: X:145.99, Y:1.06, Z:-1.77 [[ 9.99982981e-01 1.69614559e-03 -5.58211696e-03 1.45988124e+02] [-1.80815066e-03 9.99795907e-01 -2.01214820e-02 1.05825973e+00] [ 5.54684872e-03 2.01312329e-02 9.99781959e-01 -1.77330958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.64592000000002 meters Centerline goodness : 0.998010 Centerline is valid? [True, True] Translation: X:146.02, Y:1.04, Z:-1.77 [[ 9.99983212e-01 5.51001708e-04 -5.76824915e-03 1.46018858e+02] [-5.45416737e-04 9.99999381e-01 9.69754576e-04 1.03754464e+00] [ 5.76877991e-03 -9.66592196e-04 9.99982893e-01 -1.77422090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.67592000000002 meters Centerline goodness : 0.998556 Centerline is valid? [True, True] Translation: X:146.05, Y:1.04, Z:-1.78 [[ 9.99983316e-01 -4.29857893e-04 -5.76040941e-03 1.46048263e+02] [ 4.30911056e-04 9.99999891e-01 1.81587968e-04 1.03868920e+00] [ 5.76033072e-03 -1.84067162e-04 9.99983392e-01 -1.77587599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.70592000000002 meters Centerline goodness : 0.998457 Centerline is valid? [True, True] Translation: X:146.08, Y:1.04, Z:-1.78 [[ 9.99982524e-01 -1.32960049e-03 -5.76051183e-03 1.46077231e+02] [ 1.33072046e-03 9.99999096e-01 1.90593978e-04 1.03872936e+00] [ 5.76025321e-03 -1.98256278e-04 9.99983390e-01 -1.77626386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.73592000000002 meters Centerline goodness : 0.998458 Centerline is valid? [True, True] Translation: X:146.11, Y:1.04, Z:-1.78 [[ 9.99980661e-01 -2.34542811e-03 -5.75992417e-03 1.46105292e+02] [ 2.34629878e-03 9.99997237e-01 1.44407544e-04 1.03844537e+00] [ 5.75956955e-03 -1.57919254e-04 9.99983401e-01 -1.77654421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.76592 meters Centerline goodness : 0.998854 Centerline is valid? [True, True] Translation: X:146.13, Y:1.04, Z:-1.78 [[ 9.99981419e-01 -1.99833847e-03 -5.75912789e-03 1.46134817e+02] [ 1.99890542e-03 9.99997998e-01 9.26882238e-05 1.03948810e+00] [ 5.75893114e-03 -1.04198454e-04 9.99983412e-01 -1.78107613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.79592 meters Centerline goodness : 0.998957 Centerline is valid? [True, True] Translation: X:146.16, Y:1.04, Z:-1.78 [[ 9.99977258e-01 -3.50998126e-03 -5.75883243e-03 1.46160414e+02] [ 3.51047230e-03 9.99993835e-01 7.51621526e-05 1.04139996e+00] [ 5.75853312e-03 -9.53766650e-05 9.99983415e-01 -1.78343213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.82592 meters Centerline goodness : 0.998806 Centerline is valid? [True, True] Translation: X:146.19, Y:1.04, Z:-1.78 [[ 9.99968225e-01 -5.51336549e-03 -5.75778554e-03 1.46186214e+02] [ 5.51356152e-03 9.99984800e-01 1.81736718e-05 1.04325868e+00] [ 5.75759782e-03 -4.99189992e-05 9.99983424e-01 -1.77872028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.85592 meters Centerline goodness : 0.998957 Centerline is valid? [True, True] Translation: X:146.22, Y:1.05, Z:-1.78 [[ 9.99982803e-01 -1.12400655e-03 -5.75593389e-03 1.46219335e+02] [ 1.12356914e-03 9.99999366e-01 -7.92256738e-05 1.04525409e+00] [ 5.75601929e-03 7.27571217e-05 9.99983431e-01 -1.78183479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.88592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:146.24, Y:1.05, Z:-1.78 [[ 9.99952355e-01 -7.88246841e-03 -5.75798001e-03 1.46243068e+02] [ 7.88276017e-03 9.99968930e-01 2.79778491e-05 1.04626895e+00] [ 5.75758058e-03 -7.33652916e-05 9.99983422e-01 -1.77898646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.91592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:146.27, Y:1.05, Z:-1.78 [[ 9.99940671e-01 -9.24927907e-03 -5.75367048e-03 1.46270706e+02] [ 9.24820498e-03 9.99957212e-01 -2.13256187e-04 1.04879317e+00] [ 5.75539676e-03 1.60032410e-04 9.99983425e-01 -1.77918286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.94592 meters Centerline goodness : 0.999402 Centerline is valid? [True, True] Translation: X:146.30, Y:1.05, Z:-1.78 [[ 9.99891393e-01 -1.35683598e-02 -5.75333391e-03 1.46298729e+02] [ 1.35672453e-02 9.99907934e-01 -2.32702950e-04 1.05038287e+00] [ 5.75596162e-03 1.54620784e-04 9.99983422e-01 -1.78175919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.97592 meters Centerline goodness : 0.999006 Centerline is valid? [True, True] Translation: X:146.33, Y:1.05, Z:-1.78 [[ 9.99873988e-01 -1.47956852e-02 -5.75298291e-03 1.46325636e+02] [ 1.47944690e-02 9.99890524e-01 -2.53918020e-04 1.05121850e+00] [ 5.75610999e-03 1.68773696e-04 9.99983419e-01 -1.77500626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.00592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:146.36, Y:1.06, Z:-1.79 [[ 9.99813063e-01 -1.84597030e-02 -5.75135188e-03 1.46358540e+02] [ 1.84578940e-02 9.99829571e-01 -3.67464379e-04 1.05591015e+00] [ 5.75715497e-03 2.61237843e-04 9.99983393e-01 -1.78552679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.03592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:146.40, Y:1.06, Z:-1.79 [[ 9.99882807e-01 -1.41872734e-02 -5.75273263e-03 1.46395057e+02] [ 1.41859163e-02 9.99899337e-01 -2.76644673e-04 1.05846540e+00] [ 5.75607837e-03 1.95004468e-04 9.99983415e-01 -1.79081016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.06592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:146.42, Y:1.06, Z:-1.79 [[ 9.99822825e-01 -1.79217678e-02 -5.75577450e-03 1.46422889e+02] [ 1.79217022e-02 9.99839391e-01 -6.29825766e-05 1.05820419e+00] [ 5.75597884e-03 -4.01818589e-05 9.99983433e-01 -1.79033394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.09592 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:146.44, Y:1.06, Z:-1.78 [[ 9.99587488e-01 -2.81376997e-02 -5.75529275e-03 1.46444183e+02] [ 2.81376119e-02 9.99604054e-01 -9.62346035e-05 1.05543713e+00] [ 5.75572178e-03 -6.57452883e-05 9.99983434e-01 -1.78235694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.12592 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:146.47, Y:1.06, Z:-1.78 [[ 9.99625469e-01 -2.67550042e-02 -5.75255050e-03 1.46473539e+02] [ 2.67533970e-02 9.99642000e-01 -3.56171109e-04 1.05675269e+00] [ 5.76002045e-03 2.02137444e-04 9.99983391e-01 -1.78214908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.15592 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:146.50, Y:1.06, Z:-1.78 [[ 9.99614314e-01 -2.71685875e-02 -5.75250046e-03 1.46503914e+02] [ 2.71669544e-02 9.99630845e-01 -3.61859222e-04 1.05824097e+00] [ 5.76020810e-03 2.05441741e-04 9.99983389e-01 -1.78234572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.18592 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:146.53, Y:1.06, Z:-1.78 [[ 9.99448338e-01 -3.27097625e-02 -5.75255206e-03 1.46534159e+02] [ 3.27082583e-02 9.99464879e-01 -3.55406486e-04 1.05633274e+00] [ 5.76109901e-03 1.67054463e-04 9.99983391e-01 -1.78241451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.21592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:146.57, Y:1.06, Z:-1.79 [[ 9.99677211e-01 -2.47464232e-02 -5.75232229e-03 1.46573906e+02] [ 2.47446303e-02 9.99693732e-01 -3.82653375e-04 1.05750203e+00] [ 5.76002983e-03 2.40190771e-04 9.99983382e-01 -1.79214613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.24592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.60, Y:1.05, Z:-1.79 [[ 9.99554600e-01 -2.92829268e-02 -5.75430091e-03 1.46603766e+02] [ 2.92829038e-02 9.99571160e-01 -8.82676958e-05 1.05489105e+00] [ 5.75441797e-03 -8.02742588e-05 9.99983440e-01 -1.79167572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.27592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.63, Y:1.05, Z:-1.79 [[ 9.99519805e-01 -3.04474105e-02 -5.75446253e-03 1.46633242e+02] [ 3.04475533e-02 9.99536364e-01 -6.28044937e-05 1.05309828e+00] [ 5.75370679e-03 -1.12434970e-04 9.99983441e-01 -1.79199109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.30592000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.66, Y:1.05, Z:-1.79 [[ 9.99477753e-01 -3.17979259e-02 -5.75440030e-03 1.46663631e+02] [ 3.17980314e-02 9.99494312e-01 -7.31726781e-05 1.04716760e+00] [ 5.75381711e-03 -1.09844138e-04 9.99983441e-01 -1.79273421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.33592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.70, Y:1.04, Z:-1.79 [[ 9.99410401e-01 -3.38487221e-02 -5.75446684e-03 1.46696823e+02] [ 3.38489269e-02 9.99426959e-01 -6.18296501e-05 1.04471184e+00] [ 5.75326215e-03 -1.32989332e-04 9.99983441e-01 -1.79131045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.36592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.72, Y:1.04, Z:-1.78 [[ 9.99251416e-01 -3.82555283e-02 -5.75516711e-03 1.46715467e+02] [ 3.82565109e-02 9.99267950e-01 6.07035831e-05 1.04381340e+00] [ 5.74863179e-03 -2.80830754e-04 9.99983437e-01 -1.77760005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.39592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.75, Y:1.04, Z:-1.79 [[ 9.99607098e-01 -2.74325710e-02 -5.75355625e-03 1.46753718e+02] [ 2.74316537e-02 9.99623653e-01 -2.38311557e-04 1.04418981e+00] [ 5.75792841e-03 8.03883613e-05 9.99983420e-01 -1.79315593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.42592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.78, Y:1.04, Z:-1.79 [[ 9.99365543e-01 -3.51482228e-02 -5.75445282e-03 1.46775779e+02] [ 3.51486662e-02 9.99382094e-01 -2.40791440e-05 1.03992430e+00] [ 5.75174345e-03 -1.78197475e-04 9.99983443e-01 -1.79415334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.45592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.81, Y:1.04, Z:-1.79 [[ 9.99671106e-01 -2.49916024e-02 -5.75326639e-03 1.46813836e+02] [ 2.49905624e-02 9.99687655e-01 -2.52595531e-04 1.03612986e+00] [ 5.75778216e-03 1.08735091e-04 9.99983418e-01 -1.79095928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.48592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.84, Y:1.03, Z:-1.79 [[ 9.99666093e-01 -2.51911257e-02 -5.75413655e-03 1.46842636e+02] [ 2.51914181e-02 9.99682646e-01 -2.16793822e-05 1.03486608e+00] [ 5.75285658e-03 -1.23282716e-04 9.99983445e-01 -1.79071687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.51592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.87, Y:1.03, Z:-1.79 [[ 9.99438717e-01 -3.30021393e-02 -5.75413383e-03 1.46866200e+02] [ 3.30025570e-02 9.99455267e-01 -2.23777954e-05 1.03000694e+00] [ 5.75173788e-03 -1.67535895e-04 9.99983445e-01 -1.79303598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.54592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.90, Y:1.03, Z:-1.79 [[ 9.99697576e-01 -2.39093390e-02 -5.75322532e-03 1.46903535e+02] [ 2.39083816e-02 9.99714126e-01 -2.35123458e-04 1.02954044e+00] [ 5.75720227e-03 9.75020447e-05 9.99983422e-01 -1.79107533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.57592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.93, Y:1.03, Z:-1.79 [[ 9.99698923e-01 -2.38528019e-02 -5.75387583e-03 1.46932723e+02] [ 2.38530980e-02 9.99715474e-01 -1.71694225e-05 1.02676583e+00] [ 5.75264824e-03 -1.20083511e-04 9.99983446e-01 -1.79191996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.60592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.96, Y:1.03, Z:-1.79 [[ 9.99716169e-01 -2.31187175e-02 -5.75387367e-03 1.46961641e+02] [ 2.31189974e-02 9.99732720e-01 -1.78639675e-05 1.02516984e+00] [ 5.75274877e-03 -1.15164893e-04 9.99983446e-01 -1.79126293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.63592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:146.99, Y:1.02, Z:-1.79 [[ 9.99735479e-01 -2.22680366e-02 -5.75387144e-03 1.46990277e+02] [ 2.22682985e-02 9.99752031e-01 -1.85574068e-05 1.02393778e+00] [ 5.75285789e-03 -1.09576429e-04 9.99983446e-01 -1.79018498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.66592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.02, Y:1.02, Z:-1.79 [[ 9.99740650e-01 -2.20346624e-02 -5.75386968e-03 1.47019224e+02] [ 2.20349174e-02 9.99757202e-01 -1.90871233e-05 1.02229742e+00] [ 5.75289323e-03 -1.07703870e-04 9.99983446e-01 -1.79218511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.69592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.05, Y:1.02, Z:-1.79 [[ 9.99763410e-01 -2.09765998e-02 -5.75386721e-03 1.47047719e+02] [ 2.09768331e-02 9.99779962e-01 -1.98037793e-05 1.02121682e+00] [ 5.75301656e-03 -1.00898818e-04 9.99983446e-01 -1.79050232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.72592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.08, Y:1.02, Z:-1.79 [[ 9.99779583e-01 -2.01910374e-02 -5.75386472e-03 1.47076999e+02] [ 2.01912537e-02 9.99796136e-01 -2.05047880e-05 1.02192637e+00] [ 5.75310572e-03 -9.56774739e-05 9.99983446e-01 -1.79081435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.75592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.11, Y:1.02, Z:-1.79 [[ 9.99778899e-01 -2.02248773e-02 -5.75386211e-03 1.47105839e+02] [ 2.02250901e-02 9.99795452e-01 -2.12128956e-05 1.02287800e+00] [ 5.75311419e-03 -9.51641741e-05 9.99983446e-01 -1.78934610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.78592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.13, Y:1.02, Z:-1.79 [[ 9.99765991e-01 -2.08532312e-02 -5.75385941e-03 1.47134719e+02] [ 2.08534503e-02 9.99782543e-01 -2.19198536e-05 1.02277363e+00] [ 5.75306529e-03 -9.80730973e-05 9.99983446e-01 -1.78903874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.81592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.16, Y:1.02, Z:-1.79 [[ 9.99735782e-01 -2.22544133e-02 -5.75385661e-03 1.47163476e+02] [ 2.22546515e-02 9.99752334e-01 -2.26318236e-05 1.02056227e+00] [ 5.75293524e-03 -1.05424230e-04 9.99983446e-01 -1.79023676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.84592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.19, Y:1.02, Z:-1.79 [[ 9.99672197e-01 -2.49477910e-02 -5.75385376e-03 1.47192151e+02] [ 2.49480697e-02 9.99688748e-01 -2.33361087e-05 1.02025042e+00] [ 5.75264504e-03 -1.20219085e-04 9.99983446e-01 -1.79038288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.87592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.22, Y:1.02, Z:-1.79 [[ 9.99641811e-01 -2.61370165e-02 -5.75385083e-03 1.47220766e+02] [ 2.61373109e-02 9.99658362e-01 -2.40354882e-05 1.02016807e+00] [ 5.75251331e-03 -1.26363309e-04 9.99983446e-01 -1.79066410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.90592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:147.25, Y:1.02, Z:-1.77 [[ 9.99616729e-01 -2.70793100e-02 -5.75384782e-03 1.47249720e+02] [ 2.70796160e-02 9.99633280e-01 -2.47358704e-05 1.01966092e+00] [ 5.75240760e-03 -1.31085600e-04 9.99983446e-01 -1.76962965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.93592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.28, Y:1.02, Z:-1.79 [[ 9.99641722e-01 -2.61404341e-02 -5.75377166e-03 1.47280839e+02] [ 2.61406244e-02 9.99658275e-01 -4.21258506e-05 1.02050159e+00] [ 5.75290663e-03 -1.08296426e-04 9.99983446e-01 -1.78910872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.96592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.31, Y:1.02, Z:-1.79 [[ 9.99666602e-01 -2.51709591e-02 -5.75384615e-03 1.47309995e+02] [ 2.51712323e-02 9.99683154e-01 -2.49392702e-05 1.02158497e+00] [ 5.75265081e-03 -1.19900442e-04 9.99983446e-01 -1.78850060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.99592 meters Centerline goodness : 0.944082 Centerline is valid? [True, False] Translation: X:147.31, Y:1.03, Z:-1.79 [[ 9.99885715e-01 -1.34431936e-02 -6.91641288e-03 1.47313027e+02] [ 1.33759409e-02 9.99863684e-01 -9.67970523e-03 1.03323024e+00] [ 7.04559622e-03 9.58608546e-03 9.99929231e-01 -1.78940584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.02592 meters Centerline goodness : 1.000000 Centerline is valid? [False, True] Translation: X:147.33, Y:1.04, Z:-1.79 [[ 9.99925068e-01 -6.32468087e-03 -1.04812474e-02 1.47334063e+02] [ 6.19799025e-03 9.99907872e-01 -1.20760790e-02 1.03655772e+00] [ 1.05566592e-02 1.20102114e-02 9.99872148e-01 -1.78516826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.05592000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.36, Y:1.02, Z:-1.79 [[ 9.99933766e-01 -5.01406963e-03 -1.03597065e-02 1.47362805e+02] [ 5.01552617e-03 9.99987416e-01 1.14621409e-04 1.02499475e+00] [ 1.03590014e-02 -1.66573196e-04 9.99946330e-01 -1.78749529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.08592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.39, Y:1.03, Z:-1.79 [[ 9.99945595e-01 -1.21830888e-03 -1.03596666e-02 1.47393017e+02] [ 1.21960420e-03 9.99999249e-01 1.18718165e-04 1.02856316e+00] [ 1.03595142e-02 -1.31346399e-04 9.99946330e-01 -1.79027433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.11592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.42, Y:1.03, Z:-1.79 [[ 9.99946201e-01 -5.32976163e-04 -1.03590722e-02 1.47422608e+02] [ 5.34871994e-04 9.99999841e-01 1.80241986e-04 1.03041742e+00] [ 1.03589745e-02 -1.85773066e-04 9.99946327e-01 -1.79124886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.14592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.45, Y:1.03, Z:-1.79 [[ 9.99945875e-01 -9.70989778e-04 -1.03587381e-02 1.47451821e+02] [ 9.73281388e-04 9.99999503e-01 2.16186072e-04 1.03019301e+00] [ 1.03585231e-02 -2.26256338e-04 9.99946323e-01 -1.79079159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.17592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.48, Y:1.03, Z:-1.79 [[ 9.99946088e-01 -7.19824405e-04 -1.03587263e-02 1.47481095e+02] [ 7.22116356e-04 9.99999716e-01 2.17519407e-04 1.03045664e+00] [ 1.03585668e-02 -2.24987885e-04 9.99946323e-01 -1.79174044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.20592000000002 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:147.51, Y:1.03, Z:-1.79 [[ 9.99942293e-01 -2.84837041e-03 -1.03584764e-02 1.47508823e+02] [ 2.85109298e-03 9.99995905e-01 2.48077561e-04 1.03232346e+00] [ 1.03577274e-02 -2.77596225e-04 9.99946319e-01 -1.79059405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.23592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.54, Y:1.03, Z:-1.79 [[ 9.99941213e-01 -3.20378454e-03 -1.03588413e-02 1.47538739e+02] [ 3.20601834e-03 9.99994841e-01 1.99043105e-04 1.03249672e+00] [ 1.03581502e-02 -2.32242039e-04 9.99946326e-01 -1.79182629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.26592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:147.57, Y:1.03, Z:-1.79 [[ 9.99938119e-01 -4.05728921e-03 -1.03583935e-02 1.47567896e+02] [ 4.06024984e-03 9.99991722e-01 2.64805462e-04 1.03325868e+00] [ 1.03572334e-02 -3.06846741e-04 9.99946315e-01 -1.79202373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.29592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:147.60, Y:1.03, Z:-1.78 [[ 9.99919034e-01 -7.39110161e-03 -1.03584504e-02 1.47595095e+02] [ 7.39413919e-03 9.99972630e-01 2.54980347e-04 1.03415261e+00] [ 1.03562823e-02 -3.31551526e-04 9.99946317e-01 -1.77842863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.32592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:147.62, Y:1.04, Z:-1.78 [[ 9.99920922e-01 -7.13043388e-03 -1.03589185e-02 1.47621771e+02] [ 7.13245464e-03 9.99974551e-01 1.58144336e-04 1.03865182e+00] [ 1.03575273e-02 -2.32016347e-04 9.99946332e-01 -1.77646296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.35592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.65, Y:1.04, Z:-1.79 [[ 9.99927740e-01 -6.09874663e-03 -1.03595233e-02 1.47654341e+02] [ 6.09924641e-03 9.99981399e-01 1.66504186e-05 1.03931287e+00] [ 1.03592291e-02 -7.98345007e-05 9.99946339e-01 -1.79138068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.38592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:147.68, Y:1.04, Z:-1.79 [[ 9.99932485e-01 -5.26516109e-03 -1.03587090e-02 1.47683627e+02] [ 5.26743002e-03 9.99986109e-01 1.91765111e-04 1.04005914e+00] [ 1.03575555e-02 -2.46315939e-04 9.99946329e-01 -1.79076829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.41592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:147.71, Y:1.04, Z:-1.78 [[ 9.99910776e-01 -8.43447082e-03 -1.03585445e-02 1.47710467e+02] [ 8.43729539e-03 9.99964379e-01 2.29009624e-04 1.04257978e+00] [ 1.03562439e-02 -3.16387290e-04 9.99946323e-01 -1.77698226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.44592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:147.74, Y:1.04, Z:-1.78 [[ 9.99889916e-01 -1.06230006e-02 -1.03589255e-02 1.47738480e+02] [ 1.06247712e-02 9.99943549e-01 1.15907253e-04 1.04368071e+00] [ 1.03571094e-02 -2.25955706e-04 9.99946338e-01 -1.77968167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.47592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:147.77, Y:1.04, Z:-1.79 [[ 9.99920363e-01 -7.20816801e-03 -1.03590786e-02 1.47770459e+02] [ 7.20921550e-03 9.99974011e-01 6.37799784e-05 1.04317589e+00] [ 1.03583496e-02 -1.38455729e-04 9.99946341e-01 -1.79030676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.50592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:147.80, Y:1.04, Z:-1.78 [[ 9.99861613e-01 -1.30173588e-02 -1.03587545e-02 1.47795703e+02] [ 1.30199968e-02 9.99915219e-01 1.87263739e-04 1.04179557e+00] [ 1.03554386e-02 -3.22108774e-04 9.99946329e-01 -1.77729605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.53592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.83, Y:1.04, Z:-1.79 [[ 9.99898956e-01 -9.73485099e-03 -1.03590925e-02 1.47827979e+02] [ 9.73550356e-03 9.99952609e-01 1.25689261e-05 1.04238148e+00] [ 1.03584792e-02 -1.13418638e-04 9.99946343e-01 -1.79130456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.56592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.86, Y:1.04, Z:-1.78 [[ 9.99843322e-01 -1.43535581e-02 -1.03589176e-02 1.47855034e+02] [ 1.43554658e-02 9.99896949e-01 1.09818738e-04 1.04235544e+00] [ 1.03562738e-02 -2.58508619e-04 9.99946339e-01 -1.78321800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.59592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:147.88, Y:1.04, Z:-1.79 [[ 9.99867790e-01 -1.25335927e-02 -1.03591272e-02 1.47882975e+02] [ 1.25340696e-02 9.99921445e-01 -1.88864174e-05 1.04336880e+00] [ 1.03585501e-02 -1.10958101e-04 9.99946343e-01 -1.78636529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.62592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:147.91, Y:1.04, Z:-1.79 [[ 9.99872928e-01 -1.21167078e-02 -1.03591690e-02 1.47910691e+02] [ 1.21168843e-02 9.99926587e-01 -4.57311460e-05 1.04333254e+00] [ 1.03589626e-02 -7.97955169e-05 9.99946341e-01 -1.78665346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.65592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:147.94, Y:1.04, Z:-1.79 [[ 9.99893744e-01 -1.02561309e-02 -1.03591938e-02 1.47939537e+02] [ 1.02560259e-02 9.99947404e-01 -6.32591761e-05 1.04301674e+00] [ 1.03592977e-02 -4.29917057e-05 9.99946340e-01 -1.78772844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.68592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:147.97, Y:1.04, Z:-1.79 [[ 9.99898367e-01 -9.79508304e-03 -1.03591879e-02 1.47968428e+02] [ 9.79499768e-03 9.99952026e-01 -5.89768343e-05 1.04222108e+00] [ 1.03592686e-02 -4.24973809e-05 9.99946340e-01 -1.78850964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.71592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:148.00, Y:1.04, Z:-1.79 [[ 9.99912128e-01 -8.27179755e-03 -1.03591879e-02 1.47999641e+02] [ 8.27163015e-03 9.99965788e-01 -5.90052187e-05 1.04069119e+00] [ 1.03593216e-02 -2.66873372e-05 9.99946340e-01 -1.79293190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.74592 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:148.02, Y:1.04, Z:-1.77 [[ 9.99847622e-01 -1.40506838e-02 -1.03590849e-02 1.48024687e+02] [ 1.40515881e-02 9.99901271e-01 1.45126904e-05 1.04032303e+00] [ 1.03578583e-02 -1.60072074e-04 9.99946343e-01 -1.77431829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.77592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:148.06, Y:1.04, Z:-1.79 [[ 9.99864514e-01 -1.27921057e-02 -1.03593677e-02 1.48055695e+02] [ 1.27910971e-02 9.99918177e-01 -1.63606512e-04 1.04098590e+00] [ 1.03606129e-02 3.10766670e-05 9.99946327e-01 -1.78614996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.80592000000001 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:148.08, Y:1.04, Z:-1.77 [[ 9.99836279e-01 -1.48358221e-02 -1.03592126e-02 1.48083594e+02] [ 1.48358254e-02 9.99889940e-01 -7.65319748e-05 1.04119761e+00] [ 1.03592079e-02 -7.71680249e-05 9.99946339e-01 -1.77496984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.83592000000002 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:148.11, Y:1.04, Z:-1.78 [[ 9.99838563e-01 -1.46809866e-02 -1.03593660e-02 1.48112409e+02] [ 1.46801565e-02 9.99892229e-01 -1.56172470e-04 1.04139891e+00] [ 1.03605423e-02 4.07014437e-06 9.99946328e-01 -1.77571937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.86592000000002 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:148.14, Y:1.04, Z:-1.79 [[ 9.99861036e-01 -1.30611026e-02 -1.03593328e-02 1.48144789e+02] [ 1.30603343e-02 9.99914700e-01 -1.41814789e-04 1.04136175e+00] [ 1.03603014e-02 6.49873227e-06 9.99946331e-01 -1.78818777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.89592000000002 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:148.17, Y:1.04, Z:-1.78 [[ 9.99832355e-01 -1.50980887e-02 -1.03590706e-02 1.48172970e+02] [ 1.50983439e-02 9.99886012e-01 -5.35667815e-05 1.04097543e+00] [ 1.03586985e-02 -1.02847009e-04 9.99946342e-01 -1.77590478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.92592000000002 meters Centerline goodness : 0.998904 Centerline is valid? [True, True] Translation: X:148.20, Y:1.04, Z:-1.77 [[ 9.99832139e-01 -1.51122689e-02 -1.03592080e-02 1.48202533e+02] [ 1.51119853e-02 9.99885802e-01 -1.05656620e-04 1.04123606e+00] [ 1.03596217e-02 -5.09093153e-05 9.99946336e-01 -1.77272383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.95592000000002 meters Centerline goodness : 0.999448 Centerline is valid? [True, True] Translation: X:148.23, Y:1.04, Z:-1.78 [[ 9.99845841e-01 -1.41767917e-02 -1.03592149e-02 1.48232793e+02] [ 1.41764359e-02 9.99899503e-01 -1.07780840e-04 1.04156569e+00] [ 1.03597019e-02 -3.90925224e-05 9.99946336e-01 -1.77520464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.98592000000002 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:148.26, Y:1.04, Z:-1.78 [[ 9.99840901e-01 -1.45211160e-02 -1.03590765e-02 1.48262592e+02] [ 1.45212116e-02 9.99894559e-01 -6.59920176e-05 1.04246425e+00] [ 1.03589425e-02 -8.44448226e-05 9.99946341e-01 -1.77583372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.01592 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:148.29, Y:1.04, Z:-1.78 [[ 9.99841543e-01 -1.44768535e-02 -1.03590543e-02 1.48290924e+02] [ 1.44770094e-02 9.99895201e-01 -5.99358285e-05 1.04235852e+00] [ 1.03588364e-02 -9.00417956e-05 9.99946342e-01 -1.77554101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.04592 meters Centerline goodness : 0.998907 Centerline is valid? [True, True] Translation: X:148.32, Y:1.04, Z:-1.77 [[ 9.99852508e-01 -1.36986437e-02 -1.03590594e-02 1.48321124e+02] [ 1.36987433e-02 9.99906166e-01 -6.13417512e-05 1.04470814e+00] [ 1.03589276e-02 -8.05733911e-05 9.99946342e-01 -1.77201965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.07592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:148.35, Y:1.05, Z:-1.79 [[ 9.99875869e-01 -1.18717663e-02 -1.03588985e-02 1.48351927e+02] [ 1.18722296e-02 9.99929522e-01 -1.67628448e-05 1.04521896e+00] [ 1.03583674e-02 -1.06222457e-04 9.99946345e-01 -1.78813547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.10592 meters Centerline goodness : 0.998758 Centerline is valid? [True, True] Translation: X:148.38, Y:1.04, Z:-1.77 [[ 9.99873472e-01 -1.20721767e-02 -1.03586884e-02 1.48379285e+02] [ 1.20732286e-02 9.99927115e-01 3.90169266e-05 1.04488884e+00] [ 1.03574624e-02 -1.64074803e-04 9.99946347e-01 -1.76850696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.13592 meters Centerline goodness : 0.998607 Centerline is valid? [True, True] Translation: X:148.41, Y:1.05, Z:-1.77 [[ 9.99875102e-01 -1.19361077e-02 -1.03589948e-02 1.48407270e+02] [ 1.19362641e-02 9.99928759e-01 -4.67283379e-05 1.04599802e+00] [ 1.03588145e-02 -7.69251962e-05 9.99946343e-01 -1.76799980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.16592 meters Centerline goodness : 0.998552 Centerline is valid? [True, True] Translation: X:148.44, Y:1.05, Z:-1.77 [[ 9.99885448e-01 -1.10354218e-02 -1.03590549e-02 1.48437641e+02] [ 1.10353607e-02 9.99939107e-01 -6.30607775e-05 1.04776107e+00] [ 1.03591200e-02 -5.12623535e-05 9.99946342e-01 -1.77149942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.19592 meters Centerline goodness : 0.999254 Centerline is valid? [True, True] Translation: X:148.47, Y:1.05, Z:-1.77 [[ 9.99879304e-01 -1.15788038e-02 -1.03590016e-02 1.48466334e+02] [ 1.15789198e-02 9.99932961e-01 -4.87761396e-05 1.04798511e+00] [ 1.03588719e-02 -7.11757958e-05 9.99946343e-01 -1.77496937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.22592 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:148.50, Y:1.05, Z:-1.78 [[ 9.99890727e-01 -1.05463905e-02 -1.03589274e-02 1.48495175e+02] [ 1.05466608e-02 9.99944382e-01 -2.85385163e-05 1.04765863e+00] [ 1.03586522e-02 -8.07166955e-05 9.99946344e-01 -1.77915259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.25592 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:148.52, Y:1.05, Z:-1.77 [[ 9.99870576e-01 -1.23096075e-02 -1.03587952e-02 1.48523710e+02] [ 1.23103592e-02 9.99924225e-01 8.80291747e-06 1.04956266e+00] [ 1.03579019e-02 -1.36322268e-04 9.99946346e-01 -1.77060553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.28592 meters Centerline goodness : 0.998707 Centerline is valid? [True, True] Translation: X:148.55, Y:1.05, Z:-1.78 [[ 9.99853668e-01 -1.36137769e-02 -1.03589263e-02 1.48553601e+02] [ 1.36142390e-02 9.99907322e-01 -2.59020859e-05 1.05040645e+00] [ 1.03583189e-02 -1.15130603e-04 9.99946345e-01 -1.77572420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.31592 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:148.58, Y:1.05, Z:-1.78 [[ 9.99829803e-01 -1.52662882e-02 -1.03588708e-02 1.48582126e+02] [ 1.52669971e-02 9.99883453e-01 -1.06428271e-05 1.04959813e+00] [ 1.03578259e-02 -1.47507834e-04 9.99946345e-01 -1.78180656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.34592 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:148.61, Y:1.05, Z:-1.77 [[ 9.99796519e-01 -1.73094799e-02 -1.03586847e-02 1.48610200e+02] [ 1.73108147e-02 9.99850156e-01 3.92052653e-05 1.04833444e+00] [ 1.03564539e-02 -2.18514559e-04 9.99946347e-01 -1.77443745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.37592 meters Centerline goodness : 0.999452 Centerline is valid? [True, True] Translation: X:148.67, Y:1.06, Z:-1.79 [[ 9.99741357e-01 -2.02462764e-02 -1.03589311e-02 1.48671579e+02] [ 2.02470486e-02 9.99795007e-01 -3.03250520e-05 1.05603829e+00] [ 1.03574215e-02 -1.79420572e-04 9.99946344e-01 -1.78581335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.40592 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:148.67, Y:1.05, Z:-1.78 [[ 9.99828193e-01 -1.53803864e-02 -1.03454150e-02 1.48666257e+02] [ 1.53967897e-02 9.99880326e-01 1.50778474e-03 1.04880031e+00] [ 1.03209866e-02 -1.66681188e-03 9.99945348e-01 -1.78499662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.43592 meters Centerline goodness : 0.891800 Centerline is valid? [True, False] Translation: X:148.66, Y:1.06, Z:-1.79 [[ 9.99966862e-01 -6.35195458e-03 -5.09195101e-03 1.48664117e+02] [ 6.30206129e-03 9.99932556e-01 -9.75534180e-03 1.05950222e+00] [ 5.15357308e-03 9.72292874e-03 9.99939451e-01 -1.78550409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.46592 meters Centerline goodness : 0.998905 Centerline is valid? [False, True] Translation: X:148.69, Y:1.06, Z:-1.78 [[ 9.99971844e-01 1.60585954e-03 -7.33028918e-03 1.48685517e+02] [-1.68883908e-03 9.99934410e-01 -1.13279739e-02 1.06142654e+00] [ 7.31161726e-03 1.13400347e-02 9.99908968e-01 -1.78298355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.49592 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:148.71, Y:1.05, Z:-1.78 [[ 9.99975038e-01 -3.49690715e-04 -7.05704816e-03 1.48714320e+02] [ 3.50845300e-04 9.99999925e-01 1.62369972e-04 1.04987789e+00] [ 7.05699085e-03 -1.64841852e-04 9.99975086e-01 -1.78441677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.52592 meters Centerline goodness : 0.997713 Centerline is valid? [True, True] Translation: X:148.74, Y:1.04, Z:-1.77 [[ 9.99936135e-01 -8.82698303e-03 -7.05759913e-03 1.48744136e+02] [ 8.82818300e-03 9.99961021e-01 1.38889906e-04 1.04466041e+00] [ 7.05609805e-03 -2.01186812e-04 9.99975085e-01 -1.76528699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.55592000000001 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:148.77, Y:1.05, Z:-1.78 [[ 9.99967021e-01 -4.01955176e-03 -7.05698344e-03 1.48771401e+02] [ 4.02081758e-03 9.99991903e-01 1.65191945e-04 1.04966596e+00] [ 7.05626231e-03 -1.93561340e-04 9.99975086e-01 -1.78288488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.58592000000002 meters Centerline goodness : 0.998656 Centerline is valid? [True, True] Translation: X:148.80, Y:1.05, Z:-1.78 [[ 9.99967546e-01 -3.88535485e-03 -7.05765102e-03 1.48799883e+02] [ 3.88641292e-03 9.99992439e-01 1.36209303e-04 1.04992343e+00] [ 7.05706843e-03 -1.63633829e-04 9.99975085e-01 -1.78373547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.61592000000002 meters Centerline goodness : 0.998457 Centerline is valid? [True, True] Translation: X:148.83, Y:1.05, Z:-1.77 [[ 9.99957964e-01 -5.85336099e-03 -7.05745497e-03 1.48827089e+02] [ 5.85452836e-03 9.99982852e-01 1.44761257e-04 1.04970212e+00] [ 7.05648661e-03 -1.86073242e-04 9.99975085e-01 -1.77155133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.64592000000002 meters Centerline goodness : 0.998209 Centerline is valid? [True, True] Translation: X:148.85, Y:1.05, Z:-1.77 [[ 9.99937315e-01 -8.69129736e-03 -7.05885437e-03 1.48853521e+02] [ 8.69210165e-03 9.99962220e-01 8.32700383e-05 1.04872022e+00] [ 7.05786396e-03 -1.44621098e-04 9.99975083e-01 -1.77082407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.67592000000002 meters Centerline goodness : 0.998707 Centerline is valid? [True, True] Translation: X:148.88, Y:1.05, Z:-1.77 [[ 9.99944316e-01 -7.84310165e-03 -7.06046886e-03 1.48883855e+02] [ 7.84338242e-03 9.99969240e-01 1.20779721e-05 1.04786036e+00] [ 7.06015695e-03 -6.74552569e-05 9.99975075e-01 -1.77396739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.70592000000002 meters Centerline goodness : 0.998508 Centerline is valid? [True, True] Translation: X:148.91, Y:1.05, Z:-1.77 [[ 9.99962315e-01 -5.05411288e-03 -7.05863566e-03 1.48912044e+02] [ 5.05487954e-03 9.99987220e-01 9.07779178e-05 1.05038377e+00] [ 7.05808665e-03 -1.26455050e-04 9.99975083e-01 -1.77056394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.73592000000002 meters Centerline goodness : 0.998456 Centerline is valid? [True, True] Translation: X:148.94, Y:1.05, Z:-1.77 [[ 9.99960527e-01 -5.39584186e-03 -7.05896566e-03 1.48942353e+02] [ 5.39651652e-03 9.99985436e-01 7.65315785e-05 1.05066613e+00] [ 7.05844990e-03 -1.14622382e-04 9.99975082e-01 -1.77066044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.76592 meters Centerline goodness : 0.998459 Centerline is valid? [True, True] Translation: X:148.97, Y:1.05, Z:-1.77 [[ 9.99972057e-01 -2.46131812e-03 -7.05877352e-03 1.48971508e+02] [ 2.46197834e-03 9.99996966e-01 8.48435141e-05 1.05146467e+00] [ 7.05854327e-03 -1.02219691e-04 9.99975083e-01 -1.77041820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.79592 meters Centerline goodness : 0.998608 Centerline is valid? [True, True] Translation: X:149.00, Y:1.06, Z:-1.77 [[ 9.99974436e-01 1.14260274e-03 -7.05849305e-03 1.49001681e+02] [-1.14194732e-03 9.99999343e-01 9.68858458e-05 1.05561429e+00] [ 7.05859912e-03 -8.88229418e-05 9.99975084e-01 -1.77047248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.82592 meters Centerline goodness : 0.967772 Centerline is valid? [True, True] Translation: X:149.06, Y:1.10, Z:-1.78 [[ 9.95869981e-01 9.05160812e-02 -7.05835110e-03 1.49061642e+02] [-9.05176117e-02 9.95894850e-01 1.02986626e-04 1.10184868e+00] [ 7.03869745e-03 5.36343794e-04 9.99975084e-01 -1.77879569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.85592 meters Centerline goodness : 0.998708 Centerline is valid? [True, True] Translation: X:149.06, Y:1.06, Z:-1.77 [[ 9.99974755e-01 1.02472258e-03 -7.03125788e-03 1.49056365e+02] [-1.01686954e-03 9.99998855e-01 1.12035896e-03 1.05833399e+00] [ 7.03239789e-03 -1.11318080e-03 9.99974653e-01 -1.76864321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.88592 meters Centerline goodness : 0.857278 Centerline is valid? [True, False] Translation: X:149.08, Y:1.07, Z:-1.76 [[ 9.99930428e-01 3.36980934e-03 -1.13041612e-02 1.49077592e+02] [-3.44543949e-03 9.99971768e-01 -6.67768046e-03 1.06716104e+00] [ 1.12813395e-02 6.71616368e-03 9.99913809e-01 -1.76354706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.91592 meters Centerline goodness : 0.946335 Centerline is valid? [False, False] Translation: X:149.07, Y:1.07, Z:-1.76 [[ 9.99993034e-01 1.72365088e-03 3.31080165e-03 1.49071206e+02] [-1.68838251e-03 9.99942118e-01 -1.06259354e-02 1.07256746e+00] [-3.32892542e-03 1.06202715e-02 9.99938062e-01 -1.76416533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.94592 meters Centerline goodness : 0.999304 Centerline is valid? [False, True] Translation: X:149.07, Y:1.08, Z:-1.76 [[ 9.99993324e-01 1.85287593e-03 3.14929296e-03 1.49071760e+02] [-1.81754091e-03 9.99935782e-01 -1.11860535e-02 1.07515003e+00] [-3.16981709e-03 1.11802549e-02 9.99932475e-01 -1.76397447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.97592 meters Centerline goodness : 0.998358 Centerline is valid? [True, True] Translation: X:149.10, Y:1.07, Z:-1.75 [[ 9.99988649e-01 -3.35945179e-03 3.37881742e-03 1.49099377e+02] [ 3.35970646e-03 9.99994354e-01 -6.97004887e-05 1.06740024e+00] [-3.37856418e-03 8.10515322e-05 9.99994289e-01 -1.74604545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.00592 meters Centerline goodness : 0.999004 Centerline is valid? [True, True] Translation: X:149.13, Y:1.07, Z:-1.76 [[ 9.99986778e-01 -3.87546986e-03 3.38006595e-03 1.49130124e+02] [ 3.87552755e-03 9.99992490e-01 -1.05179218e-05 1.06944056e+00] [-3.37999981e-03 2.36173214e-05 9.99994288e-01 -1.75620695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.03592 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:149.16, Y:1.07, Z:-1.77 [[ 9.99993914e-01 8.64226040e-04 3.38015672e-03 1.49164226e+02] [-8.64209574e-04 9.99999627e-01 -6.33204904e-06 1.07154738e+00] [-3.38016093e-03 3.41084671e-06 9.99994287e-01 -1.76750288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.06592 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:149.19, Y:1.07, Z:-1.75 [[ 9.99990869e-01 -2.61670264e-03 3.37862742e-03 1.49192501e+02] [ 2.61697136e-03 9.99996573e-01 -7.51171869e-05 1.07174271e+00] [-3.37841928e-03 8.39582722e-05 9.99994290e-01 -1.75291058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.09592 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:149.22, Y:1.07, Z:-1.76 [[ 9.99984249e-01 -4.48117862e-03 3.37958573e-03 1.49224205e+02] [ 4.48131545e-03 9.99989958e-01 -3.29164478e-05 1.07217106e+00] [-3.37940429e-03 4.80609192e-05 9.99994289e-01 -1.75502556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.12592 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:149.26, Y:1.07, Z:-1.75 [[ 9.99979266e-01 -5.48132807e-03 3.37981914e-03 1.49256877e+02] [ 5.48143667e-03 9.99984977e-01 -2.28704563e-05 1.07250602e+00] [-3.37964301e-03 4.13962467e-05 9.99994288e-01 -1.75441497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.15592 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:149.29, Y:1.07, Z:-1.75 [[ 9.99977575e-01 -5.78175939e-03 3.37949440e-03 1.49289643e+02] [ 5.78191581e-03 9.99983284e-01 -3.65167214e-05 1.07224084e+00] [-3.37922678e-03 5.60558545e-05 9.99994289e-01 -1.75170485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.18592 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:149.32, Y:1.07, Z:-1.75 [[ 9.99947975e-01 -9.62442763e-03 3.37911463e-03 1.49322262e+02] [ 9.62465812e-03 9.99953681e-01 -5.19554518e-05 1.07182681e+00] [-3.37845807e-03 8.44755719e-05 9.99994289e-01 -1.75362090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.21592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:149.35, Y:1.07, Z:-1.75 [[ 9.99936481e-01 -1.07524061e-02 3.37925494e-03 1.49354816e+02] [ 1.07526243e-02 9.99942188e-01 -4.64020951e-05 1.07076754e+00] [-3.37856064e-03 8.27350064e-05 9.99994289e-01 -1.75314354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.24592 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:149.39, Y:1.07, Z:-1.76 [[ 9.99926124e-01 -1.16758514e-02 3.37942885e-03 1.49387284e+02] [ 1.16760521e-02 9.99931832e-01 -3.96790498e-05 1.06955421e+00] [-3.37873520e-03 7.91345059e-05 9.99994289e-01 -1.75922459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.27592 meters Centerline goodness : 0.862247 Centerline is valid? [True, False] Translation: X:149.41, Y:1.07, Z:-1.76 [[ 9.99989300e-01 -4.62278697e-03 -1.71888306e-04 1.49408456e+02] [ 4.62236852e-03 9.99986532e-01 -2.35994586e-03 1.07373494e+00] [ 1.82795518e-04 2.35912608e-03 9.99997201e-01 -1.75548189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.30592000000001 meters Centerline goodness : 0.999652 Centerline is valid? [False, True] Translation: X:149.43, Y:1.08, Z:-1.75 [[ 9.99985744e-01 1.42777939e-03 -5.14521345e-03 1.49430045e+02] [-1.45350073e-03 9.99986450e-01 -4.99881442e-03 1.07829932e+00] [ 5.13800652e-03 5.00622173e-03 9.99974269e-01 -1.75152460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.33592000000002 meters Centerline goodness : 0.922003 Centerline is valid? [True, False] Translation: X:149.43, Y:1.07, Z:-1.75 [[ 9.99984618e-01 1.40928279e-03 -5.36442853e-03 1.49430590e+02] [-1.43218064e-03 9.99989871e-01 -4.26701452e-03 1.07499958e+00] [ 5.35836076e-03 4.27463172e-03 9.99976507e-01 -1.75179967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.36592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [False, True] Translation: X:149.43, Y:1.07, Z:-1.75 [[ 9.99984167e-01 1.36415371e-03 -5.45931323e-03 1.49430883e+02] [-1.38502443e-03 9.99991741e-01 -3.82100439e-03 1.07279826e+00] [ 5.45405570e-03 3.82850518e-03 9.99977798e-01 -1.75214654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.39592000000002 meters Centerline goodness : 0.753801 Centerline is valid? [True, False] Translation: X:149.43, Y:1.07, Z:-1.75 [[ 9.99983613e-01 1.40967987e-03 -5.54864470e-03 1.49431110e+02] [-1.43149930e-03 9.99991251e-01 -3.93038359e-03 1.07330633e+00] [ 5.54305557e-03 3.93826206e-03 9.99976882e-01 -1.75211674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.42592000000002 meters Centerline goodness : 0.999900 Centerline is valid? [False, True] Translation: X:149.43, Y:1.07, Z:-1.75 [[ 9.99982869e-01 1.41481743e-03 -5.67987577e-03 1.49431454e+02] [-1.43681756e-03 9.99991475e-01 -3.87113694e-03 1.07293643e+00] [ 5.67435040e-03 3.87923157e-03 9.99976376e-01 -1.75195876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.45592000000002 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:149.46, Y:1.07, Z:-1.75 [[ 9.99980902e-01 2.77465048e-03 -5.52247845e-03 1.49458522e+02] [-2.77385944e-03 9.99996141e-01 1.50893456e-04 1.06509274e+00] [ 5.52287582e-03 -1.35571995e-04 9.99984740e-01 -1.74993826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.48592000000002 meters Centerline goodness : 0.770992 Centerline is valid? [True, False] Translation: X:149.46, Y:1.07, Z:-1.75 [[ 9.99983505e-01 -1.29797236e-03 -5.59511843e-03 1.49458776e+02] [ 1.27147629e-03 9.99987974e-01 -4.73652750e-03 1.06833024e+00] [ 5.60119903e-03 4.72933531e-03 9.99973130e-01 -1.74926546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.51592 meters Centerline goodness : 0.850727 Centerline is valid? [False, False] Translation: X:149.46, Y:1.07, Z:-1.75 [[ 9.99983439e-01 -1.21772779e-03 -5.62484494e-03 1.49458889e+02] [ 1.18978842e-03 9.99986953e-01 -4.96781438e-03 1.06949318e+00] [ 5.63082099e-03 4.96103974e-03 9.99971841e-01 -1.74917378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.54592 meters Centerline goodness : 0.968345 Centerline is valid? [False, True] Translation: X:149.48, Y:1.07, Z:-1.74 [[ 9.99939059e-01 5.69320008e-03 -9.45858172e-03 1.49480499e+02] [-5.76104113e-03 9.99957766e-01 -7.16073687e-03 1.07248183e+00] [ 9.41741474e-03 7.21479177e-03 9.99929627e-01 -1.74499541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.57592 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:149.47, Y:1.08, Z:-1.73 [[ 9.98470348e-01 5.46287800e-02 -8.52412215e-03 1.49471943e+02] [-5.46033511e-02 9.98503035e-01 3.18808592e-03 1.08425719e+00] [ 8.68552308e-03 -2.71776362e-03 9.99958587e-01 -1.73011917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.60592 meters Centerline goodness : 0.999650 Centerline is valid? [True, True] Translation: X:149.50, Y:1.08, Z:-1.74 [[ 9.98120657e-01 6.06531600e-02 -8.73769410e-03 1.49503587e+02] [-6.06497926e-02 9.98158895e-01 6.50093215e-04 1.08479246e+00] [ 8.76103730e-03 -1.18932132e-04 9.99961614e-01 -1.73576640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.63592 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:149.53, Y:1.08, Z:-1.72 [[ 9.98317164e-01 5.73291758e-02 -8.72960515e-03 1.49528384e+02] [-5.73248435e-02 9.98355300e-01 7.45886240e-04 1.08359990e+00] [ 8.75800861e-03 -2.44207787e-04 9.99961618e-01 -1.72352211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.66592 meters Centerline goodness : 0.999254 Centerline is valid? [True, True] Translation: X:149.56, Y:1.08, Z:-1.72 [[ 9.98219793e-01 5.89985450e-02 -8.74164745e-03 1.49557178e+02] [-5.89955262e-02 9.98258065e-01 6.03022187e-04 1.08212023e+00] [ 8.76199750e-03 -8.62305914e-05 9.99961609e-01 -1.72209572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.69592 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:149.59, Y:1.08, Z:-1.72 [[ 9.98158783e-01 6.00215908e-02 -8.74376491e-03 1.49585345e+02] [-6.00188300e-02 9.98197078e-01 5.78032635e-04 1.08047584e+00] [ 8.76269502e-03 -5.21778108e-05 9.99961605e-01 -1.72022416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.72592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:149.61, Y:1.08, Z:-1.72 [[ 9.98098639e-01 6.10131855e-02 -8.74634608e-03 1.49614852e+02] [-6.10107286e-02 9.98136960e-01 5.47700946e-04 1.07883673e+00] [ 8.76346827e-03 -1.30386213e-05 9.99961600e-01 -1.72257815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.75592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:149.64, Y:1.08, Z:-1.72 [[ 9.97923305e-01 6.38169193e-02 -8.74516882e-03 1.49644397e+02] [-6.38144491e-02 9.97961623e-01 5.61494424e-04 1.08041072e+00] [ 8.76317571e-03 -2.26024155e-06 9.99961603e-01 -1.72222031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.78592 meters Centerline goodness : 0.931654 Centerline is valid? [True, False] Translation: X:149.63, Y:1.08, Z:-1.72 [[ 9.98626563e-01 5.21668199e-02 4.85899092e-03 1.49631975e+02] [-5.21757420e-02 9.98636424e-01 1.72781408e-03 1.07908453e+00] [-4.76223075e-03 -1.97896250e-03 9.99986702e-01 -1.72431427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.81592 meters Centerline goodness : 1.000000 Centerline is valid? [False, True] Translation: X:149.61, Y:1.08, Z:-1.73 [[ 9.99061548e-01 3.84667636e-02 1.99080901e-02 1.49614744e+02] [-3.84794663e-02 9.99259358e-01 2.55252136e-04 1.07991310e+00] [-1.98835266e-02 -1.02106528e-03 9.99801782e-01 -1.72502705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.84592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:149.65, Y:1.08, Z:-1.73 [[ 9.99112442e-01 3.71612841e-02 1.98335022e-02 1.49646936e+02] [-3.71468565e-02 9.99309217e-01 -1.09547988e-03 1.08090828e+00] [-1.98605110e-02 3.57755321e-04 9.99802697e-01 -1.72618524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.87592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:149.67, Y:1.08, Z:-1.71 [[ 9.99312263e-01 3.13311192e-02 1.98333683e-02 1.49674076e+02] [-3.13154957e-02 9.99508947e-01 -1.09789926e-03 1.08295668e+00] [-1.98580275e-02 4.76052438e-04 9.99802697e-01 -1.71099429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.90592 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:149.71, Y:1.08, Z:-1.71 [[ 9.99324132e-01 3.09365161e-02 1.98547432e-02 1.49705998e+02] [-3.09284532e-02 9.99521347e-01 -7.13107977e-04 1.08166931e+00] [-1.98673008e-02 9.85495138e-05 9.99802621e-01 -1.71278314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.93592 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:149.74, Y:1.08, Z:-1.71 [[ 9.99289503e-01 3.20354693e-02 1.98549148e-02 1.49738699e+02] [-3.20276836e-02 9.99486730e-01 -7.10073392e-04 1.08043897e+00] [-1.98674714e-02 7.36619572e-05 9.99802620e-01 -1.71343400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.96592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:149.77, Y:1.08, Z:-1.73 [[ 9.99106782e-01 3.73020336e-02 1.98543599e-02 1.49774261e+02] [-3.72950949e-02 9.99304037e-01 -7.19765529e-04 1.07951639e+00] [-1.98673907e-02 -2.13476141e-05 9.99802624e-01 -1.73026544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.99592 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:149.80, Y:1.08, Z:-1.71 [[ 9.99284628e-01 3.22030313e-02 1.98291781e-02 1.49802660e+02] [-3.21864890e-02 9.99481216e-01 -1.15290585e-03 1.07966113e+00] [-1.98560181e-02 5.13849471e-04 9.99802718e-01 -1.71464785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.02592 meters Centerline goodness : 0.997560 Centerline is valid? [True, True] Translation: X:149.86, Y:1.08, Z:-1.73 [[ 9.99592281e-01 2.05299431e-02 1.98442150e-02 1.49864695e+02] [-2.05162637e-02 9.99789121e-01 -8.92700610e-04 1.08069134e+00] [-1.98583574e-02 4.85207490e-04 9.99802686e-01 -1.72817141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.05592000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.86, Y:1.08, Z:-1.73 [[ 9.99459121e-01 2.63441974e-02 1.96837132e-02 1.49860397e+02] [-2.62770843e-02 9.99647996e-01 -3.66051606e-03 1.08087328e+00] [-1.97732178e-02 3.14130557e-03 9.99799556e-01 -1.72901202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.08592000000002 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:149.89, Y:1.08, Z:-1.72 [[ 9.99568396e-01 2.16819994e-02 1.98220252e-02 1.49887704e+02] [-2.16654456e-02 9.99764726e-01 -1.04951101e-03 1.07864898e+00] [-1.98401171e-02 6.19605029e-04 9.99802974e-01 -1.71659496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.11592000000002 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:149.92, Y:1.08, Z:-1.71 [[ 9.99523460e-01 2.36481656e-02 1.98397969e-02 1.49921288e+02] [-2.36386475e-02 9.99720313e-01 -7.14163117e-04 1.08152389e+00] [-1.98511366e-02 2.44836826e-04 9.99802917e-01 -1.71480790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.14592000000002 meters Centerline goodness : 0.998858 Centerline is valid? [True, True] Translation: X:149.95, Y:1.08, Z:-1.71 [[ 9.99520487e-01 2.37780102e-02 1.98343796e-02 1.49953027e+02] [-2.37665216e-02 9.99717204e-01 -8.14777081e-04 1.08235221e+00] [-1.98481443e-02 3.42992172e-04 9.99802947e-01 -1.71484242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.17592000000002 meters Centerline goodness : 0.998955 Centerline is valid? [True, True] Translation: X:149.99, Y:1.08, Z:-1.72 [[ 9.99485864e-01 2.51899951e-02 1.98361109e-02 1.49986120e+02] [-2.51794155e-02 9.99682642e-01 -7.82962016e-04 1.08220705e+00] [-1.98495385e-02 2.83097789e-04 9.99802938e-01 -1.71898748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.20592000000002 meters Centerline goodness : 0.998557 Centerline is valid? [True, True] Translation: X:150.02, Y:1.09, Z:-1.72 [[ 9.99570140e-01 2.15943730e-02 1.98297278e-02 1.50016275e+02] [-2.15807777e-02 9.99766703e-01 -8.99361698e-04 1.08519295e+00] [-1.98445227e-02 4.71034151e-04 9.99802967e-01 -1.72124614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.23592000000002 meters Centerline goodness : 0.997715 Centerline is valid? [True, True] Translation: X:150.05, Y:1.09, Z:-1.72 [[ 9.99562985e-01 2.19135148e-02 1.98403034e-02 1.50049624e+02] [-2.19037172e-02 9.99759832e-01 -7.11026085e-04 1.08573760e+00] [-1.98511195e-02 2.76138961e-04 9.99802909e-01 -1.72032161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.26592 meters Centerline goodness : 0.997560 Centerline is valid? [True, True] Translation: X:150.08, Y:1.09, Z:-1.72 [[ 9.99577638e-01 2.12402339e-02 1.98342559e-02 1.50082026e+02] [-2.12282084e-02 9.99774323e-01 -8.16671716e-04 1.08638195e+00] [-1.98471260e-02 3.95281069e-04 9.99802948e-01 -1.72105069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.29592 meters Centerline goodness : 0.997107 Centerline is valid? [True, True] Translation: X:150.11, Y:1.08, Z:-1.72 [[ 9.99666268e-01 1.65520965e-02 1.98338178e-02 1.50114131e+02] [-1.65389975e-02 9.99862882e-01 -8.24300658e-04 1.08470288e+00] [-1.98447422e-02 4.95994099e-04 9.99802951e-01 -1.72202884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.32592 meters Centerline goodness : 0.995582 Centerline is valid? [True, True] Translation: X:150.12, Y:1.08, Z:-1.73 [[ 9.99803332e-01 -8.45391622e-05 1.98315635e-02 1.50122670e+02] [ 1.01674554e-04 9.99999622e-01 -8.63039748e-04 1.07536069e+00] [-1.98314830e-02 8.64886381e-04 9.99802963e-01 -1.72912231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.35592 meters Centerline goodness : 0.996073 Centerline is valid? [True, True] Translation: X:150.17, Y:1.07, Z:-1.72 [[ 9.99723154e-01 1.24940902e-02 1.99377055e-02 1.50174447e+02] [-1.25147967e-02 9.99921269e-01 9.14119950e-04 1.07404065e+00] [-1.99247147e-02 -1.16338321e-03 9.99800806e-01 -1.72446731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.38592 meters Centerline goodness : 0.997419 Centerline is valid? [True, True] Translation: X:150.21, Y:1.07, Z:-1.74 [[ 9.99704454e-01 1.40687239e-02 1.98261604e-02 1.50210314e+02] [-1.40547083e-02 9.99900870e-01 -8.46091372e-04 1.07430018e+00] [-1.98360984e-02 5.67190412e-04 9.99803084e-01 -1.74201970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.41592 meters Centerline goodness : 0.997060 Centerline is valid? [True, True] Translation: X:150.26, Y:1.06, Z:-1.73 [[ 9.99785114e-01 -6.14310526e-03 1.97986972e-02 1.50257225e+02] [ 6.16951653e-03 9.99980158e-01 -1.27318558e-03 1.05805491e+00] [-1.97904831e-02 1.39506038e-03 9.99803176e-01 -1.73141527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.44592 meters Centerline goodness : 0.995624 Centerline is valid? [True, True] Translation: X:150.25, Y:1.09, Z:-1.75 [[ 9.97353791e-01 6.99848767e-02 1.96858300e-02 1.50251627e+02] [-6.99417298e-02 9.97546942e-01 -2.87264502e-03 1.09144584e+00] [-1.98385812e-02 1.48818240e-03 9.99802088e-01 -1.75052392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.47592 meters Centerline goodness : 0.997963 Centerline is valid? [True, True] Translation: X:150.35, Y:1.04, Z:-1.76 [[ 9.99524186e-01 2.36056574e-02 1.98538233e-02 1.50350179e+02] [-2.36040087e-02 9.99721336e-01 -3.17406612e-04 1.04200348e+00] [-1.98557834e-02 -1.51374233e-04 9.99802843e-01 -1.76042991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.50592 meters Centerline goodness : 0.831246 Centerline is valid? [True, False] Translation: X:150.35, Y:1.04, Z:-1.76 [[ 9.99596597e-01 1.99321431e-02 2.02324898e-02 1.50348754e+02] [-1.98421109e-02 9.99792355e-01 -4.64093968e-03 1.04303253e+00] [-2.03207925e-02 4.23761220e-03 9.99784531e-01 -1.75955044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.53592 meters Centerline goodness : 0.926766 Centerline is valid? [False, False] Translation: X:150.36, Y:1.04, Z:-1.76 [[ 9.99831624e-01 1.74098940e-02 5.79816761e-03 1.50357610e+02] [-1.73771935e-02 9.99833080e-01 -5.64321910e-03 1.04384546e+00] [-5.89544763e-03 5.54151303e-03 9.99967267e-01 -1.75827095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.56592 meters Centerline goodness : 0.999851 Centerline is valid? [False, True] Translation: X:150.38, Y:1.04, Z:-1.75 [[ 9.99981178e-01 6.01807922e-03 1.19441545e-03 1.50378795e+02] [-6.01015781e-03 9.99960628e-01 -6.52837210e-03 1.03957163e+00] [-1.23365669e-03 6.52107060e-03 9.99977977e-01 -1.75263892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.59592 meters Centerline goodness : 0.664454 Centerline is valid? [True, False] Translation: X:150.38, Y:1.04, Z:-1.75 [[ 9.99981324e-01 6.01756307e-03 1.06798850e-03 1.50379202e+02] [-6.01061889e-03 9.99961517e-01 -6.39038597e-03 1.03890247e+00] [-1.10640195e-03 6.38384735e-03 9.99979011e-01 -1.75290257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.62592 meters Centerline goodness : 0.996918 Centerline is valid? [False, True] Translation: X:150.38, Y:1.04, Z:-1.75 [[ 9.99997539e-01 2.01848675e-03 9.21056313e-04 1.50379664e+02] [-2.00800992e-03 9.99934843e-01 -1.12373746e-02 1.04198467e+00] [-9.43678791e-04 1.12354975e-02 9.99936435e-01 -1.75238465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.65592 meters Centerline goodness : 0.993880 Centerline is valid? [True, True] Translation: X:150.40, Y:1.03, Z:-1.74 [[ 9.99998132e-01 -1.22977376e-03 1.49113668e-03 1.50404916e+02] [ 1.22988868e-03 9.99999241e-01 -7.61501143e-05 1.02726313e+00] [-1.49104190e-03 7.79839042e-05 9.99998885e-01 -1.73645080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.68592 meters Centerline goodness : 0.997268 Centerline is valid? [True, True] Translation: X:150.44, Y:1.03, Z:-1.76 [[ 9.99993848e-01 3.17417469e-03 1.49305645e-03 1.50439166e+02] [-3.17412105e-03 9.99994962e-01 -3.82964553e-05 1.02594138e+00] [-1.49317049e-03 3.35570778e-05 9.99998885e-01 -1.75580250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.71592 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:150.49, Y:1.03, Z:-1.76 [[ 9.99229793e-01 3.92122099e-02 1.49105767e-03 1.50489367e+02] [-3.92121387e-02 9.99230905e-01 -7.70011636e-05 1.03042658e+00] [-1.49293029e-03 1.84742968e-05 9.99998885e-01 -1.76224484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.74592 meters Centerline goodness : 0.919312 Centerline is valid? [True, False] Translation: X:150.48, Y:1.03, Z:-1.76 [[ 9.99577872e-01 2.62008361e-02 1.25536405e-02 1.50480284e+02] [-2.62379964e-02 9.99651790e-01 2.80459288e-03 1.02758384e+00] [-1.24757865e-02 -3.13279136e-03 9.99917267e-01 -1.76379597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.77592 meters Centerline goodness : 0.950698 Centerline is valid? [False, True] Translation: X:150.51, Y:1.03, Z:-1.76 [[ 9.99907108e-01 1.07339195e-02 8.39989793e-03 1.50508561e+02] [-1.07333379e-02 9.99942390e-01 -1.14319543e-04 1.02764895e+00] [-8.40064111e-03 2.41499809e-05 9.99964714e-01 -1.76109036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.80592000000001 meters Centerline goodness : 0.995080 Centerline is valid? [True, True] Translation: X:150.55, Y:1.02, Z:-1.72 [[ 9.97914609e-01 -6.40001583e-02 8.39128363e-03 1.50554281e+02] [ 6.39974711e-02 9.97949887e-01 5.88636815e-04 1.02050098e+00] [-8.41175340e-03 -5.03883453e-05 9.99964619e-01 -1.71963131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.83592000000002 meters Centerline goodness : 0.989372 Centerline is valid? [True, True] Translation: X:150.63, Y:1.03, Z:-1.75 [[ 9.99793508e-01 1.85055240e-02 8.39569633e-03 1.50626791e+02] [-1.85076495e-02 9.99828703e-01 1.75532261e-04 1.03313770e+00] [-8.39100986e-03 -3.30880619e-04 9.99964740e-01 -1.75314887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.86592000000002 meters Centerline goodness : 0.997118 Centerline is valid? [True, True] Translation: X:150.58, Y:1.04, Z:-1.74 [[ 9.99964818e-01 -5.18496410e-04 8.37215665e-03 1.50577383e+02] [ 5.32661911e-04 9.99998430e-01 -1.68983636e-03 1.03849166e+00] [-8.37126734e-03 1.69423644e-03 9.99963525e-01 -1.73774722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.89592000000002 meters Centerline goodness : 0.998112 Centerline is valid? [True, True] Translation: X:150.63, Y:1.02, Z:-1.75 [[ 9.99871447e-01 -1.36686913e-02 8.38187860e-03 1.50628397e+02] [ 1.36658427e-02 9.99906539e-01 3.97037404e-04 1.02160951e+00] [-8.38652220e-03 -2.82440929e-04 9.99964793e-01 -1.74602643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.92592000000002 meters Centerline goodness : 0.997614 Centerline is valid? [True, True] Translation: X:150.63, Y:1.02, Z:-1.75 [[ 9.99799579e-01 -1.81831385e-02 8.37708563e-03 1.50634739e+02] [ 1.81855561e-02 9.99834607e-01 -2.12506282e-04 1.01515655e+00] [-8.37183608e-03 3.64805652e-04 9.99964889e-01 -1.75427218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.95592000000002 meters Centerline goodness : 0.998110 Centerline is valid? [True, True] Translation: X:150.72, Y:0.99, Z:-1.75 [[ 9.97860545e-01 -6.48393100e-02 8.37836934e-03 1.50722606e+02] [ 6.48372899e-02 9.97895717e-01 5.12783402e-04 9.88481212e-01] [-8.39398740e-03 3.15444371e-05 9.99964769e-01 -1.74737592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.98592000000002 meters Centerline goodness : 0.998559 Centerline is valid? [True, True] Translation: X:150.77, Y:0.98, Z:-1.76 [[ 9.97700823e-01 -6.72559636e-02 8.34879564e-03 1.50766649e+02] [ 6.72682777e-02 9.97734199e-01 -1.20270109e-03 9.80866482e-01] [-8.24899011e-03 1.76154497e-03 9.99964425e-01 -1.76162672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.01592 meters Centerline goodness : 0.957968 Centerline is valid? [True, True] Translation: X:150.82, Y:0.96, Z:-1.75 [[ 9.93361556e-01 -1.14730989e-01 8.34385903e-03 1.50816734e+02] [ 1.14746959e-01 9.93393681e-01 -1.45950008e-03 9.61921326e-01] [-8.12128694e-03 2.40724371e-03 9.99964124e-01 -1.75300535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.04592 meters Centerline goodness : 0.995025 Centerline is valid? [True, True] Translation: X:150.78, Y:0.95, Z:-1.73 [[ 9.94581459e-01 -1.03626188e-01 8.32678457e-03 1.50779853e+02] [ 1.03638332e-01 9.94614506e-01 -1.03919274e-03 9.51016550e-01] [-8.17425314e-03 1.89653589e-03 9.99964792e-01 -1.72595647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.07592 meters Centerline goodness : 0.923581 Centerline is valid? [True, False] Translation: X:150.77, Y:0.95, Z:-1.73 [[ 9.96475778e-01 -8.32062158e-02 1.06183770e-02 1.50769384e+02] [ 8.33018624e-02 9.96484552e-01 -8.90714849e-03 9.52946195e-01] [-9.83991857e-03 9.76028830e-03 9.99903952e-01 -1.72782534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.10592 meters Centerline goodness : 0.799731 Centerline is valid? [False, False] Translation: X:150.77, Y:0.95, Z:-1.73 [[ 9.97696601e-01 -6.66710630e-02 1.25084610e-02 1.50767856e+02] [ 6.68081154e-02 9.97706536e-01 -1.08785848e-02 9.52670016e-01] [-1.17544865e-02 1.16891938e-02 9.99862588e-01 -1.72859710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.13592 meters Centerline goodness : 0.946431 Centerline is valid? [False, False] Translation: X:150.77, Y:0.95, Z:-1.73 [[ 9.98642570e-01 -4.99529899e-02 1.47552089e-02 1.50766817e+02] [ 5.01337505e-02 9.98668659e-01 -1.21456814e-02 9.49518465e-01] [-1.41288515e-02 1.28689285e-02 9.99817366e-01 -1.73030718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.16592 meters Centerline goodness : 0.824799 Centerline is valid? [False, False] Translation: X:150.77, Y:0.95, Z:-1.73 [[ 9.99312390e-01 -3.41169097e-02 1.45183685e-02 1.50766396e+02] [ 3.43432285e-02 9.99287782e-01 -1.56355544e-02 9.52176688e-01] [-1.39745914e-02 1.61234109e-02 9.99772347e-01 -1.73047157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.19592 meters Centerline goodness : 0.996667 Centerline is valid? [False, True] Translation: X:150.77, Y:0.95, Z:-1.73 [[ 9.99749825e-01 -1.90159226e-02 1.17763318e-02 1.50767333e+02] [ 1.92455192e-02 9.99620686e-01 -1.97000943e-02 9.54834396e-01] [-1.13972494e-02 1.99218074e-02 9.99736577e-01 -1.73013587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.22592 meters Centerline goodness : 0.996864 Centerline is valid? [True, True] Translation: X:150.80, Y:0.93, Z:-1.75 [[ 9.99276695e-01 -3.60035079e-02 1.22406535e-02 1.50796648e+02] [ 3.60097686e-02 9.99351395e-01 -2.91381815e-04 9.26656648e-01] [-1.22222234e-02 7.31954158e-04 9.99925038e-01 -1.74664536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.25592 meters Centerline goodness : 0.993981 Centerline is valid? [True, True] Translation: X:150.85, Y:0.92, Z:-1.73 [[ 9.99708774e-01 -2.07974585e-02 1.22406453e-02 1.50847484e+02] [ 2.08025863e-02 9.99783560e-01 -2.91728465e-04 9.20620134e-01] [-1.22319287e-02 5.46280586e-04 9.99925038e-01 -1.73341416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.28592 meters Centerline goodness : 0.997362 Centerline is valid? [True, True] Translation: X:150.85, Y:0.93, Z:-1.75 [[ 9.99687186e-01 -2.18333705e-02 1.21997240e-02 1.50849927e+02] [ 2.18539760e-02 9.99759959e-01 -1.55824515e-03 9.26203911e-01] [-1.21627738e-02 1.82437018e-03 9.99924366e-01 -1.75472020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.31592 meters Centerline goodness : 0.997712 Centerline is valid? [True, True] Translation: X:150.91, Y:0.92, Z:-1.76 [[ 9.99915902e-01 -4.30155129e-03 1.22346171e-02 1.50912935e+02] [ 4.30599106e-03 9.99990673e-01 -3.36567344e-04 9.19319452e-01] [-1.22330552e-02 3.89221192e-04 9.99925098e-01 -1.76448789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.34592 meters Centerline goodness : 0.996374 Centerline is valid? [True, True] Translation: X:150.92, Y:0.91, Z:-1.73 [[ 9.99677371e-01 -2.22635093e-02 1.22266113e-02 1.50915391e+02] [ 2.22813012e-02 9.99750868e-01 -1.32088138e-03 9.07195845e-01] [-1.21941578e-02 1.59288003e-03 9.99924380e-01 -1.73250186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.37592 meters Centerline goodness : 0.997366 Centerline is valid? [True, True] Translation: X:150.95, Y:0.91, Z:-1.73 [[ 9.99711322e-01 -2.06798536e-02 1.22318110e-02 1.50948246e+02] [ 2.06820116e-02 9.99786103e-01 -4.99486608e-05 9.07027358e-01] [-1.22281618e-02 3.02912700e-04 9.99925187e-01 -1.73278782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.40592 meters Centerline goodness : 0.997913 Centerline is valid? [True, True] Translation: X:150.98, Y:0.91, Z:-1.73 [[ 9.99718982e-01 -2.03061739e-02 1.22317842e-02 1.50981145e+02] [ 2.03083758e-02 9.99793762e-01 -5.58182925e-05 9.07056334e-01] [-1.22281281e-02 3.04210277e-04 9.99925187e-01 -1.73490700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.43592 meters Centerline goodness : 0.998659 Centerline is valid? [True, True] Translation: X:151.01, Y:0.90, Z:-1.74 [[ 9.99657918e-01 -2.31177751e-02 1.22317543e-02 1.51013574e+02] [ 2.31202600e-02 9.99732689e-01 -6.17584441e-05 9.04640493e-01] [-1.22270569e-02 3.44538656e-04 9.99925187e-01 -1.73632704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.46592 meters Centerline goodness : 0.997616 Centerline is valid? [True, True] Translation: X:151.04, Y:0.90, Z:-1.72 [[ 9.99597775e-01 -2.55865851e-02 1.22317263e-02 1.51042418e+02] [ 2.55893171e-02 9.99672538e-01 -6.68750010e-05 9.03590710e-01] [-1.22260097e-02 3.79849625e-04 9.99925187e-01 -1.72022565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.49592 meters Centerline goodness : 0.953249 Centerline is valid? [True, True] Translation: X:151.12, Y:0.92, Z:-1.75 [[ 9.99296463e-01 -3.54535219e-02 1.22322371e-02 1.51123214e+02] [ 3.54557510e-02 9.99371247e-01 3.46542342e-05 9.16653961e-01] [-1.22257746e-02 3.99073298e-04 9.99925183e-01 -1.74654390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.52592 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:151.09, Y:0.90, Z:-1.74 [[ 9.99263006e-01 -3.63911833e-02 1.22117026e-02 1.51092897e+02] [ 3.64274283e-02 9.99332493e-01 -2.75879323e-03 8.97766180e-01] [-1.21031554e-02 3.20160094e-03 9.99921629e-01 -1.73519563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.55592000000001 meters Centerline goodness : 0.869924 Centerline is valid? [True, False] Translation: X:151.10, Y:0.90, Z:-1.74 [[ 9.99701413e-01 -2.34397584e-02 6.90387945e-03 1.51096214e+02] [ 2.35056119e-02 9.99677446e-01 -9.61713597e-03 9.04912128e-01] [-6.67622923e-03 9.77654433e-03 9.99929921e-01 -1.73534832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.58592000000002 meters Centerline goodness : 0.999403 Centerline is valid? [False, True] Translation: X:151.10, Y:0.91, Z:-1.74 [[ 9.99954432e-01 -7.82850393e-03 5.46339074e-03 1.51096778e+02] [ 7.90389027e-03 9.99871928e-01 -1.39160440e-02 9.10809762e-01] [-5.35374923e-03 1.39585919e-02 9.99888241e-01 -1.73563212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.61592000000002 meters Centerline goodness : 0.999005 Centerline is valid? [True, True] Translation: X:151.13, Y:0.90, Z:-1.74 [[ 9.99974562e-01 -4.10969294e-03 5.82980413e-03 1.51131693e+02] [ 4.11080091e-03 9.99991535e-01 -1.78083043e-04 8.97044259e-01] [-5.82902291e-03 2.02043677e-04 9.99982991e-01 -1.73524884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.64592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.16, Y:0.89, Z:-1.75 [[ 9.99946241e-01 -8.57604060e-03 5.82805088e-03 1.51158741e+02] [ 8.57759880e-03 9.99963182e-01 -2.42418603e-04 8.92528614e-01] [-5.82575732e-03 2.92396253e-04 9.99982987e-01 -1.75134381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.67592000000002 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:151.19, Y:0.89, Z:-1.75 [[ 9.99977113e-01 -3.43219193e-03 5.83035865e-03 1.51190146e+02] [ 3.43316196e-03 9.99994094e-01 -1.56376573e-04 8.88841359e-01] [-5.82978750e-03 1.76389560e-04 9.99982991e-01 -1.74582300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.70592000000002 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:151.22, Y:0.89, Z:-1.74 [[ 9.99975905e-01 -3.76785267e-03 5.83034440e-03 1.51224882e+02] [ 3.76883149e-03 9.99992886e-01 -1.56905874e-04 8.86653877e-01] [-5.82971173e-03 1.78875678e-04 9.99982991e-01 -1.73756753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.73592000000002 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:151.26, Y:0.88, Z:-1.74 [[ 9.99977548e-01 -3.30620003e-03 5.82864437e-03 1.51259015e+02] [ 3.30753671e-03 9.99994506e-01 -2.19703750e-04 8.84604017e-01] [-5.82788596e-03 2.38977272e-04 9.99982989e-01 -1.73980025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.76592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:151.29, Y:0.88, Z:-1.74 [[ 9.99973231e-01 -4.42444580e-03 5.82770468e-03 1.51290348e+02] [ 4.42600107e-03 9.99990173e-01 -2.54005773e-04 8.82116051e-01] [-5.82652357e-03 2.79792401e-04 9.99982987e-01 -1.74305943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.79592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:151.32, Y:0.88, Z:-1.75 [[ 9.99941172e-01 -9.14823701e-03 5.82767583e-03 1.51318707e+02] [ 9.14987850e-03 9.99958106e-01 -2.55071740e-04 8.78528721e-01] [-5.82509823e-03 3.08379260e-04 9.99982986e-01 -1.74998169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.82592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:151.35, Y:0.88, Z:-1.75 [[ 9.99943967e-01 -8.83620334e-03 5.82968921e-03 1.51351240e+02] [ 8.83740033e-03 9.99960933e-01 -1.79598885e-04 8.77813442e-01] [-5.82787450e-03 2.31108119e-04 9.99982991e-01 -1.75017947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.85592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:151.38, Y:0.87, Z:-1.75 [[ 9.99908000e-01 -1.22477626e-02 5.82962811e-03 1.51379872e+02] [ 1.22490307e-02 9.99924961e-01 -1.81862744e-04 8.72098749e-01] [-5.82696325e-03 2.53253307e-04 9.99982991e-01 -1.75337768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.88592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:151.41, Y:0.87, Z:-1.75 [[ 9.99928789e-01 -1.04117945e-02 5.83195192e-03 1.51414778e+02] [ 1.04125348e-02 9.99945783e-01 -9.65845805e-05 8.67549148e-01] [-5.83063012e-03 1.57303105e-04 9.99982989e-01 -1.75381759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.91592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.45, Y:0.86, Z:-1.75 [[ 9.99941133e-01 -9.15100225e-03 5.83007707e-03 1.51445920e+02] [ 9.15211059e-03 9.99958105e-01 -1.63456459e-04 8.63635654e-01] [-5.82833702e-03 2.16804347e-04 9.99982992e-01 -1.74857357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.94592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.48, Y:0.86, Z:-1.75 [[ 9.99950803e-01 -8.02482275e-03 5.83034695e-03 1.51478351e+02] [ 8.02585651e-03 9.99967780e-01 -1.53930240e-04 8.60110013e-01] [-5.82892383e-03 2.00716195e-04 9.99982992e-01 -1.74769023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.97592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.51, Y:0.86, Z:-1.75 [[ 9.99941817e-01 -9.07590153e-03 5.83021680e-03 1.51508386e+02] [ 9.07697952e-03 9.99958791e-01 -1.58461978e-04 8.56262550e-01] [-5.82853836e-03 2.11373516e-04 9.99982992e-01 -1.75408702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.00592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.53, Y:0.85, Z:-1.75 [[ 9.99864222e-01 -1.54126652e-02 5.82993160e-03 1.51531857e+02] [ 1.54139082e-02 9.99881184e-01 -1.68339053e-04 8.52609843e-01] [-5.82664436e-03 2.58178226e-04 9.99982992e-01 -1.75050201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.03592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.57, Y:0.85, Z:-1.76 [[ 9.99964485e-01 -6.08068357e-03 5.83551184e-03 1.51569491e+02] [ 6.08062567e-03 9.99981512e-01 2.76646060e-05 8.46256951e-01] [-5.83557217e-03 7.81993956e-06 9.99982973e-01 -1.75510687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.06592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.59, Y:0.84, Z:-1.74 [[ 9.99935630e-01 -9.73410015e-03 5.82956234e-03 1.51593824e+02] [ 9.73527341e-03 9.99952596e-01 -1.72916211e-04 8.42101924e-01] [-5.82760281e-03 2.29657463e-04 9.99982993e-01 -1.74215451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.09592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.62, Y:0.84, Z:-1.75 [[ 9.99961734e-01 -6.51886381e-03 5.83395238e-03 1.51624324e+02] [ 6.51919023e-03 9.99978749e-01 -3.69362461e-05 8.39796698e-01] [-5.83358763e-03 7.49674781e-05 9.99982982e-01 -1.74741694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.12592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.66, Y:0.84, Z:-1.76 [[ 9.99979950e-01 2.45862891e-03 5.83572019e-03 1.51660135e+02] [-2.45878650e-03 9.99996977e-01 1.98304681e-05 8.37459124e-01] [-5.83565379e-03 -3.41788605e-05 9.99982972e-01 -1.75550839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.15592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:151.69, Y:0.83, Z:-1.74 [[ 9.99963302e-01 6.27839298e-03 5.82899805e-03 1.51687546e+02] [-6.27740203e-03 9.99980279e-01 -1.88282523e-04 8.34342478e-01] [-5.83006521e-03 1.51684649e-04 9.99982994e-01 -1.74227190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.18592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.72, Y:0.83, Z:-1.75 [[ 9.99955660e-01 7.39361098e-03 5.83208398e-03 1.51721742e+02] [-7.39320195e-03 9.99972666e-01 -9.16899623e-05 8.31170466e-01] [-5.83260249e-03 4.85681221e-05 9.99982989e-01 -1.75488148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.21592 meters Centerline goodness : 0.942447 Centerline is valid? [True, False] Translation: X:151.75, Y:0.84, Z:-1.75 [[ 9.99989258e-01 4.26440101e-03 -1.81631988e-03 1.51745657e+02] [-4.28514439e-03 9.99923837e-01 -1.15740331e-02 8.39589140e-01] [ 1.76682522e-03 1.15816919e-02 9.99931369e-01 -1.75222452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.24592 meters Centerline goodness : 1.000000 Centerline is valid? [False, True] Translation: X:151.75, Y:0.84, Z:-1.75 [[ 9.99989163e-01 4.24716849e-03 -1.90673545e-03 1.51745946e+02] [-4.26763538e-03 9.99931906e-01 -1.08614165e-02 8.36403041e-01] [ 1.86047534e-03 1.08694360e-02 9.99939195e-01 -1.75231859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.27592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.77, Y:0.82, Z:-1.75 [[ 9.99984799e-01 5.27109809e-03 -1.61774575e-03 1.51774349e+02] [-5.27103560e-03 9.99986107e-01 4.28883523e-05 8.23739978e-01] [ 1.61794935e-03 -3.43605049e-05 9.99998691e-01 -1.75336361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.30592000000001 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:151.80, Y:0.82, Z:-1.74 [[ 9.99996288e-01 2.19251284e-03 -1.61776398e-03 1.51798705e+02] [-2.19244745e-03 9.99997596e-01 4.21892388e-05 8.21151827e-01] [ 1.61785260e-03 -3.86422197e-05 9.99998691e-01 -1.73954467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.33592000000002 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:151.83, Y:0.82, Z:-1.74 [[ 9.99965214e-01 8.18230171e-03 -1.61905777e-03 1.51827160e+02] [-8.18231950e-03 9.99966524e-01 -4.36299386e-06 8.23008707e-01] [ 1.61896787e-03 1.76104901e-05 9.99998689e-01 -1.74276424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.36592000000002 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:151.86, Y:0.82, Z:-1.74 [[ 9.99986412e-01 4.95516104e-03 -1.61936938e-03 1.51856162e+02] [-4.95519304e-03 9.99987723e-01 -1.57497076e-05 8.20378704e-01] [ 1.61927146e-03 2.37737815e-05 9.99998689e-01 -1.73808895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.39592000000002 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:151.89, Y:0.82, Z:-1.74 [[ 9.99981103e-01 5.93066632e-03 -1.61907471e-03 1.51885513e+02] [-5.93068284e-03 9.99982413e-01 -5.39976259e-06 8.17219211e-01] [ 1.61901422e-03 1.50018792e-05 9.99998689e-01 -1.73986623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.42592000000002 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:151.92, Y:0.82, Z:-1.74 [[ 9.99959610e-01 8.84067010e-03 -1.61887343e-03 1.51918564e+02] [-8.84067868e-03 9.99960920e-01 1.85250292e-06 8.15347902e-01] [ 1.61882655e-03 1.24595118e-05 9.99998690e-01 -1.74118942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.45592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.95, Y:0.81, Z:-1.75 [[ 9.99976364e-01 6.68226331e-03 -1.61808967e-03 1.51947944e+02] [-6.68222412e-03 9.99977673e-01 2.96271252e-05 8.12966300e-01] [ 1.61825152e-03 -1.88139872e-05 9.99998690e-01 -1.75332282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.48592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.98, Y:0.81, Z:-1.75 [[ 9.99970186e-01 7.55035916e-03 -1.61848546e-03 1.51977606e+02] [-7.55034298e-03 9.99971496e-01 1.61092340e-05 8.12255256e-01] [ 1.61856096e-03 -3.88863337e-06 9.99998690e-01 -1.74723935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.51592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:152.01, Y:0.81, Z:-1.74 [[ 9.99919506e-01 1.25841639e-02 -1.61852255e-03 1.52009122e+02] [-1.25841563e-02 9.99920816e-01 1.48508851e-05 8.11810845e-01] [ 1.61858128e-03 5.51805116e-06 9.99998690e-01 -1.73566801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.54592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:152.04, Y:0.81, Z:-1.74 [[ 9.99880605e-01 1.53674569e-02 -1.61801593e-03 1.52039384e+02] [-1.53674254e-02 9.99881914e-01 3.19206446e-05 8.12591111e-01] [ 1.61831540e-03 -7.05209431e-06 9.99998691e-01 -1.73599097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.57592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.07, Y:0.81, Z:-1.75 [[ 9.99879748e-01 1.54230848e-02 -1.61783521e-03 1.52068353e+02] [-1.54230436e-02 9.99881057e-01 3.79537164e-05 8.11838317e-01] [ 1.61822814e-03 -1.29972095e-05 9.99998691e-01 -1.74826583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.60592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.10, Y:0.81, Z:-1.75 [[ 9.99788471e-01 2.05035219e-02 -1.61837047e-03 1.52099517e+02] [-2.05035158e-02 9.99789781e-01 2.03950702e-05 8.10876038e-01] [ 1.61844843e-03 1.27915285e-05 9.99998690e-01 -1.75350229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.63592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:152.13, Y:0.81, Z:-1.75 [[ 9.99725871e-01 2.33573131e-02 -1.61806761e-03 1.52129082e+02] [-2.33572948e-02 9.99727181e-01 3.02024652e-05 8.09962982e-01] [ 1.61833162e-03 7.59949646e-06 9.99998690e-01 -1.75080256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.66592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.16, Y:0.81, Z:-1.75 [[ 9.99653558e-01 2.62706348e-02 -1.61811587e-03 1.52157898e+02] [-2.62706229e-02 9.99654867e-01 2.86414047e-05 8.12471854e-01] [ 1.61830983e-03 1.38774296e-05 9.99998690e-01 -1.74563201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.69592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:152.19, Y:0.81, Z:-1.74 [[ 9.99630813e-01 2.71223065e-02 -1.61800974e-03 1.52188895e+02] [-2.71222901e-02 9.99632123e-01 3.20931212e-05 8.13578115e-01] [ 1.61828495e-03 1.18028567e-05 9.99998691e-01 -1.73637397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.72592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:152.22, Y:0.81, Z:-1.75 [[ 9.99654485e-01 2.62353635e-02 -1.61770380e-03 1.52217619e+02] [-2.62353299e-02 9.99655794e-01 4.19711098e-05 8.13975152e-01] [ 1.61824811e-03 4.84384822e-07 9.99998691e-01 -1.74702773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.75592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:152.25, Y:0.81, Z:-1.74 [[ 9.99630735e-01 2.71251865e-02 -1.61788052e-03 1.52248346e+02] [-2.71251634e-02 9.99632044e-01 3.62317575e-05 8.14791197e-01] [ 1.61826800e-03 7.66689497e-06 9.99998691e-01 -1.73714448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.78592 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:152.28, Y:0.81, Z:-1.74 [[ 9.99698740e-01 2.44910882e-02 -1.61746349e-03 1.52275824e+02] [-2.44910396e-02 9.99700048e-01 4.98335375e-05 8.13479227e-01] [ 1.61819880e-03 -1.02051623e-05 9.99998691e-01 -1.73553400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.81592 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:152.31, Y:0.81, Z:-1.74 [[ 9.99737815e-01 2.28404097e-02 -1.61773255e-03 1.52305880e+02] [-2.28403734e-02 9.99739124e-01 4.09541481e-05 8.12933230e-01] [ 1.61824593e-03 -3.99379512e-06 9.99998691e-01 -1.73581061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.84592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:152.33, Y:0.81, Z:-1.74 [[ 9.99814921e-01 1.91704615e-02 -1.61754576e-03 1.52334064e+02] [-1.91704103e-02 9.99816230e-01 4.71271474e-05 8.12033007e-01] [ 1.61815195e-03 -1.61094092e-05 9.99998691e-01 -1.73510038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.87592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.36, Y:0.81, Z:-1.75 [[ 9.99867398e-01 1.62040080e-02 -1.61774372e-03 1.52364881e+02] [-1.62039636e-02 9.99868706e-01 4.05172724e-05 8.12963165e-01] [ 1.61818786e-03 -1.42980393e-05 9.99998691e-01 -1.75365209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.90592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:152.39, Y:0.81, Z:-1.75 [[ 9.99890931e-01 1.46802278e-02 -1.61751226e-03 1.52393879e+02] [-1.46801689e-02 9.99892239e-01 4.82727352e-05 8.12923404e-01] [ 1.61804661e-03 -2.45221169e-05 9.99998691e-01 -1.75352042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.93592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:152.42, Y:0.81, Z:-1.74 [[ 9.99946281e-01 1.02380861e-02 -1.61753304e-03 1.52421040e+02] [-1.02380226e-02 9.99947589e-01 4.75662305e-05 8.11035277e-01] [ 1.61793525e-03 -3.10033356e-05 9.99998691e-01 -1.73674653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.96592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.45, Y:0.81, Z:-1.75 [[ 9.99936981e-01 1.11092683e-02 -1.61822179e-03 1.52453442e+02] [-1.11092448e-02 9.99938290e-01 2.35138628e-05 8.10964791e-01] [ 1.61838315e-03 -5.53515901e-06 9.99998690e-01 -1.75478227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.99592 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:152.48, Y:0.81, Z:-1.73 [[ 9.99957949e-01 9.02686110e-03 -1.61753146e-03 1.52482014e+02] [-9.02679658e-03 9.99959257e-01 4.71809188e-05 8.09319206e-01] [ 1.61789145e-03 -3.25778074e-05 9.99998691e-01 -1.73440493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.02592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.51, Y:0.81, Z:-1.75 [[ 9.99973552e-01 7.09068531e-03 -1.61791255e-03 1.52513674e+02] [-7.09063947e-03 9.99974861e-01 3.40635339e-05 8.07323312e-01] [ 1.61811341e-03 -2.25905984e-05 9.99998691e-01 -1.75413189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.05592000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.54, Y:0.81, Z:-1.75 [[ 9.99987411e-01 4.74979591e-03 -1.61752884e-03 1.52542267e+02] [-4.74972575e-03 9.99988719e-01 4.72102369e-05 8.05349308e-01] [ 1.61773483e-03 -3.95268242e-05 9.99998691e-01 -1.75480817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.08592000000002 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:152.57, Y:0.80, Z:-1.73 [[ 9.99998558e-01 -5.17831884e-04 -1.61754877e-03 1.52570183e+02] [ 5.17907805e-04 9.99999865e-01 4.65172132e-05 8.03315820e-01] [ 1.61752447e-03 -4.73548873e-05 9.99998691e-01 -1.73475391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.11592000000002 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:152.60, Y:0.80, Z:-1.74 [[ 9.99997359e-01 1.63192624e-03 -1.61801212e-03 1.52600466e+02] [-1.63187893e-03 9.99998668e-01 3.05594944e-05 8.04142011e-01] [ 1.61805983e-03 -2.79190139e-05 9.99998691e-01 -1.73522574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.14592000000002 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:152.63, Y:0.80, Z:-1.73 [[ 9.99997707e-01 1.40277601e-03 -1.61790337e-03 1.52629924e+02] [-1.40272228e-03 9.99999016e-01 3.43433553e-05 8.03919846e-01] [ 1.61794995e-03 -3.20738075e-05 9.99998691e-01 -1.73427852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.17592000000002 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:152.66, Y:0.80, Z:-1.74 [[ 9.99997402e-01 1.60592301e-03 -1.61786757e-03 1.52659656e+02] [-1.60586755e-03 9.99998710e-01 3.55773314e-05 8.03000516e-01] [ 1.61792261e-03 -3.29791579e-05 9.99998691e-01 -1.73559791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.20592000000002 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:152.69, Y:0.80, Z:-1.75 [[ 9.99993288e-01 3.28725798e-03 -1.61800172e-03 1.52691032e+02] [-3.28721223e-03 9.99994597e-01 3.09346893e-05 8.03110456e-01] [ 1.61809467e-03 -2.56157666e-05 9.99998691e-01 -1.75490459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.23592000000002 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:152.72, Y:0.80, Z:-1.74 [[ 9.99989580e-01 4.26887533e-03 -1.61753519e-03 1.52720708e+02] [-4.26880490e-03 9.99990888e-01 4.69930757e-05 8.02313274e-01] [ 1.61772105e-03 -4.00876439e-05 9.99998691e-01 -1.73614540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.26592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:152.75, Y:0.80, Z:-1.75 [[ 9.99991478e-01 3.79827052e-03 -1.61763390e-03 1.52750971e+02] [-3.79820500e-03 9.99992786e-01 4.35722788e-05 8.01555715e-01] [ 1.61778773e-03 -3.74278023e-05 9.99998691e-01 -1.75405257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.29592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:152.78, Y:0.80, Z:-1.75 [[ 9.99996690e-01 2.00099593e-03 -1.61755169e-03 1.52780103e+02] [-2.00092343e-03 9.99997997e-01 4.64357868e-05 7.99368788e-01] [ 1.61764137e-03 -4.31990360e-05 9.99998691e-01 -1.74693343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.32592 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:152.81, Y:0.80, Z:-1.73 [[ 9.99994022e-01 3.05605051e-03 -1.61771392e-03 1.52808959e+02] [-3.05598851e-03 9.99995330e-01 4.07927352e-05 7.98693872e-01] [ 1.61783103e-03 -3.58487762e-05 9.99998691e-01 -1.73484209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.35592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:152.84, Y:0.80, Z:-1.74 [[ 9.99990615e-01 4.01903063e-03 -1.61801057e-03 1.52839106e+02] [-4.01898679e-03 9.99991923e-01 3.03433235e-05 7.97783463e-01] [ 1.61811945e-03 -2.38402756e-05 9.99998691e-01 -1.73773319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.38592 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:152.87, Y:0.80, Z:-1.73 [[ 9.99979225e-01 6.23964040e-03 -1.61772960e-03 1.52868088e+02] [-6.23958353e-03 9.99980533e-01 4.01952796e-05 7.98498531e-01] [ 1.61794891e-03 -3.01004856e-05 9.99998691e-01 -1.73382897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.41592 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:152.90, Y:0.80, Z:-1.73 [[ 9.99969520e-01 7.63823433e-03 -1.61785208e-03 1.52897527e+02] [-7.63818622e-03 9.99970828e-01 3.59153379e-05 7.97983799e-01] [ 1.61807921e-03 -2.35567878e-05 9.99998691e-01 -1.73416647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.44592 meters Centerline goodness : 0.998656 Centerline is valid? [True, True] Translation: X:152.93, Y:0.80, Z:-1.73 [[ 9.99962792e-01 8.47334192e-03 -1.61787474e-03 1.52925379e+02] [-8.47329619e-03 9.99964100e-01 3.51189323e-05 7.95953587e-01] [ 1.61811423e-03 -2.14088937e-05 9.99998691e-01 -1.73023495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.47592 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:152.96, Y:0.80, Z:-1.74 [[ 9.99940385e-01 1.07985252e-02 -1.61814892e-03 1.52957506e+02] [-1.07984982e-02 9.99941694e-01 2.54205425e-05 7.95915508e-01] [ 1.61832908e-03 -7.94544884e-06 9.99998690e-01 -1.73676247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.50592 meters Centerline goodness : 0.998406 Centerline is valid? [True, True] Translation: X:152.99, Y:0.80, Z:-1.73 [[ 9.99912874e-01 1.31006625e-02 -1.61780100e-03 1.52987225e+02] [-1.31006188e-02 9.99914183e-01 3.76056619e-05 7.97219904e-01] [ 1.61815483e-03 -1.64081913e-05 9.99998691e-01 -1.73360282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.53592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:153.02, Y:0.80, Z:-1.75 [[ 9.99887459e-01 1.49147980e-02 -1.61777556e-03 1.53018744e+02] [-1.49147553e-02 9.99888768e-01 3.84971015e-05 7.96502936e-01] [ 1.61816978e-03 -1.43640426e-05 9.99998691e-01 -1.75125646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.56592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:153.05, Y:0.80, Z:-1.75 [[ 9.99886621e-01 1.49709561e-02 -1.61755892e-03 1.53047625e+02] [-1.49709011e-02 9.99887929e-01 4.60985770e-05 7.95533781e-01] [ 1.61806778e-03 -2.18770357e-05 9.99998691e-01 -1.75072455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.59592 meters Centerline goodness : 0.995672 Centerline is valid? [True, True] Translation: X:153.08, Y:0.80, Z:-1.73 [[ 9.99734867e-01 2.29690723e-02 -1.61757885e-03 1.53079750e+02] [-2.29690289e-02 9.99736176e-01 4.53883869e-05 7.99074895e-01] [ 1.61819462e-03 -8.22213758e-06 9.99998691e-01 -1.72550840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.62592 meters Centerline goodness : 0.998905 Centerline is valid? [True, True] Translation: X:153.11, Y:0.80, Z:-1.73 [[ 9.99814862e-01 1.91736104e-02 -1.61710073e-03 1.53107186e+02] [-1.91735344e-02 9.99816169e-01 6.24684661e-05 7.98549645e-01] [ 1.61800120e-03 -3.14513643e-05 9.99998691e-01 -1.73180940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.65592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:153.14, Y:0.80, Z:-1.75 [[ 9.99725465e-01 2.33746996e-02 -1.61784233e-03 1.53138278e+02] [-2.33746728e-02 9.99726774e-01 3.54863766e-05 8.01435190e-01] [ 1.61822978e-03 2.33990086e-06 9.99998691e-01 -1.74967460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.68592 meters Centerline goodness : 0.997659 Centerline is valid? [True, True] Translation: X:153.17, Y:0.80, Z:-1.73 [[ 9.99734005e-01 2.30065641e-02 -1.61758561e-03 1.53166290e+02] [-2.30065218e-02 9.99735314e-01 4.47633661e-05 8.02106974e-01] [ 1.61818731e-03 -7.53644055e-06 9.99998691e-01 -1.73121698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.71592 meters Centerline goodness : 0.998010 Centerline is valid? [True, True] Translation: X:153.20, Y:0.80, Z:-1.73 [[ 9.99679197e-01 2.52761624e-02 -1.61796149e-03 1.53197431e+02] [-2.52761453e-02 9.99680507e-01 3.10101306e-05 8.04710926e-01] [ 1.61822838e-03 9.89564740e-06 9.99998691e-01 -1.73083838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.74592 meters Centerline goodness : 0.998010 Centerline is valid? [True, True] Translation: X:153.23, Y:0.80, Z:-1.73 [[ 9.99681685e-01 2.51776012e-02 -1.61782407e-03 1.53225732e+02] [-2.51775759e-02 9.99682994e-01 3.60006977e-05 8.03859845e-01] [ 1.61821762e-03 4.74365010e-06 9.99998691e-01 -1.73079299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.77592 meters Centerline goodness : 0.998509 Centerline is valid? [True, True] Translation: X:153.26, Y:0.81, Z:-1.73 [[ 9.99642771e-01 2.66779503e-02 -1.61782739e-03 1.53256375e+02] [-2.66779272e-02 9.99644080e-01 3.58796243e-05 8.08778383e-01] [ 1.61820877e-03 7.29347431e-06 9.99998691e-01 -1.73022725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.80592000000001 meters Centerline goodness : 0.998309 Centerline is valid? [True, True] Translation: X:153.29, Y:0.81, Z:-1.73 [[ 9.99643441e-01 2.66528457e-02 -1.61770906e-03 1.53286113e+02] [-2.66528156e-02 9.99644750e-01 4.01903531e-05 8.10009093e-01] [ 1.61820556e-03 2.94047848e-06 9.99998691e-01 -1.73229806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.83592000000002 meters Centerline goodness : 0.997862 Centerline is valid? [True, True] Translation: X:153.32, Y:0.81, Z:-1.73 [[ 9.99664785e-01 2.58399021e-02 -1.61778070e-03 1.53316643e+02] [-2.58398751e-02 9.99666094e-01 3.75718082e-05 8.14135123e-01] [ 1.61821136e-03 4.24403761e-06 9.99998691e-01 -1.73181349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.86592000000002 meters Centerline goodness : 0.844429 Centerline is valid? [True, False] Translation: X:153.31, Y:0.81, Z:-1.73 [[ 9.99934758e-01 1.02975209e-02 4.94376403e-03 1.53314040e+02] [-1.03120744e-02 9.99942544e-01 2.92740635e-03 8.12288736e-01] [-4.91333495e-03 -2.97819582e-03 9.99983495e-01 -1.73364324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.89592000000002 meters Centerline goodness : 0.999006 Centerline is valid? [False, True] Translation: X:153.31, Y:0.82, Z:-1.73 [[ 9.99967360e-01 6.29633961e-03 5.06303965e-03 1.53313772e+02] [-6.28193271e-03 9.99976189e-01 -2.85639070e-03 8.18985072e-01] [-5.08090390e-03 2.82449180e-03 9.99983103e-01 -1.73391167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.92592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.35, Y:0.82, Z:-1.75 [[ 9.99968580e-01 6.08318841e-03 5.08265740e-03 1.53345321e+02] [-6.08309569e-03 9.99981497e-01 -3.37008371e-05 8.21117222e-01] [-5.08276837e-03 2.78148689e-06 9.99987083e-01 -1.75068859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.95592000000002 meters Centerline goodness : 0.998509 Centerline is valid? [True, True] Translation: X:153.38, Y:0.83, Z:-1.73 [[ 9.99981052e-01 3.47316062e-03 5.08264682e-03 1.53375513e+02] [-3.47302643e-03 9.99993968e-01 -3.52281446e-05 8.25937135e-01] [-5.08273851e-03 1.75753104e-05 9.99987083e-01 -1.73268842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.98592000000002 meters Centerline goodness : 0.998057 Centerline is valid? [True, True] Translation: X:153.41, Y:0.83, Z:-1.73 [[ 9.99978443e-01 4.15681444e-03 5.08281846e-03 1.53406891e+02] [-4.15681717e-03 9.99991360e-01 -1.00260962e-05 8.29441870e-01] [-5.08281622e-03 -1.11024670e-05 9.99987082e-01 -1.73215661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.01592 meters Centerline goodness : 0.998460 Centerline is valid? [True, True] Translation: X:153.44, Y:0.83, Z:-1.73 [[ 9.99979481e-01 3.89906197e-03 5.08282278e-03 1.53438603e+02] [-3.89906447e-03 9.99992399e-01 -9.41596880e-06 8.32594465e-01] [-5.08282085e-03 -1.04024781e-05 9.99987082e-01 -1.73478837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.04592 meters Centerline goodness : 0.998460 Centerline is valid? [True, True] Translation: X:153.47, Y:0.84, Z:-1.74 [[ 9.99971527e-01 5.57762302e-03 5.08285100e-03 1.53470858e+02] [-5.57766640e-03 9.99984445e-01 -5.64034773e-06 8.37759304e-01] [-5.08280339e-03 -2.27102601e-05 9.99987082e-01 -1.73589838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.07592 meters Centerline goodness : 0.998210 Centerline is valid? [True, True] Translation: X:153.50, Y:0.84, Z:-1.73 [[ 9.99969614e-01 5.91078025e-03 5.08275568e-03 1.53502086e+02] [-5.91076694e-03 9.99982531e-01 -1.76401238e-05 8.40121576e-01] [-5.08277116e-03 -1.24033965e-05 9.99987083e-01 -1.73456790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.10592 meters Centerline goodness : 0.997715 Centerline is valid? [True, True] Translation: X:153.53, Y:0.84, Z:-1.73 [[ 9.99973034e-01 5.30071152e-03 5.08277435e-03 1.53533782e+02] [-5.30070188e-03 9.99985951e-01 -1.53661941e-05 8.44604446e-01] [-5.08278439e-03 -1.15764918e-05 9.99987083e-01 -1.73343542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.13592 meters Centerline goodness : 0.997369 Centerline is valid? [True, True] Translation: X:153.57, Y:0.85, Z:-1.73 [[ 9.99970519e-01 5.75559211e-03 5.08279910e-03 1.53566294e+02] [-5.75560297e-03 9.99983436e-01 -1.24915499e-05 8.46955064e-01] [-5.08278681e-03 -1.67633919e-05 9.99987082e-01 -1.73237115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.16592 meters Centerline goodness : 0.997417 Centerline is valid? [True, True] Translation: X:153.60, Y:0.85, Z:-1.73 [[ 9.99973715e-01 5.17083572e-03 5.08255958e-03 1.53596654e+02] [-5.17070165e-03 9.99986631e-01 -3.95188592e-05 8.50039223e-01] [-5.08269598e-03 1.32374213e-05 9.99987083e-01 -1.73350978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.19592 meters Centerline goodness : 0.996970 Centerline is valid? [True, True] Translation: X:153.63, Y:0.86, Z:-1.73 [[ 9.99971401e-01 5.60028400e-03 5.08276623e-03 1.53628742e+02] [-5.60026981e-03 9.99984318e-01 -1.70252693e-05 8.56048662e-01] [-5.08278187e-03 -1.14400798e-05 9.99987083e-01 -1.73476168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.22592 meters Centerline goodness : 0.997565 Centerline is valid? [True, True] Translation: X:153.66, Y:0.86, Z:-1.74 [[ 9.99975290e-01 4.85646917e-03 5.08265482e-03 1.53661056e+02] [-4.85638634e-03 9.99988207e-01 -2.86373627e-05 8.58289914e-01] [-5.08273396e-03 3.95331964e-06 9.99987083e-01 -1.73577775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.25592 meters Centerline goodness : 0.863336 Centerline is valid? [True, False] Translation: X:153.68, Y:0.87, Z:-1.73 [[ 9.99997490e-01 1.94566401e-03 -1.11096976e-03 1.53683182e+02] [-1.96090425e-03 9.99901666e-01 -1.38857486e-02 8.74510295e-01] [ 1.08384351e-03 1.38878923e-02 9.99902971e-01 -1.72987655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.28592 meters Centerline goodness : 0.997862 Centerline is valid? [False, True] Translation: X:153.71, Y:0.87, Z:-1.73 [[ 9.99958267e-01 -4.44183569e-03 -7.98343877e-03 1.53706716e+02] [ 4.34653261e-03 9.99919560e-01 -1.19155634e-02 8.72633498e-01] [ 8.03572356e-03 1.18803658e-02 9.99897137e-01 -1.72687797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.31592 meters Centerline goodness : 0.997711 Centerline is valid? [True, True] Translation: X:153.73, Y:0.86, Z:-1.73 [[ 9.99957516e-01 -4.70733535e-03 -7.92508067e-03 1.53734255e+02] [ 4.70688572e-03 9.99988920e-01 -7.53859225e-05 8.63305450e-01] [ 7.92534772e-03 3.80802708e-05 9.99968593e-01 -1.73129689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.34592 meters Centerline goodness : 0.889733 Centerline is valid? [True, False] Translation: X:153.76, Y:0.88, Z:-1.73 [[ 9.99930289e-01 -4.87455963e-03 -1.07543678e-02 1.53757013e+02] [ 4.73920876e-03 9.99909695e-01 -1.25754531e-02 8.76850887e-01] [ 1.08146965e-02 1.25236092e-02 9.99863091e-01 -1.72663565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.37592 meters Centerline goodness : 0.997468 Centerline is valid? [False, True] Translation: X:153.76, Y:0.88, Z:-1.73 [[ 9.99928474e-01 -3.07726755e-03 -1.15575524e-02 1.53762042e+02] [ 2.95149533e-03 9.99936416e-01 -1.08835904e-02 8.77066774e-01] [ 1.15903092e-02 1.08486999e-02 9.99873977e-01 -1.73125983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.40592 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:153.79, Y:0.87, Z:-1.75 [[ 9.99926525e-01 -4.05883388e-03 -1.14223799e-02 1.53793625e+02] [ 4.05830762e-03 9.99991763e-01 -6.92515463e-05 8.71353296e-01] [ 1.14225669e-02 2.28909266e-05 9.99934760e-01 -1.74571490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.43592 meters Centerline goodness : 0.996668 Centerline is valid? [True, True] Translation: X:153.82, Y:0.87, Z:-1.73 [[ 9.99903675e-01 -7.88873167e-03 -1.14196448e-02 1.53820387e+02] [ 7.89090734e-03 9.99968856e-01 1.45474617e-04 8.70885887e-01] [ 1.14181415e-02 -2.35571964e-04 9.99934783e-01 -1.73216821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.46592 meters Centerline goodness : 0.982871 Centerline is valid? [True, True] Translation: X:153.87, Y:0.84, Z:-1.74 [[ 9.98085686e-01 -6.07825819e-02 -1.14210981e-02 1.53867338e+02] [ 6.07868505e-02 9.98150769e-01 2.66587684e-05 8.44415139e-01] [ 1.13983575e-02 -7.20860320e-04 9.99934777e-01 -1.73947232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.49592 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:153.88, Y:0.87, Z:-1.75 [[ 9.99853006e-01 -1.28012262e-02 -1.14059057e-02 1.53879915e+02] [ 1.28142132e-02 9.99917326e-01 1.06626742e-03 8.68877464e-01] [ 1.13913132e-02 -1.21226840e-03 9.99934382e-01 -1.74538066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.52592 meters Centerline goodness : 0.996571 Centerline is valid? [True, True] Translation: X:153.91, Y:0.87, Z:-1.73 [[ 9.99803684e-01 -1.61941875e-02 -1.14167547e-02 1.53908128e+02] [ 1.61967566e-02 9.99868815e-01 1.32598910e-04 8.68174994e-01] [ 1.14131097e-02 -3.17487277e-04 9.99934818e-01 -1.72937069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.55592000000001 meters Centerline goodness : 0.785104 Centerline is valid? [True, False] Translation: X:153.90, Y:0.88, Z:-1.73 [[ 9.99982024e-01 -5.42884154e-03 -2.54539169e-03 1.53903709e+02] [ 5.40894760e-03 9.99955274e-01 -7.75847429e-03 8.78941588e-01] [ 2.58739737e-03 7.74456694e-03 9.99966663e-01 -1.72980919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.58592000000002 meters Centerline goodness : 0.998360 Centerline is valid? [False, True] Translation: X:153.90, Y:0.88, Z:-1.73 [[ 9.99995608e-01 -1.34954501e-03 -2.63858721e-03 1.53903903e+02] [ 1.34219503e-03 9.99995220e-01 -2.78536195e-03 8.75187837e-01] [ 2.64233356e-03 2.78180822e-03 9.99992640e-01 -1.73044647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.61592000000002 meters Centerline goodness : 0.995632 Centerline is valid? [True, True] Translation: X:153.93, Y:0.87, Z:-1.72 [[ 9.99991973e-01 -3.09101909e-03 -2.54923029e-03 1.53931813e+02] [ 3.09123184e-03 9.99995219e-01 7.95209009e-05 8.68709098e-01] [ 2.54897231e-03 -8.74005245e-05 9.99996748e-01 -1.71510288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.64592000000002 meters Centerline goodness : 0.997315 Centerline is valid? [True, True] Translation: X:154.00, Y:0.87, Z:-1.74 [[ 9.99992658e-01 -2.86027164e-03 -2.54990729e-03 1.53998827e+02] [ 2.86042769e-03 9.99995907e-01 5.75535431e-05 8.74796189e-01] [ 2.54973224e-03 -6.48469460e-05 9.99996747e-01 -1.74241191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.67592000000002 meters Centerline goodness : 0.798190 Centerline is valid? [True, False] Translation: X:154.02, Y:0.88, Z:-1.74 [[ 9.99986537e-01 4.91841391e-04 -5.16564764e-03 1.54019776e+02] [-5.27308268e-04 9.99976284e-01 -6.86679464e-03 8.80874459e-01] [ 5.16214776e-03 6.86942609e-03 9.99963081e-01 -1.73816373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.70592000000002 meters Centerline goodness : 0.998014 Centerline is valid? [False, True] Translation: X:154.02, Y:0.88, Z:-1.74 [[ 9.99985661e-01 5.08578035e-04 -5.33097755e-03 1.54020227e+02] [-5.44164742e-04 9.99977566e-01 -6.67613277e-03 8.79920524e-01] [ 5.32746262e-03 6.67893797e-03 9.99963504e-01 -1.73823238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.73592000000002 meters Centerline goodness : 0.995375 Centerline is valid? [True, True] Translation: X:154.05, Y:0.87, Z:-1.72 [[ 9.99986995e-01 1.04792428e-04 -5.09889744e-03 1.54048478e+02] [-1.03912348e-04 9.99999980e-01 1.72866696e-04 8.70098833e-01] [ 5.09891545e-03 -1.72334609e-04 9.99986986e-01 -1.72387524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.76592 meters Centerline goodness : 0.994680 Centerline is valid? [True, True] Translation: X:154.08, Y:0.87, Z:-1.72 [[ 9.99984896e-01 2.05168179e-03 -5.09891557e-03 1.54075020e+02] [-2.05082972e-03 9.99997882e-01 1.72331423e-04 8.69061395e-01] [ 5.09925834e-03 -1.61871813e-04 9.99986986e-01 -1.72143641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.79592 meters Centerline goodness : 0.993836 Centerline is valid? [True, True] Translation: X:154.10, Y:0.87, Z:-1.72 [[ 9.99968842e-01 6.02534637e-03 -5.10009679e-03 1.54104799e+02] [-6.02472268e-03 9.99981842e-01 1.37643701e-04 8.68931343e-01] [ 5.10083353e-03 -1.06912743e-04 9.99986985e-01 -1.72005708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.82592 meters Centerline goodness : 0.719041 Centerline is valid? [True, False] Translation: X:154.11, Y:0.87, Z:-1.72 [[ 9.99984389e-01 1.83378502e-03 -5.27825435e-03 1.54105192e+02] [-1.85821748e-03 9.99987566e-01 -4.62771537e-03 8.71119294e-01] [ 5.26970248e-03 4.63745127e-03 9.99975362e-01 -1.71954297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.85592 meters Centerline goodness : 0.992193 Centerline is valid? [False, True] Translation: X:154.11, Y:0.87, Z:-1.72 [[ 9.99983857e-01 1.78575573e-03 -5.39419481e-03 1.54105517e+02] [-1.80733414e-03 9.99990374e-01 -3.99807967e-03 8.67991814e-01] [ 5.38700329e-03 4.00776424e-03 9.99977459e-01 -1.71972150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.88592 meters Centerline goodness : 0.932604 Centerline is valid? [True, False] Translation: X:154.13, Y:0.87, Z:-1.72 [[ 9.99933034e-01 3.70751776e-03 -1.09627071e-02 1.54127748e+02] [-3.82480756e-03 9.99935466e-01 -1.06974424e-02 8.73033126e-01] [ 1.09223386e-02 1.07386562e-02 9.99882685e-01 -1.71556804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.91592 meters Centerline goodness : 0.983206 Centerline is valid? [False, True] Translation: X:154.15, Y:0.86, Z:-1.71 [[ 9.99918836e-01 -1.55222628e-03 -1.26456648e-02 1.54149041e+02] [ 1.50441241e-03 9.99991687e-01 -3.78968441e-03 8.64759439e-01] [ 1.26514421e-02 3.77035253e-03 9.99912859e-01 -1.71351420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.94592 meters Centerline goodness : 0.991637 Centerline is valid? [True, True] Translation: X:154.18, Y:0.88, Z:-1.68 [[ 9.97332824e-01 7.19591061e-02 -1.22116936e-02 1.54177830e+02] [-7.19523692e-02 9.97407577e-01 9.90699080e-04 8.80383830e-01] [ 1.22513255e-02 -1.09396426e-04 9.99924944e-01 -1.67788611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.97592 meters Centerline goodness : 0.956232 Centerline is valid? [True, True] Translation: X:154.28, Y:0.89, Z:-1.70 [[ 9.90863890e-01 1.34311403e-01 -1.22146503e-02 1.54281258e+02] [-1.34309768e-01 9.90938933e-01 9.57819143e-04 8.92978184e-01] [ 1.22326186e-02 6.91478448e-04 9.99924940e-01 -1.70186420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.00592 meters Centerline goodness : 0.991106 Centerline is valid? [True, True] Translation: X:154.22, Y:0.86, Z:-1.68 [[ 9.96965424e-01 7.69450379e-02 -1.18069537e-02 1.54219954e+02] [-7.68897971e-02 9.97026737e-01 5.06403640e-03 8.60198577e-01] [ 1.21615010e-02 -4.14083492e-03 9.99917472e-01 -1.67519228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.03592 meters Centerline goodness : 0.994486 Centerline is valid? [True, True] Translation: X:154.25, Y:0.86, Z:-1.69 [[ 9.96508655e-01 8.25986559e-02 -1.21640164e-02 1.54252933e+02] [-8.25929153e-02 9.96582892e-01 9.74390446e-04 8.63312767e-01] [ 1.22029340e-02 3.36730662e-05 9.99925541e-01 -1.69279766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.06592 meters Centerline goodness : 0.990056 Centerline is valid? [True, True] Translation: X:154.34, Y:0.86, Z:-1.72 [[ 9.95301309e-01 9.60600538e-02 -1.21560451e-02 1.54338530e+02] [-9.60542060e-02 9.95375534e-01 1.06534745e-03 8.56135782e-01] [ 1.22021672e-02 1.07297545e-04 9.99925545e-01 -1.71601878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.09592 meters Centerline goodness : 0.791503 Centerline is valid? [True, False] Translation: X:154.35, Y:0.86, Z:-1.72 [[ 9.96425922e-01 8.42433924e-02 -6.19936228e-03 1.54351396e+02] [-8.42619501e-02 9.96439717e-01 -2.79533503e-03 8.58941988e-01] [ 5.94180229e-03 3.30771464e-03 9.99976877e-01 -1.71557369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.12592 meters Centerline goodness : 0.986193 Centerline is valid? [False, True] Translation: X:154.34, Y:0.86, Z:-1.72 [[ 9.97201430e-01 7.42170639e-02 9.00757102e-03 1.54336930e+02] [-7.41946474e-02 9.97239853e-01 -2.79825329e-03 8.58698267e-01] [-9.19038694e-03 2.12210862e-03 9.99955516e-01 -1.71746007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.15592 meters Centerline goodness : 0.855397 Centerline is valid? [True, False] Translation: X:154.32, Y:0.86, Z:-1.72 [[ 9.97873854e-01 6.09332460e-02 2.31281483e-02 1.54322027e+02] [-6.08563926e-02 9.98138465e-01 -4.01301675e-03 8.59794724e-01] [-2.33296205e-02 2.59698882e-03 9.99724454e-01 -1.71792059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.18592 meters Centerline goodness : 0.787107 Centerline is valid? [False, False] Translation: X:154.31, Y:0.86, Z:-1.72 [[ 9.98269334e-01 4.73191701e-02 3.49175197e-02 1.54309898e+02] [-4.72555960e-02 9.98879330e-01 -2.64419133e-03 8.59358436e-01] [-3.50035096e-02 9.89566913e-04 9.99386699e-01 -1.71728740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.21592 meters Centerline goodness : 0.991987 Centerline is valid? [False, True] Translation: X:154.32, Y:0.85, Z:-1.72 [[ 9.99019101e-01 3.18809962e-02 3.07317114e-02 1.54321238e+02] [-3.21103136e-02 9.99459836e-01 6.99737655e-03 8.49006965e-01] [-3.04920279e-02 -7.97731772e-03 9.99503176e-01 -1.71761465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.24592 meters Centerline goodness : 0.994537 Centerline is valid? [True, True] Translation: X:154.35, Y:0.86, Z:-1.73 [[ 9.98925177e-01 3.49159861e-02 3.04854727e-02 1.54353532e+02] [-3.49132822e-02 9.99390152e-01 -6.21149931e-04 8.58739292e-01] [-3.04885693e-02 -4.43865606e-04 9.99535017e-01 -1.73413526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.27592 meters Centerline goodness : 0.906347 Centerline is valid? [True, False] Translation: X:154.35, Y:0.86, Z:-1.73 [[ 9.98924551e-01 3.50158874e-02 3.03912571e-02 1.54353884e+02] [-3.49868994e-02 9.99386667e-01 -1.48523571e-03 8.62128278e-01] [-3.04246240e-02 4.20342561e-04 9.99536976e-01 -1.73476417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.30592000000001 meters Centerline goodness : 0.994038 Centerline is valid? [False, True] Translation: X:154.38, Y:0.86, Z:-1.73 [[ 9.99578180e-01 2.69786957e-02 1.07523145e-02 1.54379763e+02] [-2.70145959e-02 9.99629893e-01 3.20767398e-03 8.59336798e-01] [-1.06617961e-02 -3.49679035e-03 9.99937047e-01 -1.73388401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.33592000000002 meters Centerline goodness : 0.974463 Centerline is valid? [True, True] Translation: X:154.40, Y:0.88, Z:-1.73 [[ 9.93024229e-01 1.17429180e-01 1.06427482e-02 1.54404925e+02] [-1.17451665e-01 9.93077451e-01 1.51067586e-03 8.82738015e-01] [-1.03916758e-02 -2.75014621e-03 9.99942223e-01 -1.72631478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.36592000000002 meters Centerline goodness : 0.973152 Centerline is valid? [True, True] Translation: X:154.53, Y:0.86, Z:-1.73 [[ 9.94970095e-01 9.96125540e-02 1.05758415e-02 1.54534924e+02] [-9.96260559e-02 9.95024662e-01 7.56296309e-04 8.63487959e-01] [-1.04478865e-02 -1.80612159e-03 9.99943788e-01 -1.73321311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.39592000000002 meters Centerline goodness : 0.993795 Centerline is valid? [True, True] Translation: X:154.48, Y:0.89, Z:-1.72 [[ 9.93736425e-01 1.11313549e-01 9.85960899e-03 1.54483733e+02] [-1.11265824e-01 9.93776732e-01 -5.26521406e-03 8.94126554e-01] [-1.03843397e-02 4.13519748e-03 9.99937531e-01 -1.71888062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.42592000000002 meters Centerline goodness : 0.990457 Centerline is valid? [True, True] Translation: X:154.51, Y:0.89, Z:-1.71 [[ 9.93997046e-01 1.08920932e-01 1.03005983e-02 1.54512525e+02] [-1.08915516e-01 9.94050416e-01 -1.08693134e-03 8.89121977e-01] [-1.03577036e-02 -4.14884310e-05 9.99946357e-01 -1.70712841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.45592000000002 meters Centerline goodness : 0.994031 Centerline is valid? [True, True] Translation: X:154.54, Y:0.89, Z:-1.72 [[ 9.94123181e-01 1.07763267e-01 1.03043719e-02 1.54543407e+02] [-1.07758161e-01 9.94176581e-01 -1.05104434e-03 8.86863214e-01] [-1.03576292e-02 -6.55126261e-05 9.99946356e-01 -1.72387684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.48592000000002 meters Centerline goodness : 0.994193 Centerline is valid? [True, True] Translation: X:154.57, Y:0.89, Z:-1.72 [[ 9.94610495e-01 1.03169051e-01 1.03009458e-02 1.54571261e+02] [-1.03163361e-01 9.94663836e-01 -1.08361267e-03 8.89226119e-01] [-1.03577736e-02 1.50923378e-05 9.99946357e-01 -1.72397971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.51592 meters Centerline goodness : 0.990056 Centerline is valid? [True, True] Translation: X:154.60, Y:0.89, Z:-1.71 [[ 9.94942912e-01 9.99123702e-02 1.03014921e-02 1.54599148e+02] [-9.99065599e-02 9.94996239e-01 -1.07839492e-03 8.89614731e-01] [-1.03576908e-02 4.37547523e-05 9.99946357e-01 -1.70525082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.54592 meters Centerline goodness : 0.993746 Centerline is valid? [True, True] Translation: X:154.63, Y:0.89, Z:-1.73 [[ 9.95090824e-01 9.84272137e-02 1.03119359e-02 1.54630260e+02] [-9.84223611e-02 9.95144252e-01 -9.78233676e-04 8.88326021e-01] [-1.03581485e-02 -4.14937203e-05 9.99946352e-01 -1.72612574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.57592 meters Centerline goodness : 0.991242 Centerline is valid? [True, True] Translation: X:154.66, Y:0.89, Z:-1.71 [[ 9.95434693e-01 9.48875378e-02 1.03017645e-02 1.54656148e+02] [-9.48814867e-02 9.95487994e-01 -1.07564807e-03 8.86139020e-01] [-1.03573485e-02 9.32906728e-05 9.99946357e-01 -1.71189155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.60592 meters Centerline goodness : 0.994093 Centerline is valid? [True, True] Translation: X:154.69, Y:0.89, Z:-1.73 [[ 9.95341623e-01 9.58569218e-02 1.03200359e-02 1.54689028e+02] [-9.58527411e-02 9.95395118e-01 -9.00101527e-04 8.85089432e-01] [-1.03587943e-02 -9.32952150e-05 9.99946342e-01 -1.72614862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.63592 meters Centerline goodness : 0.994093 Centerline is valid? [True, True] Translation: X:154.72, Y:0.88, Z:-1.73 [[ 9.95388629e-01 9.53695740e-02 1.03015286e-02 1.54717233e+02] [-9.53635336e-02 9.95441930e-01 -1.07710782e-03 8.81995384e-01] [-1.03572969e-02 8.97507039e-05 9.99946358e-01 -1.72640613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.66592 meters Centerline goodness : 0.991299 Centerline is valid? [True, True] Translation: X:154.74, Y:0.88, Z:-1.71 [[ 9.95898707e-01 8.98867756e-02 1.03020555e-02 1.54743700e+02] [-8.98804941e-02 9.95951981e-01 -1.07204450e-03 8.83483405e-01] [-1.03567152e-02 1.41693885e-04 9.99946358e-01 -1.71046407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.69592 meters Centerline goodness : 0.991010 Centerline is valid? [True, True] Translation: X:154.77, Y:0.88, Z:-1.71 [[ 9.95715815e-01 9.18884276e-02 1.03214691e-02 1.54774595e+02] [-9.18841855e-02 9.95769307e-01 -8.85449868e-04 8.81828195e-01] [-1.03591647e-02 -6.67233456e-05 9.99946340e-01 -1.71160312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.72592 meters Centerline goodness : 0.990657 Centerline is valid? [True, True] Translation: X:154.80, Y:0.88, Z:-1.71 [[ 9.95951743e-01 8.92956997e-02 1.03152503e-02 1.54803961e+02] [-8.92907013e-02 9.96005159e-01 -9.45014567e-04 8.79360776e-01] [-1.03584282e-02 2.01329741e-05 9.99946350e-01 -1.70791045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.75592 meters Centerline goodness : 0.994441 Centerline is valid? [True, True] Translation: X:154.84, Y:0.88, Z:-1.73 [[ 9.95942089e-01 8.94027896e-02 1.03197640e-02 1.54836448e+02] [-8.93982463e-02 9.95995553e-01 -9.01641762e-04 8.80857907e-01] [-1.03590484e-02 -2.45858272e-05 9.99946343e-01 -1.72765489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.78592 meters Centerline goodness : 0.994733 Centerline is valid? [True, True] Translation: X:154.87, Y:0.88, Z:-1.73 [[ 9.96103858e-01 8.75841782e-02 1.03012863e-02 1.54865205e+02] [-8.75777101e-02 9.96157107e-01 -1.07818463e-03 8.79560283e-01] [-1.03561315e-02 1.71820804e-04 9.99946359e-01 -1.72776354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.81592 meters Centerline goodness : 0.990365 Centerline is valid? [True, True] Translation: X:154.89, Y:0.88, Z:-1.71 [[ 9.96598086e-01 8.17687595e-02 1.03017389e-02 1.54892639e+02] [-8.17620255e-02 9.96651302e-01 -1.07384345e-03 8.79562822e-01] [-1.03550483e-02 2.27899287e-04 9.99946359e-01 -1.70979437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.84592 meters Centerline goodness : 0.991958 Centerline is valid? [True, True] Translation: X:154.92, Y:0.88, Z:-1.71 [[ 9.96822666e-01 7.89821352e-02 1.03147707e-02 1.54920931e+02] [-7.89765481e-02 9.96876023e-01 -9.48502920e-04 8.77832187e-01] [-1.03574624e-02 1.30864224e-04 9.99946351e-01 -1.71079621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.87592 meters Centerline goodness : 0.990943 Centerline is valid? [True, True] Translation: X:154.95, Y:0.88, Z:-1.71 [[ 9.96783041e-01 7.94795762e-02 1.03230789e-02 1.54951820e+02] [-7.94748431e-02 9.96836494e-01 -8.68569845e-04 8.77064331e-01] [-1.03594553e-02 4.53506153e-05 9.99946338e-01 -1.70702055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.90592 meters Centerline goodness : 0.994346 Centerline is valid? [True, True] Translation: X:154.98, Y:0.87, Z:-1.71 [[ 9.97060356e-01 7.59226109e-02 1.03152393e-02 1.54981144e+02] [-7.59169069e-02 9.97113701e-01 -9.43973092e-04 8.74877806e-01] [-1.03571353e-02 1.58097086e-04 9.99946351e-01 -1.71039504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.93592 meters Centerline goodness : 0.998363 Centerline is valid? [True, True] Translation: X:155.01, Y:0.87, Z:-1.73 [[ 9.97086483e-01 7.55785283e-02 1.03165780e-02 1.55014104e+02] [-7.55729385e-02 9.97139842e-01 -9.31150081e-04 8.73827062e-01] [-1.03574459e-02 1.48783047e-04 9.99946349e-01 -1.73058678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.96592 meters Centerline goodness : 0.997520 Centerline is valid? [True, True] Translation: X:155.01, Y:0.84, Z:-1.72 [[ 9.99827804e-01 1.54353452e-02 1.03010754e-02 1.55010365e+02] [-1.54250397e-02 9.99880445e-01 -1.07913385e-03 8.41370361e-01] [-1.03165007e-02 9.20053528e-04 9.99946360e-01 -1.71534705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.99592 meters Centerline goodness : 0.997517 Centerline is valid? [True, True] Translation: X:155.07, Y:0.87, Z:-1.71 [[ 9.97060155e-01 7.59105328e-02 1.04230047e-02 1.55069664e+02] [-7.59157766e-02 9.97114228e-01 1.07812419e-04 8.68950820e-01] [-1.03847422e-02 -8.98765965e-04 9.99945673e-01 -1.71065416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.02592 meters Centerline goodness : 0.998758 Centerline is valid? [True, True] Translation: X:155.10, Y:0.87, Z:-1.71 [[ 9.97176270e-01 7.43857292e-02 1.03077843e-02 1.55100632e+02] [-7.43796997e-02 9.97229524e-01 -9.67601714e-04 8.66453184e-01] [-1.03512026e-02 1.98179564e-04 9.99946405e-01 -1.71177509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.05592000000001 meters Centerline goodness : 0.999254 Centerline is valid? [True, True] Translation: X:155.13, Y:0.86, Z:-1.71 [[ 9.97322092e-01 7.24052446e-02 1.03017643e-02 1.55128776e+02] [-7.23985303e-02 9.97375258e-01 -1.02369346e-03 8.64467350e-01] [-1.03488456e-02 2.75119502e-04 9.99946411e-01 -1.71167677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.08592000000002 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:155.16, Y:0.86, Z:-1.71 [[ 9.97495359e-01 6.99765321e-02 1.03098881e-02 1.55156673e+02] [-6.99704683e-02 9.97548613e-01 -9.48124386e-04 8.64286460e-01] [-1.03509610e-02 2.24361976e-04 9.99946402e-01 -1.71363719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.11592000000002 meters Centerline goodness : 0.998706 Centerline is valid? [True, True] Translation: X:155.19, Y:0.86, Z:-1.71 [[ 9.97487901e-01 7.00825474e-02 1.03113841e-02 1.55185880e+02] [-7.00766328e-02 9.97541173e-01 -9.34232088e-04 8.61840838e-01] [-1.03515036e-02 2.09298126e-04 9.99946400e-01 -1.71220389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.14592000000002 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:155.21, Y:0.86, Z:-1.71 [[ 9.97588807e-01 6.86313941e-02 1.03103536e-02 1.55214244e+02] [-6.86253033e-02 9.97642059e-01 -9.43791769e-04 8.57847314e-01] [-1.03508161e-02 2.33964961e-04 9.99946401e-01 -1.71275262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.17592000000002 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:155.24, Y:0.85, Z:-1.71 [[ 9.97677410e-01 6.73312020e-02 1.03099348e-02 1.55243587e+02] [-6.73250018e-02 9.97730648e-01 -9.47665850e-04 8.54531242e-01] [-1.03503454e-02 2.51348432e-04 9.99946402e-01 -1.71499131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.20592000000002 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:155.27, Y:0.85, Z:-1.71 [[ 9.97675832e-01 6.73556552e-02 1.03029041e-02 1.55272042e+02] [-6.73487870e-02 9.97728979e-01 -1.01252864e-03 8.52213684e-01] [-1.03477055e-02 3.16287259e-04 9.99946411e-01 -1.71095081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.23592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.30, Y:0.85, Z:-1.74 [[ 9.97768318e-01 6.59712355e-02 1.03043306e-02 1.55303298e+02] [-6.59644295e-02 9.97821475e-01 -9.99341790e-04 8.47348355e-01] [-1.03478102e-02 3.17392288e-04 9.99946410e-01 -1.73692141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.26592 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:155.33, Y:0.84, Z:-1.71 [[ 9.97956474e-01 6.30631165e-02 1.02917046e-02 1.55329753e+02] [-6.30549561e-02 9.98009433e-01 -1.11579959e-03 8.42318108e-01] [-1.03415841e-02 4.64576446e-04 9.99946416e-01 -1.71353740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.29592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.36, Y:0.84, Z:-1.74 [[ 9.97923983e-01 6.35728003e-02 1.03064206e-02 1.55361930e+02] [-6.35660736e-02 9.97977152e-01 -9.79276312e-04 8.37320115e-01] [-1.03478276e-02 3.22104628e-04 9.99946408e-01 -1.73873479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.32592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.39, Y:0.83, Z:-1.74 [[ 9.98053441e-01 6.15094034e-02 1.02918975e-02 1.55389241e+02] [-6.15011841e-02 9.98106389e-01 -1.11351070e-03 8.32824669e-01] [-1.03409000e-02 4.78379306e-04 9.99946417e-01 -1.73971576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.35592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.42, Y:0.83, Z:-1.74 [[ 9.98085377e-01 6.09889156e-02 1.02923940e-02 1.55417121e+02] [-6.09807161e-02 9.98138328e-01 -1.10890237e-03 8.28730719e-01] [-1.03408637e-02 4.79141680e-04 9.99946417e-01 -1.73952930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.38592 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:155.44, Y:0.82, Z:-1.72 [[ 9.98367203e-01 5.61870431e-02 1.02928898e-02 1.55443088e+02] [-5.61786365e-02 9.98420123e-01 -1.10428128e-03 8.21691744e-01] [-1.03386746e-02 5.24237700e-04 9.99946417e-01 -1.71567170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.41592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:155.47, Y:0.82, Z:-1.72 [[ 9.98337922e-01 5.67013121e-02 1.03128138e-02 1.55471189e+02] [-5.66948539e-02 9.98391131e-01 -9.17738747e-04 8.17240719e-01] [-1.03482589e-02 3.31529920e-04 9.99946400e-01 -1.71817775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.44592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:155.50, Y:0.81, Z:-1.72 [[ 9.98206738e-01 5.89656174e-02 1.03133233e-02 1.55500561e+02] [-5.89593289e-02 9.98259968e-01 -9.12990631e-04 8.14510038e-01] [-1.03492129e-02 3.03286778e-04 9.99946399e-01 -1.72184407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.47592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.53, Y:0.81, Z:-1.74 [[ 9.98004431e-01 6.22972390e-02 1.03058504e-02 1.55531001e+02] [-6.22904101e-02 9.98057583e-01 -9.82600535e-04 8.11469993e-01] [-1.03470454e-02 3.38684042e-04 9.99946411e-01 -1.74333477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.50592 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:155.56, Y:0.81, Z:-1.72 [[ 9.98232807e-01 5.85262979e-02 1.02924870e-02 1.55557630e+02] [-5.85179889e-02 9.98285741e-01 -1.10686415e-03 8.05848182e-01] [-1.03396237e-02 5.02612463e-04 9.99946418e-01 -1.72097961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.53592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:155.59, Y:0.80, Z:-1.73 [[ 9.98209419e-01 5.89214728e-02 1.03061275e-02 1.55586110e+02] [-5.89144814e-02 9.98262551e-01 -9.80923770e-04 7.99570494e-01] [-1.03460186e-02 3.71987189e-04 9.99946409e-01 -1.73120327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.56592 meters Centerline goodness : 0.795734 Centerline is valid? [True, False] Translation: X:155.57, Y:0.80, Z:-1.73 [[ 9.98689210e-01 4.51488114e-02 2.41132037e-02 1.55571269e+02] [-4.51271591e-02 9.98980211e-01 -1.44162794e-03 7.98446333e-01] [-2.41537011e-02 3.51577891e-04 9.99708195e-01 -1.73176687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.59592 meters Centerline goodness : 1.000000 Centerline is valid? [False, True] Translation: X:155.57, Y:0.79, Z:-1.73 [[ 9.99182704e-01 2.84128919e-02 2.87511914e-02 1.55571326e+02] [-2.85008521e-02 9.99590245e-01 2.65411118e-03 7.93394786e-01] [-2.86639995e-02 -3.47137544e-03 9.99583075e-01 -1.73309678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.62592 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:155.60, Y:0.80, Z:-1.72 [[ 9.99202327e-01 2.80511307e-02 2.84226045e-02 1.55599613e+02] [-2.80171180e-02 9.99606172e-01 -1.59429023e-03 7.95819068e-01] [-2.84561325e-02 7.96699043e-04 9.99594725e-01 -1.72229823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.65592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.63, Y:0.79, Z:-1.73 [[ 9.98992298e-01 3.47112779e-02 2.84519885e-02 1.55634086e+02] [-3.46907566e-02 9.99397356e-01 -1.21470096e-03 7.93652467e-01] [-2.84770059e-02 2.26455895e-04 9.99594422e-01 -1.73499310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.68592 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:155.67, Y:0.79, Z:-1.73 [[ 9.98811919e-01 3.95935741e-02 2.84094942e-02 1.55665948e+02] [-3.95595838e-02 9.99215667e-01 -1.75771606e-03 7.91267255e-01] [-2.84568059e-02 6.31759991e-04 9.99594823e-01 -1.72785727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.71592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.70, Y:0.79, Z:-1.75 [[ 9.98625406e-01 4.40520477e-02 2.84027491e-02 1.55697924e+02] [-4.40174145e-02 9.99029063e-01 -1.84374560e-03 7.91197827e-01] [-2.84563926e-02 5.90995616e-04 9.99594860e-01 -1.74782250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.74592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.73, Y:0.79, Z:-1.74 [[ 9.98653210e-01 4.34375666e-02 2.83715218e-02 1.55725667e+02] [-4.33914497e-02 9.99055638e-01 -2.23940113e-03 7.91609544e-01] [-2.84420029e-02 1.00530367e-03 9.99594939e-01 -1.73901282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.77592 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:155.76, Y:0.79, Z:-1.73 [[ 9.98467426e-01 4.74983925e-02 2.84025149e-02 1.55759036e+02] [-4.74650621e-02 9.98871191e-01 -1.84693237e-03 7.89203062e-01] [-2.84581802e-02 4.95974670e-04 9.99594861e-01 -1.72821268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.80592000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.79, Y:0.79, Z:-1.74 [[ 9.98504606e-01 4.67217910e-02 2.83835628e-02 1.55788342e+02] [-4.66813599e-02 9.98907653e-01 -2.08577601e-03 7.86400851e-01] [-2.84500093e-02 7.57673646e-04 9.99594929e-01 -1.74148207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.83592000000002 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:155.82, Y:0.78, Z:-1.73 [[ 9.98318520e-01 5.05380674e-02 2.83907708e-02 1.55820535e+02] [-5.05017421e-02 9.98721979e-01 -1.99551921e-03 7.84356702e-01] [-2.84553365e-02 5.58380401e-04 9.99594909e-01 -1.73033197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.86592000000002 meters Centerline goodness : 0.999502 Centerline is valid? [True, True] Translation: X:155.85, Y:0.78, Z:-1.73 [[ 9.98282549e-01 5.12487426e-02 2.83816511e-02 1.55850463e+02] [-5.12094741e-02 9.98685707e-01 -2.10919319e-03 7.83768916e-01] [-2.84524428e-02 6.52161329e-04 9.99594935e-01 -1.72849121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.89592000000002 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:155.88, Y:0.79, Z:-1.73 [[ 9.98164168e-01 5.35015643e-02 2.83879469e-02 1.55882748e+02] [-5.34654247e-02 9.98567636e-01 -2.03112003e-03 7.85581279e-01] [-2.84559531e-02 5.09617600e-04 9.99594917e-01 -1.73384777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.92592000000002 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:155.91, Y:0.78, Z:-1.75 [[ 9.98172012e-01 5.33597345e-02 2.83790868e-02 1.55913688e+02] [-5.33204356e-02 9.98575160e-01 -2.14026771e-03 7.84496497e-01] [-2.84528552e-02 6.23170060e-04 9.99594941e-01 -1.74543464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.95592000000002 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:155.95, Y:0.78, Z:-1.73 [[ 9.98024296e-01 5.60529814e-02 2.83825377e-02 1.55945647e+02] [-5.60159703e-02 9.98427668e-01 -2.09805997e-03 7.83425993e-01] [-2.84555135e-02 5.04039438e-04 9.99594933e-01 -1.73331795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.98592000000002 meters Centerline goodness : 0.998808 Centerline is valid? [True, True] Translation: X:155.98, Y:0.78, Z:-1.73 [[ 9.98000645e-01 5.64706087e-02 2.83863130e-02 1.55976834e+02] [-5.64350760e-02 9.98404162e-01 -2.05199197e-03 7.84080268e-01] [-2.84568903e-02 4.45905577e-04 9.99594921e-01 -1.73130648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.01592 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:156.01, Y:0.78, Z:-1.73 [[ 9.97972701e-01 5.69598190e-02 2.83913209e-02 1.56009357e+02] [-5.69262118e-02 9.98376403e-01 -1.99123708e-03 7.82620931e-01] [-2.84586453e-02 3.70989903e-04 9.99594902e-01 -1.73449539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.04592 meters Centerline goodness : 0.999405 Centerline is valid? [True, True] Translation: X:156.04, Y:0.78, Z:-1.73 [[ 9.98096794e-01 5.47505094e-02 2.83755336e-02 1.56040122e+02] [-5.47106106e-02 9.98499871e-01 -2.18115804e-03 7.80936279e-01] [-2.84523862e-02 6.24564077e-04 9.99594954e-01 -1.73442328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.07592 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:156.07, Y:0.78, Z:-1.74 [[ 9.98016852e-01 5.61819781e-02 2.83892446e-02 1.56073415e+02] [-5.61473236e-02 9.98420457e-01 -2.01700171e-03 7.79067826e-01] [-2.84577217e-02 4.19021592e-04 9.99594909e-01 -1.73600268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.10592 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:156.10, Y:0.78, Z:-1.73 [[ 9.98041164e-01 5.57531010e-02 2.83800394e-02 1.56103583e+02] [-5.57151602e-02 9.98444440e-01 -2.12650645e-03 7.78569800e-01] [-2.84544518e-02 5.41142534e-04 9.99594944e-01 -1.73365876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.13592 meters Centerline goodness : 0.997967 Centerline is valid? [True, True] Translation: X:156.15, Y:0.77, Z:-1.74 [[ 9.99016594e-01 3.40681759e-02 2.83761214e-02 1.56147622e+02] [-3.40201668e-02 9.99418784e-01 -2.17308814e-03 7.67766288e-01] [-2.84336619e-02 1.20559073e-03 9.99594955e-01 -1.74423518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.16592 meters Centerline goodness : 0.999405 Centerline is valid? [True, True] Translation: X:156.16, Y:0.77, Z:-1.74 [[ 9.98307258e-01 5.08432338e-02 2.82415274e-02 1.56162279e+02] [-5.07561990e-02 9.98703880e-01 -3.79062156e-03 7.74979739e-01] [-2.83976505e-02 2.35077243e-03 9.99593941e-01 -1.73640070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.19592 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:156.19, Y:0.77, Z:-1.74 [[ 9.98225155e-01 5.23503636e-02 2.83897641e-02 1.56192798e+02] [-5.23156173e-02 9.98628666e-01 -1.96579660e-03 7.72894121e-01] [-2.84537424e-02 4.77079582e-04 9.99594996e-01 -1.73919248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.22592 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:156.23, Y:0.77, Z:-1.74 [[ 9.98149055e-01 5.37753270e-02 2.84020884e-02 1.56225665e+02] [-5.37454196e-02 9.98553019e-01 -1.81589965e-03 7.72430032e-01] [-2.84586417e-02 2.86056361e-04 9.99594930e-01 -1.74157026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.25592 meters Centerline goodness : 0.966410 Centerline is valid? [True, True] Translation: X:156.28, Y:0.74, Z:-1.76 [[ 9.99585971e-01 -4.64397699e-03 2.83957829e-02 1.56275541e+02] [ 4.69958598e-03 9.99987167e-01 -1.89192959e-03 7.37723236e-01] [-2.83866325e-02 2.02459470e-03 9.99594968e-01 -1.75776153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.28592 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:156.28, Y:0.77, Z:-1.74 [[ 9.98152993e-01 5.38518904e-02 2.81171875e-02 1.56282335e+02] [-5.37283960e-02 9.98542410e-01 -5.12985655e-03 7.73286728e-01] [-2.83524566e-02 3.60969028e-03 9.99591471e-01 -1.74344679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.31592 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:156.31, Y:0.77, Z:-1.75 [[ 9.98108590e-01 5.45339593e-02 2.83776420e-02 1.56314957e+02] [-5.45001209e-02 9.98511830e-01 -1.96509352e-03 7.67778879e-01] [-2.84425756e-02 4.14791803e-04 9.99595342e-01 -1.74708988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.34592 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:156.35, Y:0.77, Z:-1.75 [[ 9.98075486e-01 5.51390032e-02 2.83727760e-02 1.56347665e+02] [-5.51037436e-02 9.98478584e-01 -2.02370674e-03 7.66132009e-01] [-2.84411944e-02 4.56365914e-04 9.99595363e-01 -1.75106590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.37592 meters Centerline goodness : 0.789575 Centerline is valid? [True, False] Translation: X:156.34, Y:0.76, Z:-1.75 [[ 9.98200043e-01 4.35623878e-02 4.12188477e-02 1.56335490e+02] [-4.36613029e-02 9.99045261e-01 1.50215930e-03 7.62563115e-01] [-4.11140569e-02 -3.29912407e-03 9.99149013e-01 -1.75169156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.40592 meters Centerline goodness : 0.999851 Centerline is valid? [False, True] Translation: X:156.33, Y:0.77, Z:-1.75 [[ 9.98332827e-01 3.99993665e-02 4.16127092e-02 1.56333951e+02] [-3.98805728e-02 9.99197672e-01 -3.68130298e-03 7.66855340e-01] [-4.17265720e-02 2.01562694e-03 9.99127034e-01 -1.75070679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.43592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:156.37, Y:0.76, Z:-1.76 [[ 9.98296341e-01 4.08223841e-02 4.16887155e-02 1.56366816e+02] [-4.07497797e-02 9.99166025e-01 -2.59022779e-03 7.64008721e-01] [-4.17596875e-02 8.87008946e-04 9.99127290e-01 -1.75540450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.46592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:156.40, Y:0.76, Z:-1.75 [[ 9.98331396e-01 3.99798101e-02 4.16657874e-02 1.56396864e+02] [-3.98928122e-02 9.99199705e-01 -2.91768334e-03 7.60915512e-01] [-4.17490909e-02 1.25064945e-03 9.99127344e-01 -1.75422949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.49592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.43, Y:0.76, Z:-1.76 [[ 9.98328707e-01 4.00289150e-02 4.16830662e-02 1.56428925e+02] [-3.99522290e-02 9.99198020e-01 -2.67148002e-03 7.58095305e-01] [-4.17565736e-02 1.00168380e-03 9.99127312e-01 -1.75811178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.52592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:156.46, Y:0.76, Z:-1.76 [[ 9.98251363e-01 4.19142311e-02 4.16822974e-02 1.56462747e+02] [-4.18387334e-02 9.99120776e-01 -2.68234813e-03 7.56546943e-01] [-4.17580779e-02 9.33723151e-04 9.99127315e-01 -1.76126416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.55592000000001 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:156.50, Y:0.75, Z:-1.76 [[ 9.98232180e-01 4.23887166e-02 4.16618649e-02 1.56496292e+02] [-4.23016711e-02 9.99100472e-01 -2.96907910e-03 7.54759167e-01] [-4.17502443e-02 1.20146379e-03 9.99127356e-01 -1.76259943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.58592000000002 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:156.53, Y:0.75, Z:-1.75 [[ 9.98352466e-01 3.94557819e-02 4.16604791e-02 1.56526310e+02] [-3.93653804e-02 9.99220414e-01 -2.98839835e-03 7.50214909e-01] [-4.17459108e-02 1.34349426e-03 9.99127356e-01 -1.74757761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.61592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.56, Y:0.75, Z:-1.77 [[ 9.98320019e-01 4.02526571e-02 4.16756922e-02 1.56558068e+02] [-4.01717986e-02 9.99188931e-01 -2.77616800e-03 7.47165187e-01] [-4.17536385e-02 1.09731658e-03 9.99127334e-01 -1.76873878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.64592000000002 meters Centerline goodness : 0.915401 Centerline is valid? [True, False] Translation: X:156.56, Y:0.75, Z:-1.77 [[ 9.98340981e-01 4.00345338e-02 4.13826248e-02 1.56558933e+02] [-3.99536933e-02 9.99197668e-01 -2.77902688e-03 7.46838883e-01] [-4.14606793e-02 1.12102772e-03 9.99139507e-01 -1.76920946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.67592000000002 meters Centerline goodness : 0.999453 Centerline is valid? [False, True] Translation: X:156.56, Y:0.75, Z:-1.77 [[ 9.98359332e-01 3.98499399e-02 4.11172192e-02 1.56559708e+02] [-3.97806296e-02 9.99205303e-01 -2.50280881e-03 7.45768253e-01] [-4.11842803e-02 8.63033668e-04 9.99151195e-01 -1.76919557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.70592000000002 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:156.59, Y:0.74, Z:-1.77 [[ 9.98307709e-01 4.11413935e-02 4.10987100e-02 1.56593595e+02] [-4.10632435e-02 9.99152781e-01 -2.74425131e-03 7.42072956e-01] [-4.11767927e-02 1.05196090e-03 9.99151322e-01 -1.77101403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.73592000000002 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:156.62, Y:0.74, Z:-1.79 [[ 9.98329721e-01 4.06346702e-02 4.10681294e-02 1.56624163e+02] [-4.05398251e-02 9.99172990e-01 -3.13996930e-03 7.41094081e-01] [-4.11617573e-02 1.46982989e-03 9.99151415e-01 -1.79129016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.76592 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:156.66, Y:0.74, Z:-1.78 [[ 9.98343226e-01 4.03050730e-02 4.10646283e-02 1.56655361e+02] [-4.02080952e-02 9.99186251e-01 -3.18510934e-03 7.38253839e-01] [-4.11595880e-02 1.52870185e-03 9.99151416e-01 -1.77603327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.79592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.69, Y:0.74, Z:-1.79 [[ 9.98338443e-01 4.04155926e-02 4.10722923e-02 1.56686095e+02] [-4.03227674e-02 9.99181940e-01 -3.08629820e-03 7.35446790e-01] [-4.11634273e-02 1.42502165e-03 9.99151411e-01 -1.79475284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.82592 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:156.72, Y:0.73, Z:-1.78 [[ 9.98210041e-01 4.34792769e-02 4.10641687e-02 1.56717921e+02] [-4.33847444e-02 9.99053343e-01 -3.19084591e-03 7.32764683e-01] [-4.11640307e-02 1.40357596e-03 9.99151416e-01 -1.77886125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.85592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.75, Y:0.73, Z:-1.80 [[ 9.98242203e-01 4.27395761e-02 4.10589035e-02 1.56747582e+02] [-4.26416421e-02 9.99085118e-01 -3.25843350e-03 7.31357585e-01] [-4.11606035e-02 1.50188677e-03 9.99151414e-01 -1.79777946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.88592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.78, Y:0.73, Z:-1.80 [[ 9.98220012e-01 4.32507894e-02 4.10630861e-02 1.56779456e+02] [-4.31554887e-02 9.99063228e-01 -3.20484348e-03 7.29271919e-01] [-4.11632314e-02 1.42704134e-03 9.99151416e-01 -1.79931348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.91592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:156.78, Y:0.70, Z:-1.78 [[ 9.99153649e-01 -2.43197869e-03 4.10618035e-02 1.56781671e+02] [ 2.56639814e-03 9.99991519e-01 -3.22119322e-03 7.01275827e-01] [-4.10536214e-02 3.32384790e-03 9.99151416e-01 -1.78460604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.94592 meters Centerline goodness : 0.998013 Centerline is valid? [True, True] Translation: X:156.84, Y:0.72, Z:-1.78 [[ 9.98221242e-01 4.29305803e-02 4.13680762e-02 1.56838206e+02] [-4.30027131e-02 9.99074590e-01 8.55001727e-04 7.16884613e-01] [-4.12930881e-02 -2.63242040e-03 9.99143609e-01 -1.77660323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.97592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:156.87, Y:0.72, Z:-1.80 [[ 9.98219772e-01 4.32591296e-02 4.10601359e-02 1.56870301e+02] [-4.31708328e-02 9.99063095e-01 -3.03508570e-03 7.18382066e-01] [-4.11529616e-02 1.25708230e-03 9.99152067e-01 -1.80255299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.00592 meters Centerline goodness : 0.998212 Centerline is valid? [True, True] Translation: X:156.90, Y:0.72, Z:-1.78 [[ 9.98131771e-01 4.52607018e-02 4.10418913e-02 1.56901422e+02] [-4.51646721e-02 9.98974222e-01 -3.26447567e-03 7.15848038e-01] [-4.11475439e-02 1.40473332e-03 9.99152094e-01 -1.77800949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.03592 meters Centerline goodness : 0.998261 Centerline is valid? [True, True] Translation: X:156.93, Y:0.71, Z:-1.78 [[ 9.98255869e-01 4.24330716e-02 4.10445371e-02 1.56929587e+02] [-4.23360197e-02 9.99098204e-01 -3.23125829e-03 7.13418406e-01] [-4.11446355e-02 1.48796023e-03 9.99152093e-01 -1.77937607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.06592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.96, Y:0.71, Z:-1.81 [[ 9.98157142e-01 4.46625963e-02 4.10800614e-02 1.56962228e+02] [-4.45857393e-02 9.99001678e-01 -2.78564500e-03 7.09550522e-01] [-4.11634644e-02 9.48926549e-04 9.99151975e-01 -1.80632240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.09592 meters Centerline goodness : 0.999006 Centerline is valid? [True, True] Translation: X:156.99, Y:0.71, Z:-1.79 [[ 9.98075016e-01 4.64979305e-02 4.10390647e-02 1.56993300e+02] [-4.64016447e-02 9.98917425e-01 -3.29614692e-03 7.06862110e-01] [-4.11479009e-02 1.38552179e-03 9.99152106e-01 -1.78682931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.12592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.02, Y:0.70, Z:-1.81 [[ 9.98209684e-01 4.35103734e-02 4.10399067e-02 1.57022485e+02] [-4.34119966e-02 9.99051852e-01 -3.28567156e-03 7.03241556e-01] [-4.11439556e-02 1.49816488e-03 9.99152106e-01 -1.80798378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.15592 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:157.05, Y:0.70, Z:-1.79 [[ 9.98262403e-01 4.22855463e-02 4.10378811e-02 1.57051545e+02] [-4.21851055e-02 9.99104327e-01 -3.31077984e-03 6.99641321e-01] [-4.11411227e-02 1.57383969e-03 9.99152106e-01 -1.78655625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.18592 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:157.08, Y:0.70, Z:-1.79 [[ 9.98183491e-01 4.40605453e-02 4.10899762e-02 1.57083729e+02] [-4.39881571e-02 9.99028499e-01 -2.66459636e-03 6.95990635e-01] [-4.11674608e-02 8.52283768e-04 9.99151897e-01 -1.79041655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.21592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:157.11, Y:0.69, Z:-1.81 [[ 9.98056599e-01 4.68803030e-02 4.10519477e-02 1.57114390e+02] [-4.67910250e-02 9.98899786e-01 -3.13342794e-03 6.93185714e-01] [-4.11536779e-02 1.20647572e-03 9.99152100e-01 -1.81068367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.24592 meters Centerline goodness : 0.998510 Centerline is valid? [True, True] Translation: X:157.14, Y:0.69, Z:-1.79 [[ 9.97986357e-01 4.83668109e-02 4.10351369e-02 1.57144898e+02] [-4.82703028e-02 9.98828725e-01 -3.33997825e-03 6.90662821e-01] [-4.11486175e-02 1.35247424e-03 9.99152122e-01 -1.78868113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.27592 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:157.18, Y:0.68, Z:-1.79 [[ 9.97911252e-01 4.98763609e-02 4.10546231e-02 1.57176118e+02] [-4.97909715e-02 9.98754848e-01 -3.10041880e-03 6.84999262e-01] [-4.11581414e-02 1.04979323e-03 9.99152093e-01 -1.79439334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.30592000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.21, Y:0.68, Z:-1.82 [[ 9.97817346e-01 5.17193786e-02 4.10566590e-02 1.57208124e+02] [-5.16365724e-02 9.98661207e-01 -3.07549253e-03 6.81285780e-01] [-4.11607552e-02 9.48754655e-04 9.99152087e-01 -1.81576677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.33592000000002 meters Centerline goodness : 0.998309 Centerline is valid? [True, True] Translation: X:157.24, Y:0.68, Z:-1.79 [[ 9.97670708e-01 5.44930656e-02 4.10324809e-02 1.57239861e+02] [-5.44005010e-02 9.98513510e-01 -3.36991065e-03 6.78514204e-01] [-4.11551233e-02 1.12987363e-03 9.99152130e-01 -1.79252219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.36592000000002 meters Centerline goodness : 0.998708 Centerline is valid? [True, True] Translation: X:157.27, Y:0.68, Z:-1.80 [[ 9.97591915e-01 5.59145779e-02 4.10357261e-02 1.57272840e+02] [-5.58248352e-02 9.98435023e-01 -3.33047804e-03 6.76564841e-01] [-4.11577284e-02 1.03164532e-03 9.99152129e-01 -1.79912028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.39592000000002 meters Centerline goodness : 0.998312 Centerline is valid? [True, True] Translation: X:157.30, Y:0.67, Z:-1.80 [[ 9.97707741e-01 5.38265090e-02 4.10118318e-02 1.57302147e+02] [-5.37231067e-02 9.98549309e-01 -3.62002874e-03 6.73725253e-01] [-4.11471898e-02 1.40844768e-03 9.99152103e-01 -1.79650999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.42592000000002 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:157.33, Y:0.67, Z:-1.82 [[ 9.97742195e-01 5.31468973e-02 4.10599490e-02 1.57334356e+02] [-5.30669007e-02 9.98586343e-01 -3.03653088e-03 6.69207829e-01] [-4.11632865e-02 8.50750747e-04 9.99152071e-01 -1.81938858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.45592000000002 meters Centerline goodness : 0.998660 Centerline is valid? [True, True] Translation: X:157.37, Y:0.67, Z:-1.80 [[ 9.97631316e-01 5.52119588e-02 4.10292120e-02 1.57365272e+02] [-5.51184880e-02 9.98474009e-01 -3.40674612e-03 6.66118128e-01] [-4.11546949e-02 1.13720849e-03 9.99152139e-01 -1.80041238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.48592000000002 meters Centerline goodness : 0.998558 Centerline is valid? [True, True] Translation: X:157.40, Y:0.66, Z:-1.80 [[ 9.97728166e-01 5.34287998e-02 4.10349937e-02 1.57395130e+02] [-5.33366883e-02 9.98571010e-01 -3.33701445e-03 6.62759804e-01] [-4.11546478e-02 1.14076264e-03 9.99152137e-01 -1.80176674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.51592 meters Centerline goodness : 0.937335 Centerline is valid? [True, False] Translation: X:157.39, Y:0.65, Z:-1.80 [[ 9.98368716e-01 4.48103315e-02 3.53827773e-02 1.57390172e+02] [-4.49871964e-02 9.98978659e-01 4.21800347e-03 6.54997430e-01] [-3.51576292e-02 -5.80289466e-03 9.99364932e-01 -1.80255217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.54592 meters Centerline goodness : 0.998558 Centerline is valid? [False, True] Translation: X:157.39, Y:0.65, Z:-1.80 [[ 9.98542550e-01 4.08612629e-02 3.52580968e-02 1.57389927e+02] [-4.08977550e-02 9.99163287e-01 3.14108178e-04 6.53722197e-01] [-3.52157610e-02 -1.75562739e-03 9.99378191e-01 -1.80262673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.57592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.42, Y:0.65, Z:-1.82 [[ 9.98538561e-01 4.11232514e-02 3.50659352e-02 1.57422878e+02] [-4.10686723e-02 9.99153735e-01 -2.27563543e-03 6.52200174e-01] [-3.51298416e-02 8.32198331e-04 9.99382410e-01 -1.82037623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.60592 meters Centerline goodness : 0.998756 Centerline is valid? [True, True] Translation: X:157.46, Y:0.65, Z:-1.81 [[ 9.98317669e-01 4.61955694e-02 3.50400073e-02 1.57456800e+02] [-4.61319580e-02 9.98931913e-01 -2.62214106e-03 6.48766225e-01] [-3.51237129e-02 1.00126561e-03 9.99382470e-01 -1.80564275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.63592 meters Centerline goodness : 0.998805 Centerline is valid? [True, True] Translation: X:157.49, Y:0.64, Z:-1.81 [[ 9.98392151e-01 4.45780200e-02 3.50130422e-02 1.57486610e+02] [-4.45008190e-02 9.99004899e-01 -2.98151597e-03 6.44146493e-01] [-3.51111108e-02 1.41861309e-03 9.99382408e-01 -1.80591654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.66592 meters Centerline goodness : 0.998907 Centerline is valid? [True, True] Translation: X:157.52, Y:0.64, Z:-1.81 [[ 9.98339252e-01 4.57323999e-02 3.50326369e-02 1.57519319e+02] [-4.56650696e-02 9.98953103e-01 -2.72007689e-03 6.39052977e-01] [-3.51203570e-02 1.11579173e-03 9.99382467e-01 -1.80774867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.69592 meters Centerline goodness : 0.998857 Centerline is valid? [True, True] Translation: X:157.55, Y:0.63, Z:-1.81 [[ 9.98349033e-01 4.55254381e-02 3.50234575e-02 1.57549214e+02] [-4.54537125e-02 9.98962404e-01 -2.84184212e-03 6.33759340e-01] [-3.51164934e-02 1.24520417e-03 9.99382450e-01 -1.80936976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.72592 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:157.58, Y:0.63, Z:-1.81 [[ 9.98346680e-01 4.55672467e-02 3.50361614e-02 1.57581529e+02] [-4.55014551e-02 9.98960695e-01 -2.67329082e-03 6.29677119e-01] [-3.51215627e-02 1.07467468e-03 9.99382470e-01 -1.81019607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.75592 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:157.61, Y:0.62, Z:-1.81 [[ 9.98196272e-01 4.87469720e-02 3.50419119e-02 1.57612452e+02] [-4.86857972e-02 9.98810766e-01 -2.59743870e-03 6.21737127e-01] [-3.51268561e-02 8.86710212e-04 9.99382468e-01 -1.80976308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.78592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:157.64, Y:0.62, Z:-1.83 [[ 9.98147102e-01 4.97380421e-02 3.50498196e-02 1.57643084e+02] [-4.96811308e-02 9.98762018e-01 -2.49332292e-03 6.16988838e-01] [-3.51304416e-02 7.47388373e-04 9.99382456e-01 -1.82870507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.81592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.67, Y:0.61, Z:-1.83 [[ 9.98069548e-01 5.12800041e-02 3.50362329e-02 1.57674874e+02] [-5.12177898e-02 9.98683934e-01 -2.67151623e-03 6.13731474e-01] [-3.51271183e-02 8.71880581e-04 9.99382472e-01 -1.82849688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.84592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:157.71, Y:0.61, Z:-1.83 [[ 9.97807471e-01 5.61497211e-02 3.50351252e-02 1.57707199e+02] [-5.60899985e-02 9.98422104e-01 -2.68596498e-03 6.11089875e-01] [-3.51306596e-02 7.14955800e-04 9.99382472e-01 -1.82808301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.87592 meters Centerline goodness : 0.998507 Centerline is valid? [True, True] Translation: X:157.74, Y:0.61, Z:-1.81 [[ 9.97587812e-01 5.99264298e-02 3.50340022e-02 1.57738968e+02] [-5.98685228e-02 9.98202618e-01 -2.70053348e-03 6.07765166e-01] [-3.51328661e-02 5.96585325e-04 9.99382472e-01 -1.81350625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.90592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:157.77, Y:0.60, Z:-1.83 [[ 9.97381185e-01 6.32714481e-02 3.50356292e-02 1.57770177e+02] [-6.32163429e-02 9.97996250e-01 -2.67947012e-03 6.04089370e-01] [-3.51349605e-02 4.57628731e-04 9.99382472e-01 -1.83179636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.93592 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:157.80, Y:0.60, Z:-1.82 [[ 9.97427909e-01 6.25322396e-02 3.50326248e-02 1.57799520e+02] [-6.24753188e-02 9.98042808e-01 -2.71819128e-03 6.01285015e-01] [-3.51340338e-02 5.22525442e-04 9.99382473e-01 -1.81918331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.96592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:157.83, Y:0.60, Z:-1.84 [[ 9.97290907e-01 6.46683474e-02 3.50549840e-02 1.57831668e+02] [-6.46228735e-02 9.97906799e-01 -2.42987988e-03 5.98676366e-01] [-3.51387432e-02 1.57943311e-04 9.99382431e-01 -1.83525731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.99592 meters Centerline goodness : 0.997559 Centerline is valid? [True, True] Translation: X:157.86, Y:0.60, Z:-1.82 [[ 9.97280607e-01 6.48395489e-02 3.50317489e-02 1.57862498e+02] [-6.47836976e-02 9.97895600e-01 -2.72824706e-03 5.96621524e-01] [-3.51349265e-02 4.51341652e-04 9.99382476e-01 -1.81722816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.02592 meters Centerline goodness : 0.998358 Centerline is valid? [True, True] Translation: X:157.89, Y:0.59, Z:-1.82 [[ 9.97397542e-01 6.30083411e-02 3.50441390e-02 1.57892675e+02] [-6.29569314e-02 9.98012937e-01 -2.56964360e-03 5.94629722e-01] [-3.51364130e-02 3.56684764e-04 9.99382462e-01 -1.81812582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.05592000000001 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:157.93, Y:0.59, Z:-1.82 [[ 9.97313297e-01 6.43187890e-02 3.50611045e-02 1.57926137e+02] [-6.42757932e-02 9.97929399e-01 -2.35324020e-03 5.93348744e-01] [-3.51398645e-02 9.33374397e-05 9.99382400e-01 -1.82454582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.08592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.96, Y:0.59, Z:-1.84 [[ 9.97285068e-01 6.47678087e-02 3.50374687e-02 1.57957368e+02] [-6.47145559e-02 9.97900290e-01 -2.65301006e-03 5.91594902e-01] [-3.51357298e-02 3.78373089e-04 9.99382478e-01 -1.84138729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.11592000000002 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:157.99, Y:0.59, Z:-1.82 [[ 9.97297650e-01 6.45791689e-02 3.50275422e-02 1.57987803e+02] [-6.45214041e-02 9.97912456e-01 -2.77816794e-03 5.89079259e-01] [-3.51338324e-02 5.10634158e-04 9.99382486e-01 -1.82226164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.14592000000002 meters Centerline goodness : 0.892246 Centerline is valid? [True, False] Translation: X:157.97, Y:0.59, Z:-1.82 [[ 9.97624183e-01 5.01094651e-02 4.72761146e-02 1.57974711e+02] [-5.00623528e-02 9.98743713e-01 -2.18079305e-03 5.87802551e-01] [-4.73260006e-02 -1.91141646e-04 9.98879479e-01 -1.82182688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.17592000000002 meters Centerline goodness : 0.998907 Centerline is valid? [False, True] Translation: X:157.97, Y:0.59, Z:-1.82 [[ 9.97798727e-01 4.64324142e-02 4.73469235e-02 1.57974011e+02] [-4.61362486e-02 9.98908266e-01 -7.32956239e-03 5.91461880e-01] [-4.76355626e-02 5.12901859e-03 9.98851614e-01 -1.82213158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.20592000000002 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:158.00, Y:0.58, Z:-1.82 [[ 9.97963899e-01 4.24201553e-02 4.76296897e-02 1.58003752e+02] [-4.23388048e-02 9.99099619e-01 -2.71600304e-03 5.82098945e-01] [-4.77020181e-02 6.93888854e-04 9.98861370e-01 -1.82497979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.23592000000002 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:158.04, Y:0.58, Z:-1.84 [[ 9.97913627e-01 4.35563618e-02 4.76574969e-02 1.58036263e+02] [-4.34979331e-02 9.99050954e-01 -2.26290985e-03 5.79329958e-01] [-4.77108319e-02 1.85185967e-04 9.98861173e-01 -1.84493839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.26592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.07, Y:0.58, Z:-1.85 [[ 9.98028586e-01 4.08875166e-02 4.76146261e-02 1.58068016e+02] [-4.07930659e-02 9.99163249e-01 -2.95409346e-03 5.77088993e-01] [-4.76955701e-02 1.00592314e-03 9.98861412e-01 -1.84556783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.29592 meters Centerline goodness : 0.999502 Centerline is valid? [True, True] Translation: X:158.10, Y:0.57, Z:-1.83 [[ 9.98165195e-01 3.74060193e-02 4.76133827e-02 1.58096801e+02] [-3.73066623e-02 9.99299439e-01 -2.97400106e-03 5.72905577e-01] [-4.76912721e-02 1.19224796e-03 9.98861412e-01 -1.82956624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.32592 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:158.13, Y:0.57, Z:-1.83 [[ 9.98134280e-01 3.81761546e-02 4.76501876e-02 1.58130052e+02] [-3.81057716e-02 9.99270865e-01 -2.38492540e-03 5.68523265e-01] [-4.77064915e-02 5.64728628e-04 9.98861237e-01 -1.82906948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.35592 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:158.16, Y:0.56, Z:-1.84 [[ 9.98211457e-01 3.61172102e-02 4.76385819e-02 1.58161776e+02] [-3.60357173e-02 9.99347201e-01 -2.56865528e-03 5.63275840e-01] [-4.77002562e-02 8.47370662e-04 9.98861335e-01 -1.83533647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.38592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.19, Y:0.56, Z:-1.85 [[ 9.98252384e-01 3.49831360e-02 4.76272877e-02 1.58193209e+02] [-3.48919024e-02 9.99387320e-01 -2.74585857e-03 5.60211682e-01] [-4.76941662e-02 1.07925319e-03 9.98861403e-01 -1.85391345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.41592 meters Centerline goodness : 0.998605 Centerline is valid? [True, True] Translation: X:158.23, Y:0.55, Z:-1.84 [[ 9.98298348e-01 3.36743561e-02 4.76071992e-02 1.58225048e+02] [-3.35667309e-02 9.99431798e-01 -3.05857583e-03 5.52953069e-01] [-4.76831443e-02 1.45535316e-03 9.98861452e-01 -1.83834710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.44592 meters Centerline goodness : 0.998605 Centerline is valid? [True, True] Translation: X:158.26, Y:0.55, Z:-1.84 [[ 9.98284977e-01 3.40674325e-02 4.76079199e-02 1.58256712e+02] [-3.39607874e-02 9.99418520e-01 -3.04737303e-03 5.51179164e-01] [-4.76840530e-02 1.42534428e-03 9.98861452e-01 -1.83986351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.47592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:158.29, Y:0.55, Z:-1.86 [[ 9.98335508e-01 3.25547782e-02 4.76067219e-02 1.58287037e+02] [-3.24455339e-02 9.99468803e-01 -3.06588286e-03 5.46112081e-01] [-4.76812424e-02 1.51615422e-03 9.98861452e-01 -1.85882796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.50592 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:158.32, Y:0.54, Z:-1.84 [[ 9.98267617e-01 3.45768144e-02 4.76047118e-02 1.58319365e+02] [-3.44683935e-02 9.99400990e-01 -3.09678228e-03 5.40731059e-01] [-4.76832730e-02 1.45055952e-03 9.98861453e-01 -1.84264938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.53592 meters Centerline goodness : 0.999006 Centerline is valid? [True, True] Translation: X:158.35, Y:0.53, Z:-1.84 [[ 9.98370706e-01 3.14816966e-02 4.75902958e-02 1.58350391e+02] [-3.13592445e-02 9.99502672e-01 -3.31766847e-03 5.32598841e-01] [-4.76710736e-02 1.81986729e-03 9.98861430e-01 -1.84147955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.56592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.38, Y:0.53, Z:-1.86 [[ 9.98492423e-01 2.73293318e-02 4.76024133e-02 1.58380203e+02] [-2.72109961e-02 9.99624805e-01 -3.13228948e-03 5.26890290e-01] [-4.76701565e-02 1.83225823e-03 9.98861451e-01 -1.86389844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.59592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:158.41, Y:0.52, Z:-1.87 [[ 9.98511873e-01 2.66072789e-02 4.76034804e-02 1.58412786e+02] [-2.64889004e-02 9.99644251e-01 -3.11598785e-03 5.16835040e-01] [-4.76694535e-02 1.85038702e-03 9.98861451e-01 -1.86570721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.62592 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:158.44, Y:0.51, Z:-1.85 [[ 9.98651634e-01 2.07114218e-02 4.76020093e-02 1.58439121e+02] [-2.05852981e-02 9.99783175e-01 -3.13830180e-03 5.06942689e-01] [-4.76566867e-02 2.15416867e-03 9.98861452e-01 -1.84773699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.65592 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:158.47, Y:0.50, Z:-1.85 [[ 9.98507278e-01 2.66688974e-02 4.76653502e-02 1.58472991e+02] [-2.65955050e-02 9.99643914e-01 -2.17339525e-03 5.03681951e-01] [-4.77063393e-02 9.02466917e-04 9.98860997e-01 -1.84947585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.68592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:158.50, Y:0.50, Z:-1.87 [[ 9.98379141e-01 3.11439906e-02 4.76355166e-02 1.58504741e+02] [-3.10542926e-02 9.99514260e-01 -2.62209307e-03 4.97899470e-01] [-4.76940405e-02 1.13855576e-03 9.98861343e-01 -1.86817186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.71592 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:158.54, Y:0.49, Z:-1.85 [[ 9.98281679e-01 3.41795117e-02 4.75967560e-02 1.58535049e+02] [-3.40657761e-02 9.99414473e-01 -3.19892851e-03 4.92982459e-01] [-4.76782247e-02 1.57201129e-03 9.98861510e-01 -1.85029203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.74592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.57, Y:0.49, Z:-1.87 [[ 9.98153870e-01 3.77126059e-02 4.76089501e-02 1.58565242e+02] [-3.76115232e-02 9.99287880e-01 -3.01755329e-03 4.88022865e-01] [-4.76888466e-02 1.22133736e-03 9.98861493e-01 -1.86841341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.77592 meters Centerline goodness : 0.998955 Centerline is valid? [True, True] Translation: X:158.60, Y:0.48, Z:-1.86 [[ 9.98142163e-01 3.80381095e-02 4.75954255e-02 1.58595797e+02] [-3.79278629e-02 9.99275299e-01 -3.21762451e-03 4.84419006e-01] [-4.76833254e-02 1.40645391e-03 9.98861513e-01 -1.85591917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.80592000000001 meters Centerline goodness : 0.999152 Centerline is valid? [True, True] Translation: X:158.63, Y:0.48, Z:-1.86 [[ 9.98046083e-01 4.04660060e-02 4.76079669e-02 1.58625553e+02] [-4.03673707e-02 9.99180306e-01 -3.03184536e-03 4.80137603e-01] [-4.76916296e-02 1.10411293e-03 9.98861497e-01 -1.85761208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.83592000000002 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:158.66, Y:0.47, Z:-1.87 [[ 9.98098673e-01 3.91183229e-02 4.76318838e-02 1.58658267e+02] [-3.90349955e-02 9.99234254e-01 -2.67868696e-03 4.73506185e-01] [-4.77001956e-02 8.14283528e-04 9.98861366e-01 -1.87246862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.86592000000002 meters Centerline goodness : 0.998755 Centerline is valid? [True, True] Translation: X:158.69, Y:0.47, Z:-1.86 [[ 9.98115520e-01 3.87350273e-02 4.75920767e-02 1.58687240e+02] [-3.86235560e-02 9.99248514e-01 -3.25994976e-03 4.70386483e-01] [-4.76825862e-02 1.41563122e-03 9.98861535e-01 -1.85743098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.89592000000002 meters Centerline goodness : 0.997414 Centerline is valid? [True, True] Translation: X:158.72, Y:0.47, Z:-1.86 [[ 9.98069460e-01 3.98618010e-02 4.76276139e-02 1.58717882e+02] [-3.97763112e-02 9.99204848e-01 -2.74175818e-03 4.66929518e-01] [-4.76990341e-02 8.42014314e-04 9.98861398e-01 -1.85817424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.92592000000002 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:158.75, Y:0.46, Z:-1.88 [[ 9.97964004e-01 4.24137294e-02 4.76332121e-02 1.58750549e+02] [-4.23350188e-02 9.99099929e-01 -2.66052254e-03 4.63223143e-01] [-4.77031815e-02 6.38552798e-04 9.98861351e-01 -1.87922041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.95592000000002 meters Centerline goodness : 0.998756 Centerline is valid? [True, True] Translation: X:158.78, Y:0.46, Z:-1.87 [[ 9.97976178e-01 4.21774761e-02 4.75878957e-02 1.58779913e+02] [-4.20674422e-02 9.99109284e-01 -3.31182445e-03 4.59823453e-01] [-4.76851928e-02 1.30322085e-03 9.98861564e-01 -1.86559703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.98592 meters Centerline goodness : 0.998357 Centerline is valid? [True, True] Translation: X:158.81, Y:0.46, Z:-1.87 [[ 9.97809895e-01 4.59057719e-02 4.76243019e-02 1.58811670e+02] [-4.58249823e-02 9.98945595e-01 -2.78739705e-03 4.57267725e-01] [-4.77020442e-02 5.98909564e-04 9.98861430e-01 -1.86708420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.01592 meters Centerline goodness : 0.998407 Centerline is valid? [True, True] Translation: X:158.84, Y:0.45, Z:-1.87 [[ 9.97695902e-01 4.83167406e-02 4.76275199e-02 1.58843654e+02] [-4.82408921e-02 9.98831968e-01 -2.74137227e-03 4.53868079e-01] [-4.77043436e-02 4.37461833e-04 9.98861404e-01 -1.86957966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.04592 meters Centerline goodness : 0.973958 Centerline is valid? [True, True] Translation: X:158.92, Y:0.49, Z:-1.88 [[ 9.89820822e-01 1.34114591e-01 4.76236980e-02 1.58915470e+02] [-1.34134324e-01 9.90959216e-01 -2.79573030e-03 4.86549150e-01] [-4.75680907e-02 -3.62070049e-03 9.98861435e-01 -1.88185714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.07592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:158.90, Y:0.46, Z:-1.89 [[ 9.97571327e-01 5.14937506e-02 4.69024623e-02 1.58901598e+02] [-5.09852873e-02 9.98627617e-01 -1.19742270e-02 4.55817632e-01] [-4.74546920e-02 9.55380998e-03 9.98827701e-01 -1.88551609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.10592 meters Centerline goodness : 0.999303 Centerline is valid? [True, True] Translation: X:158.92, Y:0.44, Z:-1.86 [[ 9.98157147e-01 3.77419857e-02 4.75168591e-02 1.58919338e+02] [-3.76232103e-02 9.99286240e-01 -3.39186303e-03 4.38097157e-01] [-4.76109591e-02 1.59787554e-03 9.98864677e-01 -1.86166849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.13592 meters Centerline goodness : 0.998805 Centerline is valid? [True, True] Translation: X:158.96, Y:0.44, Z:-1.86 [[ 9.97732452e-01 4.74797734e-02 4.77035083e-02 1.58956499e+02] [-4.74985756e-02 9.98871032e-01 -7.39984912e-04 4.39478016e-01] [-4.76847869e-02 -1.52754174e-03 9.98861266e-01 -1.86482417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.16592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:158.99, Y:0.44, Z:-1.89 [[ 9.97432009e-01 5.35084364e-02 4.76049947e-02 1.58993217e+02] [-5.34685483e-02 9.98567301e-01 -2.11182482e-03 4.42943112e-01] [-4.76497915e-02 -4.38968286e-04 9.98864007e-01 -1.89036206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.19592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:159.03, Y:0.44, Z:-1.89 [[ 9.97503712e-01 5.22450475e-02 4.75057786e-02 1.59025703e+02] [-5.21389542e-02 9.98633809e-01 -3.47053387e-03 4.42451249e-01] [-4.76221948e-02 9.84968806e-04 9.98864934e-01 -1.89225476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.22592 meters Centerline goodness : 0.998856 Centerline is valid? [True, True] Translation: X:159.06, Y:0.44, Z:-1.88 [[ 9.97563623e-01 5.10897279e-02 4.75042896e-02 1.59056109e+02] [-5.09813614e-02 9.98693504e-01 -3.49079611e-03 4.39744117e-01] [-4.76205693e-02 1.06045785e-03 9.98864934e-01 -1.87616046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.25592 meters Centerline goodness : 0.998608 Centerline is valid? [True, True] Translation: X:159.09, Y:0.44, Z:-1.88 [[ 9.97679853e-01 4.87481737e-02 4.75239510e-02 1.59086492e+02] [-4.86498289e-02 9.98810691e-01 -3.22454100e-03 4.39371632e-01] [-4.76246208e-02 9.05027511e-04 9.98864894e-01 -1.87741709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.28592 meters Centerline goodness : 0.998608 Centerline is valid? [True, True] Translation: X:159.12, Y:0.44, Z:-1.88 [[ 9.97338272e-01 5.52823530e-02 4.75419058e-02 1.59118070e+02] [-5.52029162e-02 9.98470700e-01 -2.98323434e-03 4.39150064e-01] [-4.76341201e-02 3.50841944e-04 9.98864789e-01 -1.87990318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.31592 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:159.15, Y:0.44, Z:-1.90 [[ 9.97604118e-01 5.02601282e-02 4.75388704e-02 1.59149965e+02] [-5.01730593e-02 9.98735962e-01 -3.02377635e-03 4.36059340e-01] [-4.76307548e-02 6.31361176e-04 9.98864812e-01 -1.89605943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.34592 meters Centerline goodness : 0.998356 Centerline is valid? [True, True] Translation: X:159.18, Y:0.43, Z:-1.88 [[ 9.97509665e-01 5.21390812e-02 4.74972064e-02 1.59180072e+02] [-5.20277966e-02 9.98639231e-01 -3.57709434e-03 4.34621764e-01] [-4.76190801e-02 1.09701118e-03 9.98864966e-01 -1.88130343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.37592 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:159.21, Y:0.43, Z:-1.90 [[ 9.97490813e-01 5.24800151e-02 4.75176387e-02 1.59210700e+02] [-5.23820520e-02 9.98621648e-01 -3.30537422e-03 4.33758710e-01] [-4.76256087e-02 8.08008994e-04 9.98864930e-01 -1.89935669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.40592 meters Centerline goodness : 0.997861 Centerline is valid? [True, True] Translation: X:159.24, Y:0.43, Z:-1.88 [[ 9.97456052e-01 5.31558799e-02 4.74960755e-02 1.59241059e+02] [-5.30451025e-02 9.98585662e-01 -3.59063273e-03 4.33684275e-01] [-4.76197633e-02 1.06206415e-03 9.98864971e-01 -1.88245923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.43592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:159.27, Y:0.43, Z:-1.90 [[ 9.97337694e-01 5.53033962e-02 4.75295470e-02 1.59272322e+02] [-5.52161637e-02 9.98469464e-01 -3.14732503e-03 4.31722763e-01] [-4.76308591e-02 5.14546634e-04 9.98864874e-01 -1.90350975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.46592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:159.30, Y:0.43, Z:-1.90 [[ 9.97250686e-01 5.68803143e-02 4.74941956e-02 1.59304629e+02] [-5.67727293e-02 9.98380593e-01 -3.61220283e-03 4.32218204e-01] [-4.76227464e-02 9.05896635e-04 9.98864983e-01 -1.90413588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.49592 meters Centerline goodness : 0.996268 Centerline is valid? [True, True] Translation: X:159.33, Y:0.44, Z:-1.89 [[ 9.95868737e-01 7.73944926e-02 4.74926463e-02 1.59334720e+02] [-7.73092210e-02 9.97000546e-01 -3.63246009e-03 4.40664050e-01] [-4.76313267e-02 -5.41660415e-05 9.98864983e-01 -1.89471812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.52592 meters Centerline goodness : 0.997156 Centerline is valid? [True, True] Translation: X:159.37, Y:0.43, Z:-1.89 [[ 9.97133144e-01 5.88809446e-02 4.75239604e-02 1.59365683e+02] [-5.87941991e-02 9.98264924e-01 -3.22231339e-03 4.32165370e-01] [-4.76312355e-02 4.18942297e-04 9.98864901e-01 -1.88633881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.55592000000001 meters Centerline goodness : 0.997811 Centerline is valid? [True, True] Translation: X:159.40, Y:0.43, Z:-1.89 [[ 9.97037219e-01 6.04886010e-02 4.75175051e-02 1.59396477e+02] [-6.03996648e-02 9.98168797e-01 -3.30657731e-03 4.34948484e-01] [-4.76305012e-02 4.26739261e-04 9.98864932e-01 -1.89103647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.58592000000002 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:159.43, Y:0.44, Z:-1.91 [[ 9.96926665e-01 6.22843970e-02 4.75171310e-02 1.59427680e+02] [-6.21972673e-02 9.98058382e-01 -3.31144211e-03 4.35409832e-01] [-4.76311221e-02 3.45829245e-04 9.98864934e-01 -1.90996498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.61592000000002 meters Centerline goodness : 0.996721 Centerline is valid? [True, True] Translation: X:159.46, Y:0.44, Z:-1.89 [[ 9.96872400e-01 6.31679946e-02 4.74891920e-02 1.59457839e+02] [-6.30646538e-02 9.98002686e-01 -3.67274004e-03 4.36903823e-01] [-4.76263407e-02 6.66363727e-04 9.98865000e-01 -1.89213060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.64592000000002 meters Centerline goodness : 0.997317 Centerline is valid? [True, True] Translation: X:159.49, Y:0.44, Z:-1.89 [[ 9.96743574e-01 6.51434950e-02 4.75244348e-02 1.59489721e+02] [-6.50640118e-02 9.97875900e-01 -3.21914317e-03 4.35751301e-01] [-4.76331944e-02 1.16529883e-04 9.98864888e-01 -1.89470178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.67592000000002 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:159.52, Y:0.44, Z:-1.92 [[ 9.96548344e-01 6.80758326e-02 4.75087319e-02 1.59521189e+02] [-6.79900966e-02 9.97680134e-01 -3.42016204e-03 4.38352549e-01] [-4.76313484e-02 1.78233545e-04 9.98864967e-01 -1.91502717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.70592000000002 meters Centerline goodness : 0.997167 Centerline is valid? [True, True] Translation: X:159.55, Y:0.44, Z:-1.90 [[ 9.96538475e-01 6.82373834e-02 4.74839681e-02 1.59551637e+02] [-6.81368255e-02 9.97668995e-01 -3.73501815e-03 4.38742607e-01] [-4.76281506e-02 4.86682439e-04 9.98865017e-01 -1.89605491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.73592 meters Centerline goodness : 0.997015 Centerline is valid? [True, True] Translation: X:159.58, Y:0.44, Z:-1.90 [[ 9.96432914e-01 6.97404745e-02 4.75154140e-02 1.59583524e+02] [-6.96607062e-02 9.97565169e-01 -3.33465957e-03 4.38940920e-01] [-4.76322827e-02 1.28072569e-05 9.98864939e-01 -1.89961326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.76592 meters Centerline goodness : 0.995023 Centerline is valid? [True, True] Translation: X:159.62, Y:0.44, Z:-1.90 [[ 9.96349845e-01 7.09156987e-02 4.75178965e-02 1.59616195e+02] [-7.08387619e-02 9.97482310e-01 -3.30329364e-03 4.39671739e-01] [-4.76325165e-02 -7.48728507e-05 9.98864925e-01 -1.89950414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.79592 meters Centerline goodness : 0.999254 Centerline is valid? [True, True] Translation: X:159.65, Y:0.44, Z:-1.92 [[ 9.96288180e-01 7.17870099e-02 4.75024949e-02 1.59646930e+02] [-7.17018403e-02 9.97419981e-01 -3.49670222e-03 4.39294496e-01] [-4.76309554e-02 7.77067912e-05 9.98864999e-01 -1.92203718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.82592 meters Centerline goodness : 0.996721 Centerline is valid? [True, True] Translation: X:159.68, Y:0.44, Z:-1.90 [[ 9.96327796e-01 7.12515582e-02 4.74777643e-02 1.59678532e+02] [-7.11510722e-02 9.97458292e-01 -3.80528880e-03 4.38580300e-01] [-4.76282225e-02 4.13221170e-04 9.98865047e-01 -1.90463678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.85592 meters Centerline goodness : 0.996072 Centerline is valid? [True, True] Translation: X:159.71, Y:0.44, Z:-1.90 [[ 9.96426457e-01 6.98571047e-02 4.74794844e-02 1.59709932e+02] [-6.97560583e-02 9.97556903e-01 -3.78384608e-03 4.40624559e-01] [-4.76278160e-02 4.58342655e-04 9.98865046e-01 -1.90238776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.88592 meters Centerline goodness : 0.996521 Centerline is valid? [True, True] Translation: X:159.74, Y:0.44, Z:-1.91 [[ 9.96412984e-01 7.00425430e-02 4.74890259e-02 1.59742974e+02] [-6.99473691e-02 9.97543951e-01 -3.66502004e-03 4.39452025e-01] [-4.76290978e-02 3.30141133e-04 9.98865036e-01 -1.90691081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.91592 meters Centerline goodness : 0.995483 Centerline is valid? [True, True] Translation: X:159.77, Y:0.44, Z:-1.91 [[ 9.96602286e-01 6.73108083e-02 4.74672442e-02 1.59774824e+02] [-6.71996555e-02 9.97731787e-01 -3.93540327e-03 4.37982634e-01] [-4.76244735e-02 7.32249434e-04 9.98865043e-01 -1.90556371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.94592 meters Centerline goodness : 0.996466 Centerline is valid? [True, True] Translation: X:159.81, Y:0.44, Z:-1.91 [[ 9.96664124e-01 6.63744669e-02 4.74874067e-02 1.59806032e+02] [-6.62741453e-02 9.97794645e-01 -3.68570836e-03 4.36524397e-01] [-4.76273170e-02 5.26226005e-04 9.98865037e-01 -1.91087659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.97592 meters Centerline goodness : 0.996411 Centerline is valid? [True, True] Translation: X:159.84, Y:0.43, Z:-1.91 [[ 9.96763518e-01 6.48758252e-02 4.74722726e-02 1.59836238e+02] [-6.47649211e-02 9.97893036e-01 -3.87223038e-03 4.34499590e-01] [-4.76234643e-02 7.85159988e-04 9.98865051e-01 -1.91006004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.00592 meters Centerline goodness : 0.996960 Centerline is valid? [True, True] Translation: X:159.87, Y:0.43, Z:-1.91 [[ 9.96806995e-01 6.41885868e-02 4.74935786e-02 1.59868740e+02] [-6.40893935e-02 9.97937632e-01 -3.60997390e-03 4.32417179e-01] [-4.76273485e-02 5.54612585e-04 9.98865020e-01 -1.91261804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.03592 meters Centerline goodness : 0.996824 Centerline is valid? [True, True] Translation: X:159.90, Y:0.43, Z:-1.91 [[ 9.96950321e-01 6.19461671e-02 4.74629289e-02 1.59898190e+02] [-6.18265467e-02 9.98078951e-01 -3.98563522e-03 4.31043123e-01] [-4.76186451e-02 1.03901132e-03 9.98865048e-01 -1.91328380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.06592 meters Centerline goodness : 0.997220 Centerline is valid? [True, True] Translation: X:159.93, Y:0.43, Z:-1.92 [[ 9.96925133e-01 6.23183641e-02 4.75047524e-02 1.59930599e+02] [-6.22235268e-02 9.98056193e-01 -3.47400059e-03 4.29486222e-01] [-4.76289064e-02 5.07405270e-04 9.98864971e-01 -1.91598952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.09592 meters Centerline goodness : 0.996722 Centerline is valid? [True, True] Translation: X:159.96, Y:0.43, Z:-1.92 [[ 9.96911474e-01 6.25472663e-02 4.74905429e-02 1.59962645e+02] [-6.24444684e-02 9.98041778e-01 -3.64657301e-03 4.25912558e-01] [-4.76256290e-02 6.69788768e-04 9.98865031e-01 -1.91654982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.12592 meters Centerline goodness : 0.997614 Centerline is valid? [True, True] Translation: X:159.99, Y:0.42, Z:-1.92 [[ 9.97085428e-01 5.97189016e-02 4.74794986e-02 1.59992418e+02] [-5.96065408e-02 9.98214792e-01 -3.78010807e-03 4.22779901e-01] [-4.76204818e-02 9.39001998e-04 9.98865060e-01 -1.91969859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.15592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:160.02, Y:0.42, Z:-1.94 [[ 9.96983395e-01 6.13716188e-02 4.75145738e-02 1.60023938e+02] [-6.12812945e-02 9.98114891e-01 -3.35672974e-03 4.21975189e-01] [-4.76310116e-02 4.34849217e-04 9.98864905e-01 -1.94151231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.18592 meters Centerline goodness : 0.998757 Centerline is valid? [True, True] Translation: X:160.05, Y:0.42, Z:-1.92 [[ 9.97054550e-01 6.02443701e-02 4.74641009e-02 1.60053059e+02] [-6.01239698e-02 9.98183057e-01 -3.96155987e-03 4.20178363e-01] [-4.76165230e-02 1.09616112e-03 9.98865089e-01 -1.92411277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.21592 meters Centerline goodness : 0.984057 Centerline is valid? [True, True] Translation: X:160.10, Y:0.44, Z:-1.94 [[ 9.91444910e-01 1.21572442e-01 4.75092777e-02 1.60096167e+02] [-1.21547585e-01 9.92579705e-01 -3.42257129e-03 4.43087241e-01] [-4.75728351e-02 -2.38134707e-03 9.98864933e-01 -1.93635960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.24592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.12, Y:0.42, Z:-1.95 [[ 9.96930397e-01 6.23880918e-02 4.73023143e-02 1.60115533e+02] [-6.21813377e-02 9.98047833e-01 -5.83130354e-03 4.15614040e-01] [-4.75737762e-02 2.87208258e-03 9.98863598e-01 -1.94694252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.27592 meters Centerline goodness : 0.997612 Centerline is valid? [True, True] Translation: X:160.15, Y:0.41, Z:-1.93 [[ 9.96744223e-01 6.51836209e-02 4.74557673e-02 1.60148234e+02] [-6.50659711e-02 9.97872862e-01 -4.02133551e-03 4.10657675e-01] [-4.76169476e-02 9.20487357e-04 9.98865246e-01 -1.92980158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.30592000000001 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:160.18, Y:0.41, Z:-1.95 [[ 9.96846334e-01 6.36160886e-02 4.74381597e-02 1.60177366e+02] [-6.34868010e-02 9.97973719e-01 -4.22865752e-03 4.07130407e-01] [-4.76110473e-02 1.20362474e-03 9.98865226e-01 -1.94841471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.33592000000002 meters Centerline goodness : 0.998360 Centerline is valid? [True, True] Translation: X:160.21, Y:0.40, Z:-1.93 [[ 9.96698639e-01 6.58776828e-02 4.74547613e-02 1.60208738e+02] [-6.57602475e-02 9.97827301e-01 -4.03334032e-03 4.01551246e-01] [-4.76173634e-02 8.99387962e-04 9.98865245e-01 -1.93077266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.36592000000002 meters Centerline goodness : 0.998360 Centerline is valid? [True, True] Translation: X:160.24, Y:0.40, Z:-1.93 [[ 9.96684720e-01 6.60913242e-02 4.74500445e-02 1.60240309e+02] [-6.59714973e-02 9.97813131e-01 -4.08867557e-03 3.99044890e-01] [-4.76165035e-02 9.44769981e-04 9.98865244e-01 -1.93227436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.39592000000002 meters Centerline goodness : 0.807006 Centerline is valid? [True, False] Translation: X:160.24, Y:0.39, Z:-1.93 [[ 9.97531887e-01 4.90591568e-02 5.02327939e-02 1.60242523e+02] [-4.91881931e-02 9.98788636e-01 1.33503861e-03 3.88594605e-01] [-5.01064479e-02 -3.80260395e-03 9.98736644e-01 -1.93443437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.42592000000002 meters Centerline goodness : 0.987081 Centerline is valid? [False, True] Translation: X:160.24, Y:0.39, Z:-1.93 [[ 9.97694607e-01 4.54061521e-02 5.04356347e-02 1.60241488e+02] [-4.52737251e-02 9.98967522e-01 -3.76559018e-03 3.92096984e-01] [-5.05545420e-02 1.47349995e-03 9.98720215e-01 -1.93460141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.45592000000002 meters Centerline goodness : 0.984959 Centerline is valid? [True, True] Translation: X:160.28, Y:0.39, Z:-1.94 [[ 9.96789000e-01 6.21071921e-02 5.05409288e-02 1.60278012e+02] [-6.22238114e-02 9.98061950e-01 7.35749296e-04 3.90387937e-01] [-5.03972826e-02 -3.87823602e-03 9.98721720e-01 -1.93829021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.48592 meters Centerline goodness : 0.735769 Centerline is valid? [True, False] Translation: X:160.28, Y:0.38, Z:-1.94 [[ 9.97850762e-01 4.54276825e-02 4.72248148e-02 1.60282361e+02] [-4.57876782e-02 9.98929596e-01 6.56885556e-03 3.80336488e-01] [-4.68758573e-02 -8.71705215e-03 9.98862687e-01 -1.93791109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.51592 meters Centerline goodness : 0.972138 Centerline is valid? [False, True] Translation: X:160.28, Y:0.38, Z:-1.94 [[ 9.97989586e-01 4.17978846e-02 4.76416028e-02 1.60280728e+02] [-4.19435568e-02 9.99117855e-01 2.06164505e-03 3.81609412e-01] [-4.75134036e-02 -4.05575857e-03 9.98862367e-01 -1.93758690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.54592 meters Centerline goodness : 0.998454 Centerline is valid? [True, True] Translation: X:160.33, Y:0.35, Z:-1.92 [[ 9.98844802e-01 -6.34161634e-03 4.76323913e-02 1.60334315e+02] [ 6.13067723e-03 9.99970750e-01 4.57326937e-03 3.54159921e-01] [-4.76599999e-02 -4.27596753e-03 9.98854464e-01 -1.92418927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.57592 meters Centerline goodness : 0.998111 Centerline is valid? [True, True] Translation: X:160.37, Y:0.36, Z:-1.93 [[ 9.98854835e-01 -4.51399661e-03 4.76302776e-02 1.60366123e+02] [ 4.53788082e-03 9.99989626e-01 -3.93329720e-04 3.59656045e-01] [-4.76280080e-02 6.09019815e-04 9.98864957e-01 -1.92538915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.60592 meters Centerline goodness : 0.998260 Centerline is valid? [True, True] Translation: X:160.40, Y:0.36, Z:-1.93 [[ 9.98864849e-01 -6.06634806e-04 4.76303048e-02 1.60397760e+02] [ 6.22857513e-04 9.99999753e-01 -3.25755212e-04 3.60179017e-01] [-4.76300954e-02 3.55052324e-04 9.98864980e-01 -1.92690526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.63592 meters Centerline goodness : 0.997565 Centerline is valid? [True, True] Translation: X:160.43, Y:0.36, Z:-1.93 [[ 9.98864196e-01 1.29025444e-03 4.76303789e-02 1.60429754e+02] [-1.28216296e-03 9.99999158e-01 -2.00432457e-04 3.61074599e-01] [-4.76305974e-02 1.39134898e-04 9.98865009e-01 -1.92973988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.66592 meters Centerline goodness : 0.997119 Centerline is valid? [True, True] Translation: X:160.46, Y:0.36, Z:-1.93 [[ 9.98854816e-01 4.51578451e-03 4.76304882e-02 1.60461554e+02] [-4.51687574e-03 9.99989795e-01 -8.47218826e-05 3.63465291e-01] [-4.76303847e-02 -1.30516136e-04 9.98865021e-01 -1.92949120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.69592 meters Centerline goodness : 0.998311 Centerline is valid? [True, True] Translation: X:160.49, Y:0.36, Z:-1.93 [[ 9.98850302e-01 5.42282149e-03 4.76305347e-02 1.60494063e+02] [-5.42687720e-03 9.99985273e-01 -4.41671468e-05 3.64129879e-01] [-4.76300728e-02 -2.14368695e-04 9.98865021e-01 -1.93270297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.72592 meters Centerline goodness : 0.998115 Centerline is valid? [True, True] Translation: X:160.53, Y:0.37, Z:-1.93 [[ 9.98843679e-01 6.52958002e-03 4.76305581e-02 1.60526830e+02] [-6.53571968e-03 9.99978642e-01 -2.68371262e-05 3.65502577e-01] [-4.76297160e-02 -2.84493882e-04 9.98865021e-01 -1.93249712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.75592 meters Centerline goodness : 0.997764 Centerline is valid? [True, True] Translation: X:160.56, Y:0.37, Z:-1.93 [[ 9.98845162e-01 6.29932728e-03 4.76304536e-02 1.60556697e+02] [-6.30243297e-03 9.99980136e-01 -8.49765571e-05 3.68099119e-01] [-4.76300428e-02 -2.15309318e-04 9.98865022e-01 -1.93302732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.78592 meters Centerline goodness : 0.997710 Centerline is valid? [True, True] Translation: X:160.59, Y:0.37, Z:-1.94 [[ 9.98845248e-01 6.28347915e-03 4.76307418e-02 1.60589395e+02] [-6.29397909e-03 9.99980190e-01 7.04678199e-05 3.69138092e-01] [-4.76293554e-02 -3.70173340e-04 9.98865010e-01 -1.93683419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.81592 meters Centerline goodness : 0.997715 Centerline is valid? [True, True] Translation: X:160.62, Y:0.37, Z:-1.94 [[ 9.98860747e-01 2.92302440e-03 4.76305010e-02 1.60621428e+02] [-2.92465922e-03 9.99995723e-01 -3.53682363e-05 3.70241037e-01] [-4.76304007e-02 -1.03975041e-04 9.98865023e-01 -1.93750453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.84592 meters Centerline goodness : 0.997169 Centerline is valid? [True, True] Translation: X:160.65, Y:0.37, Z:-1.94 [[ 9.98864922e-01 4.80634803e-04 4.76301974e-02 1.60653833e+02] [-4.73571884e-04 9.99999875e-01 -1.59571027e-04 3.69714111e-01] [-4.76302682e-02 1.36833579e-04 9.98865025e-01 -1.93761533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.87592 meters Centerline goodness : 0.997662 Centerline is valid? [True, True] Translation: X:160.69, Y:0.37, Z:-1.94 [[ 9.98851589e-01 -5.18229219e-03 4.76303201e-02 1.60686118e+02] [ 5.19361973e-03 9.99986507e-01 -1.14067220e-04 3.67479700e-01] [-4.76290863e-02 3.61309995e-04 9.98865026e-01 -1.93933473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.90592 meters Centerline goodness : 0.998210 Centerline is valid? [True, True] Translation: X:160.72, Y:0.37, Z:-1.94 [[ 9.98844799e-01 -6.36180259e-03 4.76297637e-02 1.60718074e+02] [ 6.38289344e-03 9.99979587e-01 -2.90725670e-04 3.66444852e-01] [-4.76269419e-02 5.94405530e-04 9.98865016e-01 -1.94399825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.93592 meters Centerline goodness : 0.997813 Centerline is valid? [True, True] Translation: X:160.75, Y:0.37, Z:-1.94 [[ 9.98831723e-01 -8.16425346e-03 4.76291384e-02 1.60748401e+02] [ 8.19734764e-03 9.99966276e-01 -4.99541584e-04 3.65635885e-01] [-4.76234538e-02 8.89390587e-04 9.98864964e-01 -1.94163710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.96592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:160.78, Y:0.36, Z:-1.96 [[ 9.98783302e-01 -1.27789609e-02 4.76299779e-02 1.60778261e+02] [ 1.28033976e-02 9.99918012e-01 -2.07990649e-04 3.60715252e-01] [-4.76234149e-02 8.17563131e-04 9.98865027e-01 -1.96112488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.99592 meters Centerline goodness : 0.997763 Centerline is valid? [True, True] Translation: X:160.81, Y:0.36, Z:-1.94 [[ 9.98776440e-01 -1.33037270e-02 4.76301731e-02 1.60809216e+02] [ 1.33256640e-02 9.99911199e-01 -1.43053321e-04 3.58033163e-01] [-4.76240403e-02 7.77581970e-04 9.98865029e-01 -1.94495699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.02592 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:160.84, Y:0.35, Z:-1.95 [[ 9.98630482e-01 -2.16448283e-02 4.76304708e-02 1.60839262e+02] [ 2.16719331e-02 9.99765135e-01 -5.26623365e-05 3.51950391e-01] [-4.76181442e-02 1.08483459e-03 9.98865024e-01 -1.94858175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.05592000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.87, Y:0.35, Z:-1.97 [[ 9.98700654e-01 -1.81171436e-02 4.76316435e-02 1.60871579e+02] [ 1.81244988e-02 9.99835699e-01 2.77508910e-04 3.54073216e-01] [-4.76288452e-02 5.86151333e-04 9.98864931e-01 -1.96687926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.08592000000002 meters Centerline goodness : 0.998708 Centerline is valid? [True, True] Translation: X:160.92, Y:0.35, Z:-1.95 [[ 9.98594936e-01 -2.32286128e-02 4.76296766e-02 1.60917117e+02] [ 2.32644291e-02 9.99729327e-01 -1.97684415e-04 3.50623752e-01] [-4.76121926e-02 1.30548389e-03 9.98865043e-01 -1.95351091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.11592000000002 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:160.93, Y:0.35, Z:-1.95 [[ 9.98632610e-01 -2.15780519e-02 4.76161595e-02 1.60933706e+02] [ 2.17470913e-02 9.99758898e-01 -3.03479262e-03 3.47410196e-01] [-4.75391942e-02 4.06615584e-03 9.98861097e-01 -1.95134162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.14592000000002 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:160.96, Y:0.34, Z:-1.95 [[ 9.98575406e-01 -2.40652201e-02 4.76237726e-02 1.60963421e+02] [ 2.40978667e-02 9.99709598e-01 -1.11403211e-04 3.42366857e-01] [-4.76072616e-02 1.25887583e-03 9.98865338e-01 -1.95205080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.17592000000002 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:160.99, Y:0.34, Z:-1.95 [[ 9.98466157e-01 -2.82351703e-02 4.76246605e-02 1.60994769e+02] [ 2.82568310e-02 9.99600672e-01 2.18494795e-04 3.35381439e-01] [-4.76118118e-02 1.12756232e-03 9.98865278e-01 -1.95344045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.20592000000002 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:161.03, Y:0.33, Z:-1.95 [[ 9.98435485e-01 -2.92998058e-02 4.76246143e-02 1.61025922e+02] [ 2.93234257e-02 9.99569955e-01 2.02768055e-04 3.31184565e-01] [-4.76100747e-02 1.19406602e-03 9.98865284e-01 -1.95462241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.23592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.06, Y:0.33, Z:-1.97 [[ 9.98415314e-01 -2.99794915e-02 4.76244857e-02 1.61058207e+02] [ 3.00056916e-02 9.99549714e-01 1.64835296e-04 3.27693982e-01] [-4.76079827e-02 1.26443155e-03 9.98865297e-01 -1.97476443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.26592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.09, Y:0.32, Z:-1.98 [[ 9.98374395e-01 -3.13145785e-02 4.76231560e-02 1.61091167e+02] [ 3.13588518e-02 9.99508174e-01 -1.82633530e-04 3.22686618e-01] [-4.75940146e-02 1.67574413e-03 9.98865357e-01 -1.97594135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.29592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:161.12, Y:0.32, Z:-1.96 [[ 9.98420836e-01 -2.97972771e-02 4.76230594e-02 1.61122396e+02] [ 2.98408968e-02 9.99554640e-01 -2.05080300e-04 3.20057425e-01] [-4.75957391e-02 1.62587125e-03 9.98865357e-01 -1.95872325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.32592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.15, Y:0.31, Z:-1.98 [[ 9.98423263e-01 -2.97152564e-02 4.76234291e-02 1.61152505e+02] [ 2.97546080e-02 9.99557227e-01 -1.17454619e-04 3.12107187e-01] [-4.75988525e-02 1.53428589e-03 9.98865354e-01 -1.98137772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.35592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:161.18, Y:0.31, Z:-1.96 [[ 9.98461674e-01 -2.83960070e-02 4.76230230e-02 1.61183371e+02] [ 2.84382559e-02 9.99595529e-01 -2.09708890e-04 3.07212228e-01] [-4.75978060e-02 1.56370200e-03 9.98865358e-01 -1.96088051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.38592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.21, Y:0.31, Z:-1.98 [[ 9.98503438e-01 -2.68860807e-02 4.76237553e-02 1.61212964e+02] [ 2.69186834e-02 9.99637626e-01 -4.32575841e-05 3.05232447e-01] [-4.76053347e-02 1.32516164e-03 9.98865344e-01 -1.98482899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.41592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:161.24, Y:0.30, Z:-1.97 [[ 9.98552637e-01 -2.49938328e-02 4.76228830e-02 1.61243113e+02] [ 2.50330269e-02 9.99686599e-01 -2.26683995e-04 3.01842220e-01] [-4.76022923e-02 1.41850081e-03 9.98865361e-01 -1.96640199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.44592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:161.28, Y:0.30, Z:-1.97 [[ 9.98570752e-01 -2.42557813e-02 4.76246902e-02 1.61275240e+02] [ 2.42760087e-02 9.99705282e-01 1.53712116e-04 2.98280353e-01] [-4.76143828e-02 1.00264497e-03 9.98865289e-01 -1.97112636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.47592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.31, Y:0.29, Z:-1.97 [[ 9.98597538e-01 -2.31292200e-02 4.76234743e-02 1.61307170e+02] [ 2.31594228e-02 9.99731781e-01 -8.24455907e-05 2.93956208e-01] [-4.76087939e-02 1.18526214e-03 9.98865355e-01 -1.97115924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.50592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:161.34, Y:0.29, Z:-1.97 [[ 9.98623397e-01 -2.19843982e-02 4.76234926e-02 1.61338936e+02] [ 2.20131396e-02 9.99757678e-01 -7.90650882e-05 2.93625604e-01] [-4.76102142e-02 1.12729884e-03 9.98865355e-01 -1.97185248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.53592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:161.37, Y:0.29, Z:-1.97 [[ 9.98663496e-01 -2.00804477e-02 4.76235015e-02 1.61370948e+02] [ 2.01069522e-02 9.99797832e-01 -7.75058854e-05 2.93294263e-01] [-4.76123172e-02 1.03496577e-03 9.98865354e-01 -1.97449164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.56592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:161.40, Y:0.29, Z:-1.98 [[ 9.98700374e-01 -1.81545324e-02 4.76232803e-02 1.61402117e+02] [ 1.81805134e-02 9.99834714e-01 -1.12420246e-04 2.89401164e-01] [-4.76133679e-02 9.78089825e-04 9.98865362e-01 -1.97840085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.59592 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:161.44, Y:0.29, Z:-1.97 [[ 9.98768283e-01 -1.39202410e-02 4.76250317e-02 1.61436092e+02] [ 1.39293866e-02 9.99902972e-01 1.39860645e-04 2.87566389e-01] [-4.76223576e-02 5.23699101e-04 9.98865275e-01 -1.97375460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.62592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:161.46, Y:0.29, Z:-2.00 [[ 9.98771901e-01 -1.36756820e-02 4.76200049e-02 1.61464485e+02] [ 1.37164775e-02 9.99905784e-01 -5.30004060e-04 2.86907239e-01] [-4.76082702e-02 1.18253189e-03 9.98865383e-01 -1.99717806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.65592 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:161.50, Y:0.29, Z:-1.97 [[ 9.98809300e-01 -1.05920986e-02 4.76213102e-02 1.61497193e+02] [ 1.06210526e-02 9.99943532e-01 -3.55001871e-04 2.87210489e-01] [-4.76148609e-02 8.60367613e-04 9.98865399e-01 -1.97431503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.68592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.52, Y:0.28, Z:-2.00 [[ 9.98808627e-01 -1.06655124e-02 4.76190430e-02 1.61524515e+02] [ 1.07085940e-02 9.99942450e-01 -6.49687618e-04 2.83547461e-01] [-4.76093733e-02 1.15884660e-03 9.98865359e-01 -1.99878415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.71592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:161.55, Y:0.28, Z:-1.98 [[ 9.98799609e-01 -1.14699065e-02 4.76212400e-02 1.61554566e+02] [ 1.14999249e-02 9.99933810e-01 -3.56419186e-04 2.82396331e-01] [-4.76139998e-02 9.03632026e-04 9.98865402e-01 -1.98289980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.74592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:161.59, Y:0.28, Z:-1.98 [[ 9.98813252e-01 -1.02032079e-02 4.76233269e-02 1.61586617e+02] [ 1.02182821e-02 9.99947789e-01 -7.30813367e-05 2.82272924e-01] [-4.76200948e-02 5.59623196e-04 9.98865363e-01 -1.98153799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.77592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:161.62, Y:0.28, Z:-1.99 [[ 9.98800667e-01 -1.13720912e-02 4.76225166e-02 1.61618693e+02] [ 1.13934524e-02 9.99935077e-01 -1.77120660e-04 2.81330774e-01] [-4.76174106e-02 7.19493108e-04 9.98865389e-01 -1.98546907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.80592000000001 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:161.65, Y:0.28, Z:-1.98 [[ 9.98798795e-01 -1.15418014e-02 4.76209311e-02 1.61649231e+02] [ 1.15725120e-02 9.99932968e-01 -3.69233955e-04 2.80279527e-01] [-4.76134773e-02 9.19884225e-04 9.98865412e-01 -1.98465878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.83592000000002 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:161.68, Y:0.28, Z:-1.99 [[ 9.98805399e-01 -1.09506992e-02 4.76220187e-02 1.61681967e+02] [ 1.09745903e-02 9.99939749e-01 -2.40239853e-04 2.80555914e-01] [-4.76165186e-02 7.62585007e-04 9.98865399e-01 -1.98590609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.86592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.71, Y:0.28, Z:-2.01 [[ 9.98798360e-01 -1.15768545e-02 4.76215503e-02 1.61713423e+02] [ 1.16039714e-02 9.99932629e-01 -2.93000517e-04 2.81712105e-01] [-4.76149499e-02 8.45247546e-04 9.98865407e-01 -2.00710682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.89592000000002 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:161.75, Y:0.28, Z:-2.01 [[ 9.98794565e-01 -1.19048657e-02 4.76202878e-02 1.61745211e+02] [ 1.19389874e-02 9.99928634e-01 -4.32161342e-04 2.82317909e-01] [-4.76117446e-02 1.00017842e-03 9.98865417e-01 -2.00963106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.92592000000002 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:161.78, Y:0.28, Z:-1.99 [[ 9.98776176e-01 -1.33595138e-02 4.76200918e-02 1.61776666e+02] [ 1.33962695e-02 9.99910163e-01 -4.52776415e-04 2.79986041e-01] [-4.76097649e-02 1.09015388e-03 9.98865417e-01 -1.99271820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.95592000000002 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:161.81, Y:0.28, Z:-1.99 [[ 9.98757557e-01 -1.46813639e-02 4.76214296e-02 1.61808006e+02] [ 1.47129946e-02 9.99891709e-01 -3.13735962e-04 2.77293887e-01] [-4.76116666e-02 1.01400000e-03 9.98865407e-01 -1.99127011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.98592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:161.84, Y:0.28, Z:-2.00 [[ 9.98740980e-01 -1.57714897e-02 4.76205310e-02 1.61840439e+02] [ 1.58086671e-02 9.99874954e-01 -4.04155315e-04 2.75807065e-01] [-4.76082021e-02 1.15646360e-03 9.98865417e-01 -1.99842605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.01592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:161.87, Y:0.27, Z:-2.00 [[ 9.98667695e-01 -1.98862962e-02 4.76169177e-02 1.61868921e+02] [ 1.99451129e-02 9.99800787e-01 -7.60345851e-04 2.72984330e-01] [-4.75923113e-02 1.70905764e-03 9.98865382e-01 -1.99738784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.04592 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:161.90, Y:0.27, Z:-2.00 [[ 9.98648099e-01 -2.08286408e-02 4.76250059e-02 1.61900582e+02] [ 2.08511710e-02 9.99782590e-01 2.37301569e-05 2.66558358e-01] [-4.76151461e-02 9.69339068e-04 9.98865285e-01 -2.00128643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.07592 meters Centerline goodness : 0.998705 Centerline is valid? [True, True] Translation: X:161.95, Y:0.28, Z:-2.01 [[ 9.98596613e-01 2.31696306e-02 4.76232464e-02 1.61945259e+02] [-2.31893633e-02 9.99731081e-01 -1.38171931e-04 2.81306311e-01] [-4.76136410e-02 -9.66374738e-04 9.98865360e-01 -2.01273090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.10592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.97, Y:0.26, Z:-2.01 [[ 9.98796653e-01 -1.18743454e-02 4.75841008e-02 1.61965247e+02] [ 1.20383531e-02 9.99922538e-01 -3.16158442e-03 2.62791698e-01] [-4.75428731e-02 3.73061414e-03 9.98862232e-01 -2.00727372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.13592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.99, Y:0.26, Z:-2.02 [[ 9.98729655e-01 -1.64941872e-02 4.76132207e-02 1.61994659e+02] [ 1.65399234e-02 9.99863045e-01 -5.66727534e-04 2.56329636e-01] [-4.75973521e-02 1.35352662e-03 9.98865687e-01 -2.02269323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.16592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:162.03, Y:0.25, Z:-2.00 [[ 9.98768270e-01 -1.39603566e-02 4.76135633e-02 1.62025670e+02] [ 1.40017683e-02 9.99901827e-01 -5.36314633e-04 2.52847747e-01] [-4.76014017e-02 1.20232812e-03 9.98865687e-01 -2.00486178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.19592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.06, Y:0.25, Z:-2.02 [[ 9.98827199e-01 -8.77751595e-03 4.76149224e-02 1.62056412e+02] [ 8.80731479e-03 9.99961128e-01 -4.16063144e-04 2.47573865e-01] [-4.76094195e-02 8.34934795e-04 9.98865680e-01 -2.02341919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.22592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:162.09, Y:0.25, Z:-2.01 [[ 9.98860137e-01 -3.35867498e-03 4.76145571e-02 1.62087926e+02] [ 3.38380601e-03 9.99994175e-01 -4.47206048e-04 2.45681252e-01] [-4.76127777e-02 6.07814719e-04 9.98865684e-01 -2.00825716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.25592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:162.12, Y:0.25, Z:-2.01 [[ 9.98861845e-01 -2.81416663e-03 4.76140209e-02 1.62120424e+02] [ 2.84079064e-03 9.99995844e-01 -4.91503117e-04 2.45641031e-01] [-4.76124399e-02 6.26205175e-04 9.98865688e-01 -2.00980503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.28592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.15, Y:0.24, Z:-2.03 [[ 9.98862748e-01 -2.47948757e-03 4.76136920e-02 1.62151429e+02] [ 2.50697106e-03 9.99996724e-01 -5.17509842e-04 2.44715523e-01] [-4.76122528e-02 6.36287450e-04 9.98865691e-01 -2.02883824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.31592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.18, Y:0.24, Z:-2.03 [[ 9.98865628e-01 -5.80880127e-04 4.76142867e-02 1.62184457e+02] [ 6.04033734e-04 9.99999706e-01 -4.71887325e-04 2.43222723e-01] [-4.76139986e-02 5.00112665e-04 9.98865685e-01 -2.02950570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.34592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.22, Y:0.24, Z:-2.03 [[ 9.98865298e-01 1.06856607e-03 4.76127671e-02 1.62215562e+02] [-1.04188017e-03 9.99999286e-01 -5.85291893e-04 2.41777150e-01] [-4.76133585e-02 5.35020964e-04 9.98865698e-01 -2.03271883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.37592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:162.25, Y:0.24, Z:-2.03 [[ 9.98861825e-01 2.83153840e-03 4.76134026e-02 1.62248408e+02] [-2.80908089e-03 9.99995909e-01 -5.38570070e-04 2.42241858e-01] [-4.76147328e-02 4.04207184e-04 9.98865694e-01 -2.03490727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.40592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.28, Y:0.24, Z:-2.03 [[ 9.98855619e-01 4.53625391e-03 4.76117017e-02 1.62280292e+02] [-4.50989214e-03 9.99989612e-01 -6.61091387e-04 2.41583707e-01] [-4.76142060e-02 4.45611208e-04 9.98865701e-01 -2.03438656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.43592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.31, Y:0.24, Z:-2.04 [[ 9.98852570e-01 5.17414823e-03 4.76106252e-02 1.62312797e+02] [-5.14489525e-03 9.99986493e-01 -7.36946951e-04 2.39509125e-01] [-4.76137952e-02 4.91149677e-04 9.98865699e-01 -2.03664516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.46592 meters Centerline goodness : 0.999452 Centerline is valid? [True, True] Translation: X:162.34, Y:0.24, Z:-2.02 [[ 9.98846854e-01 6.18606543e-03 4.76098202e-02 1.62344899e+02] [-6.15531262e-03 9.99980742e-01 -7.92518355e-04 2.37334070e-01] [-4.76138059e-02 4.98551139e-04 9.98865695e-01 -2.02219017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.49592 meters Centerline goodness : 0.999302 Centerline is valid? [True, True] Translation: X:162.38, Y:0.24, Z:-2.02 [[ 9.98850654e-01 5.55170066e-03 4.76082928e-02 1.62376756e+02] [-5.51521157e-03 9.99984388e-01 -8.97770069e-04 2.37289459e-01] [-4.76125337e-02 6.34168413e-04 9.98865679e-01 -2.02223258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.52592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.41, Y:0.24, Z:-2.04 [[ 9.98862483e-01 2.67817967e-03 4.76084859e-02 1.62405327e+02] [-2.63906006e-03 9.99996126e-01 -8.84531801e-04 2.35341031e-01] [-4.76106704e-02 7.57883978e-04 9.98865681e-01 -2.04429849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.55592000000001 meters Centerline goodness : 0.998851 Centerline is valid? [True, True] Translation: X:162.44, Y:0.23, Z:-2.03 [[ 9.98862346e-01 2.68013549e-03 4.76112519e-02 1.62437867e+02] [-2.65004365e-03 9.99996247e-01 -6.95142668e-04 2.31666237e-01] [-4.76129363e-02 5.68179940e-04 9.98865699e-01 -2.02714993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.58592000000002 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:162.47, Y:0.23, Z:-2.05 [[ 9.98865449e-01 1.12959385e-03 4.76081735e-02 1.62467084e+02] [-1.08796419e-03 9.99999003e-01 -9.00326266e-04 2.29453493e-01] [-4.76091430e-02 8.47508812e-04 9.98865682e-01 -2.04853464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.61592000000002 meters Centerline goodness : 0.998457 Centerline is valid? [True, True] Translation: X:162.50, Y:0.23, Z:-2.03 [[ 9.98864900e-01 1.45252211e-03 4.76109453e-02 1.62499423e+02] [-1.42003860e-03 9.99998735e-01 -7.16086575e-04 2.27034138e-01] [-4.76119253e-02 6.47664365e-04 9.98865699e-01 -2.03008179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.64592000000002 meters Centerline goodness : 0.997807 Centerline is valid? [True, True] Translation: X:162.53, Y:0.22, Z:-2.03 [[ 9.98862536e-01 2.66333350e-03 4.76081953e-02 1.62530425e+02] [-2.62363889e-03 9.99996157e-01 -8.96246264e-04 2.24639617e-01] [-4.76103994e-02 7.70320104e-04 9.98865685e-01 -2.02634736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.67592000000002 meters Centerline goodness : 0.784872 Centerline is valid? [True, False] Translation: X:162.57, Y:0.22, Z:-2.03 [[ 9.99681857e-01 2.46518219e-03 2.51019420e-02 1.62566728e+02] [-2.30755188e-03 9.99977451e-01 -6.30663776e-03 2.23987398e-01] [-2.51169230e-02 6.24670731e-03 9.99665003e-01 -2.02534033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.70592000000002 meters Centerline goodness : 0.999751 Centerline is valid? [False, True] Translation: X:162.59, Y:0.22, Z:-2.02 [[ 9.99974440e-01 7.23576357e-04 7.11305362e-03 1.62589047e+02] [-7.06080388e-04 9.99996720e-01 -2.46190231e-03 2.17876492e-01] [-7.11481166e-03 2.45681700e-03 9.99971671e-01 -2.02403338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.73592 meters Centerline goodness : 0.998210 Centerline is valid? [True, True] Translation: X:162.62, Y:0.21, Z:-2.01 [[ 9.99970851e-01 2.68526414e-03 7.14752461e-03 1.62621530e+02] [-2.68458613e-03 9.99996391e-01 -1.04451921e-04 2.13519908e-01] [-7.14777929e-03 8.52607313e-05 9.99974451e-01 -2.00562322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.76592 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:162.65, Y:0.21, Z:-2.02 [[ 9.99965835e-01 4.15352936e-03 7.14685661e-03 1.62652243e+02] [-4.15256168e-03 9.99991367e-01 -1.50232639e-04 2.11863440e-01] [-7.14741891e-03 1.20549743e-04 9.99974450e-01 -2.01745170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.79592 meters Centerline goodness : 0.981460 Centerline is valid? [True, True] Translation: X:162.69, Y:0.24, Z:-2.02 [[ 9.96758151e-01 8.01380660e-02 7.14692015e-03 1.62688370e+02] [-8.01390723e-02 9.96783682e-01 -1.45918692e-04 2.41999417e-01] [-7.13562702e-03 -4.27301905e-04 9.99974450e-01 -2.02314926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.82592 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:162.71, Y:0.21, Z:-2.02 [[ 9.99957031e-01 5.90787842e-03 7.14379028e-03 1.62712865e+02] [-5.90533683e-03 9.99982492e-01 -3.76817516e-04 2.08253999e-01] [-7.14589140e-03 3.34614837e-04 9.99974412e-01 -2.01791334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.85592 meters Centerline goodness : 0.998356 Centerline is valid? [True, True] Translation: X:162.74, Y:0.21, Z:-2.01 [[ 9.99954976e-01 6.24256568e-03 7.14677704e-03 1.62743744e+02] [-6.24173526e-03 9.99980511e-01 -1.38493518e-04 2.08409307e-01] [-7.14750231e-03 9.38789924e-05 9.99974452e-01 -2.00885668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.88592 meters Centerline goodness : 0.998359 Centerline is valid? [True, True] Translation: X:162.78, Y:0.21, Z:-2.01 [[ 9.99940238e-01 8.27278121e-03 7.14707201e-03 1.62775201e+02] [-8.27217234e-03 9.99965778e-01 -1.14749498e-04 2.09475832e-01] [-7.14777672e-03 5.56208294e-05 9.99974453e-01 -2.00885311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.91592 meters Centerline goodness : 0.999303 Centerline is valid? [True, True] Translation: X:162.81, Y:0.21, Z:-2.02 [[ 9.99892363e-01 1.28133682e-02 7.14704894e-03 1.62806368e+02] [-1.28128620e-02 9.99917905e-01 -1.16611551e-04 2.10847295e-01] [-7.14795639e-03 2.50248481e-05 9.99974453e-01 -2.01880022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.94592 meters Centerline goodness : 0.942005 Centerline is valid? [True, False] Translation: X:162.81, Y:0.22, Z:-2.02 [[ 9.99937037e-01 8.72961460e-03 7.05101129e-03 1.62806555e+02] [-8.69172785e-03 9.99947720e-01 -5.38612523e-03 2.15677668e-01] [-7.09766147e-03 5.32450063e-03 9.99960636e-01 -2.01909311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.97592 meters Centerline goodness : 0.990050 Centerline is valid? [False, True] Translation: X:162.81, Y:0.22, Z:-2.02 [[ 9.99963722e-01 4.77286189e-03 7.05505099e-03 1.62806540e+02] [-4.69111651e-03 9.99922197e-01 -1.15582747e-02 2.24812677e-01] [-7.10966813e-03 1.15247593e-02 9.99908312e-01 -2.01902347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.00592 meters Centerline goodness : 0.997912 Centerline is valid? [True, True] Translation: X:162.86, Y:0.22, Z:-2.01 [[ 9.99927527e-01 -9.93499672e-03 6.79980087e-03 1.62864589e+02] [ 9.94194969e-03 9.99950088e-01 -9.89487067e-04 2.20222803e-01] [-6.78963092e-03 1.05701863e-03 9.99976392e-01 -2.00826011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.03592 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:162.90, Y:0.22, Z:-2.02 [[ 9.99956238e-01 -6.44661858e-03 6.77961351e-03 1.62895297e+02] [ 6.44609017e-03 9.99979219e-01 9.97891863e-05 2.24599321e-01] [-6.78011592e-03 -5.60828194e-05 9.99977013e-01 -2.01943930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.06592 meters Centerline goodness : 0.997860 Centerline is valid? [True, True] Translation: X:162.93, Y:0.23, Z:-2.01 [[ 9.99964142e-01 -5.07522541e-03 6.77914950e-03 1.62926780e+02] [ 5.07449485e-03 9.99987117e-01 1.24961404e-04 2.27799763e-01] [-6.77969637e-03 -9.05561638e-05 9.99977013e-01 -2.01109987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.09592 meters Centerline goodness : 0.998507 Centerline is valid? [True, True] Translation: X:162.96, Y:0.23, Z:-2.01 [[ 9.99967678e-01 -4.32229130e-03 6.77950225e-03 1.62959097e+02] [ 4.32167367e-03 9.99990656e-01 1.05748194e-04 2.31460245e-01] [-6.77989598e-03 -7.64459799e-05 9.99977013e-01 -2.01128740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.12592 meters Centerline goodness : 0.999502 Centerline is valid? [True, True] Translation: X:162.99, Y:0.24, Z:-2.02 [[ 9.99974577e-01 -2.20984091e-03 6.77953776e-03 1.62989985e+02] [ 2.20918814e-03 9.99997554e-01 1.03771768e-04 2.38823377e-01] [-6.77975050e-03 -8.87918554e-05 9.99977013e-01 -2.02116853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.15592 meters Centerline goodness : 0.997710 Centerline is valid? [True, True] Translation: X:163.02, Y:0.24, Z:-2.01 [[ 9.99974279e-01 -2.34065955e-03 6.77954046e-03 1.63021959e+02] [ 2.34001080e-03 9.99997257e-01 1.03621902e-04 2.41968081e-01] [-6.77976441e-03 -8.77550391e-05 9.99977013e-01 -2.00974966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.18592 meters Centerline goodness : 0.997951 Centerline is valid? [True, True] Translation: X:163.05, Y:0.25, Z:-2.01 [[ 9.99969548e-01 -3.86532839e-03 6.77961703e-03 1.63051360e+02] [ 3.86474401e-03 9.99992527e-01 9.92954611e-05 2.45993609e-01] [-6.77995018e-03 -7.30909530e-05 9.99977013e-01 -2.01092605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.21592 meters Centerline goodness : 0.999253 Centerline is valid? [True, True] Translation: X:163.08, Y:0.25, Z:-2.02 [[ 9.99972737e-01 -2.92739005e-03 6.77901065e-03 1.63083393e+02] [ 2.92654942e-03 9.99995709e-01 1.33921314e-04 2.48847209e-01] [-6.77937360e-03 -1.14078553e-04 9.99977013e-01 -2.02166770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.24592 meters Centerline goodness : 0.997316 Centerline is valid? [True, True] Translation: X:163.12, Y:0.25, Z:-2.01 [[ 9.99965963e-01 -4.70251125e-03 6.77933759e-03 1.63116492e+02] [ 4.70183946e-03 9.99988940e-01 1.15028156e-04 2.51924184e-01] [-6.77980353e-03 -8.31488834e-05 9.99977013e-01 -2.00981780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.27592 meters Centerline goodness : 0.998756 Centerline is valid? [True, True] Translation: X:163.15, Y:0.26, Z:-2.02 [[ 9.99942539e-01 -8.30384520e-03 6.77967066e-03 1.63148874e+02] [ 8.30338758e-03 9.99965522e-01 9.56445599e-05 2.55157234e-01] [-6.78023112e-03 -3.93448310e-05 9.99977013e-01 -2.01741793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.30592000000001 meters Centerline goodness : 0.997951 Centerline is valid? [True, True] Translation: X:163.18, Y:0.26, Z:-2.01 [[ 9.99883274e-01 -1.36920480e-02 6.77986730e-03 1.63180316e+02] [ 1.36917927e-02 9.99906259e-01 8.40669620e-05 2.55715444e-01] [-6.78038280e-03 8.77138849e-06 9.99977013e-01 -2.01018760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.33592000000002 meters Centerline goodness : 0.998855 Centerline is valid? [True, True] Translation: X:163.21, Y:0.26, Z:-2.02 [[ 9.99850250e-01 -1.59221389e-02 6.77961721e-03 1.63211389e+02] [ 1.59218350e-02 9.99873235e-01 9.87864564e-05 2.56841149e-01] [-6.78033068e-03 9.17228372e-06 9.99977013e-01 -2.02035761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.36592000000002 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:163.24, Y:0.26, Z:-2.02 [[ 9.99834870e-01 -1.68604109e-02 6.77937686e-03 1.63244371e+02] [ 1.68600310e-02 9.99857853e-01 1.13182640e-04 2.57679373e-01] [-6.78032150e-03 1.13655406e-06 9.99977013e-01 -2.01993305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.39592000000002 meters Centerline goodness : 0.999253 Centerline is valid? [True, True] Translation: X:163.28, Y:0.26, Z:-2.02 [[ 9.99776945e-01 -2.00024917e-02 6.77943521e-03 1.63276202e+02] [ 2.00022086e-02 9.99799930e-01 1.09572398e-04 2.60545012e-01] [-6.78027057e-03 2.60557199e-05 9.99977013e-01 -2.02156948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.42592000000002 meters Centerline goodness : 0.999452 Centerline is valid? [True, True] Translation: X:163.31, Y:0.26, Z:-2.02 [[ 9.99771150e-01 -2.02901648e-02 6.77918880e-03 1.63309502e+02] [ 2.02897817e-02 9.99794133e-01 1.25278665e-04 2.63332836e-01] [-6.78033511e-03 1.22982661e-05 9.99977013e-01 -2.02372716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.45592000000002 meters Centerline goodness : 0.999303 Centerline is valid? [True, True] Translation: X:163.34, Y:0.26, Z:-2.02 [[ 9.99800911e-01 -1.87663508e-02 6.77956528e-03 1.63342745e+02] [ 1.87661016e-02 9.99823896e-01 1.00381301e-04 2.64352904e-01] [-6.78025516e-03 2.68646950e-05 9.99977013e-01 -2.02398759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.48592 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:163.37, Y:0.27, Z:-2.03 [[ 9.99794637e-01 -1.90975602e-02 6.77995234e-03 1.63374346e+02] [ 1.90974973e-02 9.99817623e-01 7.40246656e-05 2.65256961e-01] [-6.78012953e-03 5.54706579e-05 9.99977013e-01 -2.02568824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.51592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:163.41, Y:0.27, Z:-2.03 [[ 9.99777157e-01 -1.99917725e-02 6.77975478e-03 1.63406651e+02] [ 1.99916375e-02 9.99800143e-01 8.76897646e-05 2.67584321e-01] [-6.78015288e-03 4.78681761e-05 9.99977013e-01 -2.02720207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.54592 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:163.44, Y:0.27, Z:-2.03 [[ 9.99776550e-01 -2.00221204e-02 6.77966321e-03 1.63439255e+02] [ 2.00219425e-02 9.99799536e-01 9.41237148e-05 2.69196606e-01] [-6.78018869e-03 4.16393439e-05 9.99977013e-01 -2.02611623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.57592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:163.47, Y:0.27, Z:-2.03 [[ 9.99745739e-01 -2.15055865e-02 6.77989161e-03 1.63471307e+02] [ 2.15055532e-02 9.99768726e-01 7.78233695e-05 2.71190509e-01] [-6.77999723e-03 6.80017375e-05 9.99977013e-01 -2.02698769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.60592 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:163.50, Y:0.27, Z:-2.02 [[ 9.99727650e-01 -2.23306409e-02 6.77997515e-03 1.63503983e+02] [ 2.23306678e-02 9.99750637e-01 7.17407103e-05 2.71149610e-01] [-6.77988649e-03 7.96802012e-05 9.99977013e-01 -2.02493934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.63592 meters Centerline goodness : 0.998356 Centerline is valid? [True, True] Translation: X:163.53, Y:0.27, Z:-2.01 [[ 9.99694083e-01 -2.37859276e-02 6.78012582e-03 1.63534062e+02] [ 2.37860639e-02 9.99717070e-01 6.05498841e-05 2.71800446e-01] [-6.77964775e-03 1.00741145e-04 9.99977013e-01 -2.01179795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.66592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.57, Y:0.27, Z:-2.03 [[ 9.99667631e-01 -2.48729672e-02 6.77964476e-03 1.63566939e+02] [ 2.48728830e-02 9.99690617e-01 9.67373132e-05 2.73370973e-01] [-6.77995340e-03 7.19241503e-05 9.99977013e-01 -2.02834473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.69592 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:163.60, Y:0.27, Z:-2.01 [[ 9.99664129e-01 -2.50131938e-02 6.78009255e-03 1.63598015e+02] [ 2.50133462e-02 9.99687115e-01 6.23314168e-05 2.73662662e-01] [-6.77953027e-03 1.07282321e-04 9.99977013e-01 -2.01137308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.72592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:163.63, Y:0.27, Z:-2.03 [[ 9.99662563e-01 -2.50757908e-02 6.77973889e-03 1.63631741e+02] [ 2.50757586e-02 9.99685550e-01 8.97737885e-05 2.73249948e-01] [-6.77985814e-03 8.02636000e-05 9.99977013e-01 -2.02892120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.75592 meters Centerline goodness : 0.998755 Centerline is valid? [True, True] Translation: X:163.66, Y:0.27, Z:-2.01 [[ 9.99672045e-01 -2.46947580e-02 6.78025056e-03 1.63661392e+02] [ 2.46949970e-02 9.99695031e-01 4.84813254e-05 2.73537326e-01] [-6.77938003e-03 1.18972841e-04 9.99977013e-01 -2.01097211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.78592 meters Centerline goodness : 0.999502 Centerline is valid? [True, True] Translation: X:163.69, Y:0.28, Z:-2.01 [[ 9.99757862e-01 -2.09344884e-02 6.77965181e-03 1.63693744e+02] [ 2.09343164e-02 9.99780849e-01 9.63533099e-05 2.76207566e-01] [-6.78018315e-03 4.55973967e-05 9.99977013e-01 -2.01190871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.81592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.72, Y:0.28, Z:-2.03 [[ 9.99799762e-01 -1.88273016e-02 6.78003442e-03 1.63724726e+02] [ 1.88272944e-02 9.99822749e-01 6.48946825e-05 2.78390320e-01] [-6.78005444e-03 6.27680161e-05 9.99977013e-01 -2.02882111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.84592 meters Centerline goodness : 0.999253 Centerline is valid? [True, True] Translation: X:163.76, Y:0.28, Z:-2.01 [[ 9.99841218e-01 -1.64794726e-02 6.77984736e-03 1.63755557e+02] [ 1.64793047e-02 9.99864204e-01 8.06243200e-05 2.79871837e-01] [-6.78025533e-03 3.11156524e-05 9.99977013e-01 -2.00985581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.87592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:163.79, Y:0.28, Z:-2.02 [[ 9.99864706e-01 -1.49867470e-02 6.77984237e-03 1.63787909e+02] [ 1.49865420e-02 9.99887692e-01 8.10465470e-05 2.80999588e-01] [-6.78029556e-03 2.05708103e-05 9.99977013e-01 -2.02285236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.90592 meters Centerline goodness : 0.999254 Centerline is valid? [True, True] Translation: X:163.82, Y:0.28, Z:-2.01 [[ 9.99857436e-01 -1.54640795e-02 6.78008165e-03 1.63818642e+02] [ 1.54640243e-02 9.99880423e-01 6.05723689e-05 2.81469327e-01] [-6.78020760e-03 4.42836136e-05 9.99977013e-01 -2.01134454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.93592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:163.85, Y:0.28, Z:-2.02 [[ 9.99837047e-01 -1.67306084e-02 6.77987873e-03 1.63850725e+02] [ 1.67304613e-02 9.99860033e-01 7.84115482e-05 2.81969825e-01] [-6.78024164e-03 3.50317282e-05 9.99977013e-01 -2.02398996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.96592 meters Centerline goodness : 0.998708 Centerline is valid? [True, True] Translation: X:163.88, Y:0.28, Z:-2.01 [[ 9.99785608e-01 -1.95645034e-02 6.77997386e-03 1.63882173e+02] [ 1.95644801e-02 9.99808595e-01 6.97740816e-05 2.83385679e-01] [-6.78004123e-03 6.28875408e-05 9.99977013e-01 -2.01377730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.99592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:163.92, Y:0.28, Z:-2.03 [[ 9.99819076e-01 -1.77721970e-02 6.77969292e-03 1.63915618e+02] [ 1.77719549e-02 9.99842062e-01 9.59598498e-05 2.84270385e-01] [-6.78032756e-03 2.45459084e-05 9.99977013e-01 -2.02785878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.02592 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:163.95, Y:0.28, Z:-2.01 [[ 9.99816644e-01 -1.79083768e-02 6.78006416e-03 1.63947225e+02] [ 1.79083810e-02 9.99839630e-01 6.00874040e-05 2.84161776e-01] [-6.78005291e-03 6.13435856e-05 9.99977013e-01 -2.01174178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.05592000000001 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:163.98, Y:0.28, Z:-2.03 [[ 9.99839033e-01 -1.66114308e-02 6.77999950e-03 1.63979952e+02] [ 1.66113623e-02 9.99862020e-01 6.64182476e-05 2.83131568e-01] [-6.78016730e-03 4.62174719e-05 9.99977013e-01 -2.03149570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.08592000000002 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:164.01, Y:0.28, Z:-2.02 [[ 9.99831452e-01 -1.70616131e-02 6.77998575e-03 1.64010590e+02] [ 1.70615456e-02 9.99854439e-01 6.77941343e-05 2.82605857e-01] [-6.78015552e-03 4.78943283e-05 9.99977013e-01 -2.02156297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.11592000000002 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:164.04, Y:0.28, Z:-2.03 [[ 9.99842744e-01 -1.63866121e-02 6.77982959e-03 1.64043360e+02] [ 1.63864193e-02 9.99865730e-01 8.39915286e-05 2.82756483e-01] [-6.78029560e-03 2.71188102e-05 9.99977013e-01 -2.02560419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.14592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.08, Y:0.28, Z:-2.03 [[ 9.99870525e-01 -1.45932929e-02 6.78003464e-03 1.64076763e+02] [ 1.45932125e-02 9.99893512e-01 6.13204587e-05 2.83036384e-01] [-6.78020751e-03 3.76299673e-05 9.99977013e-01 -2.02656395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.17592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.11, Y:0.28, Z:-2.03 [[ 9.99877986e-01 -1.40728142e-02 6.78006711e-03 1.64110304e+02] [ 1.40727477e-02 9.99900972e-01 5.75098157e-05 2.83637944e-01] [-6.78020502e-03 3.79113754e-05 9.99977013e-01 -2.02679119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.20592000000002 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:164.14, Y:0.28, Z:-2.03 [[ 9.99887204e-01 -1.34018448e-02 6.78009535e-03 1.64142019e+02] [ 1.34017869e-02 9.99910191e-01 5.39805844e-05 2.83443971e-01] [-6.78020988e-03 3.68908975e-05 9.99977013e-01 -2.02807912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.23592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:164.17, Y:0.28, Z:-2.03 [[ 9.99880494e-01 -1.38934705e-02 6.78003784e-03 1.64174672e+02] [ 1.38933733e-02 9.99903481e-01 6.14384014e-05 2.81731998e-01] [-6.78023702e-03 3.27665375e-05 9.99977013e-01 -2.02827423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.26592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.21, Y:0.28, Z:-2.03 [[ 9.99890221e-01 -1.31748440e-02 6.78013275e-03 1.64207499e+02] [ 1.31748181e-02 9.99913207e-01 4.84919089e-05 2.82189258e-01] [-6.78018315e-03 4.08404299e-05 9.99977013e-01 -2.02877526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.29592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:164.24, Y:0.28, Z:-2.03 [[ 9.99903791e-01 -1.21011104e-02 6.78019579e-03 1.64240257e+02] [ 1.21011215e-02 9.99926778e-01 3.93848685e-05 2.82768052e-01] [-6.78017593e-03 4.26668938e-05 9.99977013e-01 -2.02779143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.32592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.27, Y:0.28, Z:-2.03 [[ 9.99903124e-01 -1.21561072e-02 6.78022301e-03 1.64272045e+02] [ 1.21561481e-02 9.99926111e-01 3.51765853e-05 2.83108517e-01] [-6.78014964e-03 4.72482175e-05 9.99977013e-01 -2.02907583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.35592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.30, Y:0.28, Z:-2.03 [[ 9.99924135e-01 -1.02836495e-02 6.78012430e-03 1.64304374e+02] [ 1.02835361e-02 9.99947122e-01 5.15858975e-05 2.83342639e-01] [-6.78029627e-03 1.81416690e-05 9.99977013e-01 -2.02983739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.38592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.34, Y:0.28, Z:-2.03 [[ 9.99943850e-01 -8.14406528e-03 6.78017633e-03 1.64337152e+02] [ 8.14396521e-03 9.99966836e-01 4.23691791e-05 2.84631548e-01] [-6.78029654e-03 1.28507201e-05 9.99977013e-01 -2.03216524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.41592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.37, Y:0.29, Z:-2.02 [[ 9.99939073e-01 -8.71082581e-03 6.78021324e-03 1.64368473e+02] [ 8.71078686e-03 9.99962060e-01 3.52758173e-05 2.85749316e-01] [-6.78026328e-03 2.37873243e-05 9.99977013e-01 -2.01827794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.44592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.40, Y:0.29, Z:-2.03 [[ 9.99938293e-01 -8.79991996e-03 6.78026422e-03 1.64400518e+02] [ 8.79995240e-03 9.99961279e-01 2.50491886e-05 2.87100369e-01] [-6.78022212e-03 3.46183596e-05 9.99977013e-01 -2.02977124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.47592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.43, Y:0.29, Z:-2.03 [[ 9.99935454e-01 -9.11674231e-03 6.78025490e-03 1.64432302e+02] [ 9.11676895e-03 9.99958441e-01 2.69792081e-05 2.86968781e-01] [-6.78021908e-03 3.48365506e-05 9.99977013e-01 -2.03049266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.50592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.46, Y:0.29, Z:-2.03 [[ 9.99934550e-01 -9.21544977e-03 6.78022126e-03 1.64464220e+02] [ 9.21542871e-03 9.99957536e-01 3.43492591e-05 2.86908261e-01] [-6.78024989e-03 2.81356347e-05 9.99977013e-01 -2.02646121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.53592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.49, Y:0.29, Z:-2.02 [[ 9.99926834e-01 -1.00177999e-02 6.78020442e-03 1.64494044e+02] [ 1.00177710e-02 9.99949820e-01 3.82356939e-05 2.90177263e-01] [-6.78024722e-03 2.96896386e-05 9.99977013e-01 -2.01942650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.56592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:164.53, Y:0.29, Z:-2.03 [[ 9.99938483e-01 -8.77835387e-03 6.78016012e-03 1.64525302e+02] [ 8.77822278e-03 9.99961469e-01 4.90940688e-05 2.92618034e-01] [-6.78032984e-03 1.04267074e-05 9.99977013e-01 -2.02756168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.59592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.56, Y:0.29, Z:-2.03 [[ 9.99948980e-01 -7.48769920e-03 6.78020185e-03 1.64557842e+02] [ 7.48761396e-03 9.99971967e-01 3.79554298e-05 2.93487787e-01] [-6.78029598e-03 1.28140407e-05 9.99977013e-01 -2.02882533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.62592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.59, Y:0.29, Z:-2.03 [[ 9.99955743e-01 -6.52231971e-03 6.78023764e-03 1.64589604e+02] [ 6.52228411e-03 9.99978729e-01 2.73630188e-05 2.94526073e-01] [-6.78027189e-03 1.68608284e-05 9.99977014e-01 -2.02925476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.65592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:164.62, Y:0.30, Z:-2.02 [[ 9.99966225e-01 -4.64517544e-03 6.78022391e-03 1.64621882e+02] [ 4.64506666e-03 9.99989211e-01 3.17907853e-05 2.97594303e-01] [-6.78029843e-03 -2.95119510e-07 9.99977014e-01 -2.01658079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.68592 meters Centerline goodness : 0.999502 Centerline is valid? [True, True] Translation: X:164.65, Y:0.30, Z:-2.01 [[ 9.99964474e-01 -5.00799764e-03 6.78019096e-03 1.64651787e+02] [ 5.00781322e-03 9.99987460e-01 4.41766044e-05 2.99186412e-01] [-6.78032717e-03 -1.02211050e-05 9.99977013e-01 -2.01302129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.71592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.68, Y:0.30, Z:-2.03 [[ 9.99964121e-01 -5.07810874e-03 6.78014808e-03 1.64684078e+02] [ 5.07780671e-03 9.99987106e-01 6.17601841e-05 3.01819735e-01] [-6.78037428e-03 -2.73296868e-05 9.99977013e-01 -2.02891994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.74592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.72, Y:0.30, Z:-2.02 [[ 9.99958362e-01 -6.10755930e-03 6.78022781e-03 1.64716674e+02] [ 6.10753838e-03 9.99981349e-01 2.37907540e-05 3.02341614e-01] [-6.78024666e-03 1.76207382e-05 9.99977014e-01 -2.01632313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.77592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:164.75, Y:0.30, Z:-2.02 [[ 9.99952384e-01 -7.01850394e-03 6.78020532e-03 1.64748958e+02] [ 7.01839916e-03 9.99975370e-01 3.92471902e-05 3.03509549e-01] [-6.78031378e-03 8.34086595e-06 9.99977013e-01 -2.01695506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.80592000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.78, Y:0.30, Z:-2.02 [[ 9.99950430e-01 -7.29156818e-03 6.78020974e-03 1.64780973e+02] [ 7.29150213e-03 9.99973416e-01 3.44610489e-05 3.04173854e-01] [-6.78028077e-03 1.49785731e-05 9.99977014e-01 -2.02049630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.83592000000002 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:164.81, Y:0.30, Z:-2.02 [[ 9.99935513e-01 -9.11030741e-03 6.78021113e-03 1.64812547e+02] [ 9.11031445e-03 9.99958500e-01 2.98464642e-05 3.04413353e-01] [-6.78020166e-03 3.19253160e-05 9.99977014e-01 -2.01719844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.86592000000002 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:164.85, Y:0.30, Z:-2.02 [[ 9.99928216e-01 -9.87884341e-03 6.78021306e-03 1.64845015e+02] [ 9.87879969e-03 9.99951203e-01 3.99393911e-05 3.04597142e-01] [-6.78027676e-03 2.70438426e-05 9.99977013e-01 -2.01544526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.89592000000002 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:164.88, Y:0.31, Z:-2.02 [[ 9.99952903e-01 -6.94408214e-03 6.78021029e-03 1.64878332e+02] [ 6.94399503e-03 9.99975890e-01 3.63893524e-05 3.06038161e-01] [-6.78029950e-03 1.06941079e-05 9.99977013e-01 -2.01527225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.92592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.91, Y:0.31, Z:-2.02 [[ 9.99952857e-01 -6.95078171e-03 6.78014332e-03 1.64907539e+02] [ 6.95103737e-03 9.99975841e-01 -1.41430602e-05 3.05802156e-01] [-6.77988122e-03 6.12714230e-05 9.99977014e-01 -2.02148085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.95592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.94, Y:0.31, Z:-2.03 [[ 9.99963758e-01 -5.14896388e-03 6.78021192e-03 1.64940598e+02] [ 5.14886780e-03 9.99986744e-01 3.16262392e-05 3.05674792e-01] [-6.78028489e-03 3.28532189e-06 9.99977014e-01 -2.02515631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.98592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.97, Y:0.30, Z:-2.03 [[ 9.99973317e-01 -2.71925358e-03 6.78019354e-03 1.64973284e+02] [ 2.71915851e-03 9.99996303e-01 2.32398996e-05 3.04958231e-01] [-6.78023167e-03 -4.80285847e-06 9.99977014e-01 -2.02781208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.01592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.01, Y:0.30, Z:-2.02 [[ 9.99976616e-01 -8.92826045e-04 6.78016706e-03 1.65005576e+02] [ 8.92756024e-04 9.99999601e-01 1.33539242e-05 3.04956400e-01] [-6.78017628e-03 -7.30057695e-06 9.99977014e-01 -2.02016579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.04592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.04, Y:0.31, Z:-2.03 [[ 9.99976411e-01 -1.09875731e-03 6.78006310e-03 1.65036545e+02] [ 1.09892360e-03 9.99999396e-01 -2.08007084e-05 3.05439591e-01] [-6.78003615e-03 2.82509891e-05 9.99977015e-01 -2.02794298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.07592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.07, Y:0.31, Z:-2.03 [[ 9.99976961e-01 -3.29088412e-04 6.78007631e-03 1.65068759e+02] [ 3.29208997e-04 9.99999946e-01 -1.66691243e-05 3.07236161e-01] [-6.78007046e-03 1.89008024e-05 9.99977015e-01 -2.02539284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.10592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:165.10, Y:0.31, Z:-2.02 [[ 9.99973897e-01 2.49704964e-03 6.78012481e-03 1.65100391e+02] [-2.49708486e-03 9.99996882e-01 -3.27006807e-06 3.12069926e-01] [-6.78011184e-03 -1.36605643e-05 9.99977015e-01 -2.01912389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.13592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:165.13, Y:0.31, Z:-2.03 [[ 9.99969574e-01 3.85769474e-03 6.78003627e-03 1.65132050e+02] [-3.85760008e-03 9.99992559e-01 -2.70385738e-05 3.14568067e-01] [-6.78009012e-03 8.83082692e-07 9.99977015e-01 -2.03019632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.16592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:165.16, Y:0.32, Z:-2.02 [[ 9.99964671e-01 4.96861297e-03 6.78004112e-03 1.65162414e+02] [-4.96855242e-03 9.99987656e-01 -2.57740190e-05 3.16490869e-01] [-6.78008549e-03 -7.91388130e-06 9.99977015e-01 -2.01928427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.19592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.19, Y:0.32, Z:-2.03 [[ 9.99942689e-01 8.28547223e-03 6.78006960e-03 1.65193787e+02] [-8.28553661e-03 9.99965674e-01 -1.85947411e-05 3.20842606e-01] [-6.77999094e-03 -3.75828395e-05 9.99977015e-01 -2.03229894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.22592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:165.23, Y:0.33, Z:-2.02 [[ 9.99941749e-01 8.39817421e-03 6.78006309e-03 1.65225503e+02] [-8.39823025e-03 9.99964734e-01 -2.02055711e-05 3.26336209e-01] [-6.77999367e-03 -3.67361368e-05 9.99977015e-01 -2.02035342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.25592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.26, Y:0.33, Z:-2.03 [[ 9.99933778e-01 9.29898421e-03 6.77999243e-03 1.65257196e+02] [-9.29894726e-03 9.99956763e-01 -3.69729965e-05 3.28597687e-01] [-6.78004310e-03 -2.60762440e-05 9.99977015e-01 -2.03264725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.28592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.29, Y:0.33, Z:-2.02 [[ 9.99957276e-01 6.28309926e-03 6.77996710e-03 1.65288269e+02] [-6.28295142e-03 9.99980261e-01 -4.31047059e-05 3.29946588e-01] [-6.78010410e-03 5.04660452e-07 9.99977015e-01 -2.02130115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.31592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.32, Y:0.33, Z:-2.03 [[ 9.99972578e-01 2.97885999e-03 6.78002005e-03 1.65319365e+02] [-2.97872605e-03 9.99995563e-01 -2.98523919e-05 3.31453323e-01] [-6.78007890e-03 9.65575099e-06 9.99977015e-01 -2.03473607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.34592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:165.35, Y:0.33, Z:-2.03 [[ 9.99976835e-01 6.01191620e-04 6.77997590e-03 1.65352066e+02] [-6.00930752e-04 9.99999819e-01 -4.05134399e-05 3.32251738e-01] [-6.77999903e-03 3.64382053e-05 9.99977015e-01 -2.03388274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.37592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.38, Y:0.33, Z:-2.02 [[ 9.99961668e-01 -5.54036267e-03 6.77994152e-03 1.65382722e+02] [ 5.54081623e-03 9.99984648e-01 -4.81157654e-05 3.33071364e-01] [-6.77957086e-03 8.56803311e-05 9.99977015e-01 -2.01870093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.40592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:165.42, Y:0.33, Z:-2.02 [[ 9.99952391e-01 -7.01745511e-03 6.78021219e-03 1.65415799e+02] [ 7.01756717e-03 9.99975377e-01 7.26348893e-06 3.32977353e-01] [-6.78009621e-03 4.03174513e-05 9.99977014e-01 -2.01865823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.43592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:165.45, Y:0.33, Z:-2.02 [[ 9.99937342e-01 -8.90739682e-03 6.78017860e-03 1.65448774e+02] [ 8.90759357e-03 9.99960327e-01 1.17933300e-06 3.31730643e-01] [-6.77992011e-03 5.92158162e-05 9.99977014e-01 -2.01970675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.46592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:165.48, Y:0.33, Z:-2.02 [[ 9.99917296e-01 -1.09284518e-02 6.78013049e-03 1.65481530e+02] [ 1.09287484e-02 9.99940279e-01 -6.69991131e-06 3.30420542e-01] [-6.77965235e-03 8.07976976e-05 9.99977015e-01 -2.02016293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.49592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.51, Y:0.33, Z:-2.04 [[ 9.99887504e-01 -1.33796149e-02 6.77978120e-03 1.65512247e+02] [ 1.33803336e-02 9.99910477e-01 -6.06497533e-05 3.28743467e-01] [-6.77836279e-03 1.51358665e-04 9.99977015e-01 -2.03834599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.52592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:165.54, Y:0.33, Z:-2.02 [[ 9.99875617e-01 -1.42401960e-02 6.77988205e-03 1.65543040e+02] [ 1.42408330e-02 9.99898593e-01 -4.56824971e-05 3.26093133e-01] [-6.77854400e-03 1.42227983e-04 9.99977015e-01 -2.02151789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.55592000000001 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:165.58, Y:0.32, Z:-2.02 [[ 9.99826133e-01 -1.73705544e-02 6.77997805e-03 1.65575272e+02] [ 1.73711715e-02 9.99849109e-01 -3.21389059e-05 3.20008450e-01] [-6.77839674e-03 1.49909480e-04 9.99977015e-01 -2.02262848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.58592000000002 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:165.61, Y:0.32, Z:-2.03 [[ 9.99750281e-01 -2.12933057e-02 6.78011112e-03 1.65606310e+02] [ 2.12938938e-02 9.99773259e-01 -1.45554111e-05 3.16407083e-01] [-6.77826386e-03 1.58926742e-04 9.99977015e-01 -2.02833392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.61592000000002 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:165.64, Y:0.32, Z:-2.02 [[ 9.99809707e-01 -1.82916163e-02 6.77979975e-03 1.65637331e+02] [ 1.82924014e-02 9.99832679e-01 -5.37966350e-05 3.15633111e-01] [-6.77768131e-03 1.77805216e-04 9.99977015e-01 -2.02164183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.64592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.67, Y:0.31, Z:-2.04 [[ 9.99800701e-01 -1.87774047e-02 6.77993697e-03 1.65669110e+02] [ 1.87780879e-02 9.99823675e-01 -3.71208381e-05 3.13511974e-01] [-6.77804447e-03 1.64427692e-04 9.99977015e-01 -2.03892413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.67592000000002 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:165.70, Y:0.31, Z:-2.02 [[ 9.99851024e-01 -1.58734247e-02 6.77974301e-03 1.65701299e+02] [ 1.58741915e-02 9.99873995e-01 -5.92979629e-05 3.10725523e-01] [-6.77794747e-03 1.66912068e-04 9.99977016e-01 -2.02100981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.70592000000002 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:165.73, Y:0.31, Z:-2.04 [[ 9.99865795e-01 -1.49140629e-02 6.77950925e-03 1.65732245e+02] [ 1.49149852e-02 9.99888762e-01 -8.54988805e-05 3.06394416e-01] [-6.77747997e-03 1.86603686e-04 9.99977015e-01 -2.03821127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.73592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.76, Y:0.31, Z:-2.04 [[ 9.99917556e-01 -1.09048290e-02 6.77979230e-03 1.65764992e+02] [ 1.09054488e-02 9.99940532e-01 -5.44556482e-05 3.05457989e-01] [-6.77879529e-03 1.28387836e-04 9.99977015e-01 -2.04208711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.76592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.80, Y:0.30, Z:-2.04 [[ 9.99964504e-01 -5.00269056e-03 6.77970970e-03 1.65796912e+02] [ 5.00323471e-03 9.99987482e-01 -6.33024937e-05 3.04435047e-01] [-6.77930814e-03 9.72207256e-05 9.99977016e-01 -2.04004705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.79592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.83, Y:0.30, Z:-2.04 [[ 9.99972162e-01 -3.11617983e-03 6.77969471e-03 1.65829126e+02] [ 3.11669124e-03 9.99995141e-01 -6.48684089e-05 3.03589083e-01] [-6.77945963e-03 8.59968182e-05 9.99977016e-01 -2.03997377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.82592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.86, Y:0.30, Z:-2.04 [[ 9.99973882e-01 -2.50433814e-03 6.77968640e-03 1.65859722e+02] [ 2.50484130e-03 9.99996861e-01 -6.57258559e-05 3.02401901e-01] [-6.77950052e-03 8.27061778e-05 9.99977016e-01 -2.03669544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.85592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:165.89, Y:0.30, Z:-2.02 [[ 9.99975337e-01 -1.83240073e-03 6.77996222e-03 1.65890366e+02] [ 1.83269911e-03 9.99998320e-01 -3.77962101e-05 3.02243448e-01] [-6.77988158e-03 5.02209087e-05 9.99977015e-01 -2.02371921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.88592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:165.92, Y:0.30, Z:-2.03 [[ 9.99975387e-01 -1.80430053e-03 6.78004843e-03 1.65924068e+02] [ 1.80454069e-03 9.99998371e-01 -2.93054815e-05 3.02430685e-01] [-6.77998451e-03 4.15396335e-05 9.99977015e-01 -2.02501165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.91592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:165.95, Y:0.30, Z:-2.04 [[ 9.99975642e-01 -1.65966788e-03 6.77947835e-03 1.65954831e+02] [ 1.66026847e-03 9.99998618e-01 -8.29617948e-05 3.02553086e-01] [-6.77933129e-03 9.42155281e-05 9.99977016e-01 -2.04168890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.94592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.99, Y:0.30, Z:-2.04 [[ 9.99972925e-01 -2.86125106e-03 6.77958367e-03 1.65985669e+02] [ 2.86181314e-03 9.99995902e-01 -7.32084099e-05 3.02488161e-01] [-6.77934642e-03 9.26083294e-05 9.99977016e-01 -2.04204983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.97592 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:166.02, Y:0.30, Z:-2.02 [[ 9.99971771e-01 -3.23879892e-03 6.77985326e-03 1.66016500e+02] [ 3.23920409e-03 9.99994753e-01 -4.87810315e-05 3.04336605e-01] [-6.77965969e-03 7.07409829e-05 9.99977015e-01 -2.02458699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.00592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.05, Y:0.31, Z:-2.04 [[ 9.99973167e-01 -2.77456239e-03 6.77989150e-03 1.66048211e+02] [ 2.77493358e-03 9.99996149e-01 -4.53424010e-05 3.05321690e-01] [-6.77973959e-03 6.41549329e-05 9.99977015e-01 -2.04417961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.03592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.08, Y:0.30, Z:-2.04 [[ 9.99963353e-01 -5.22791146e-03 6.77951949e-03 1.66078741e+02] [ 5.22855885e-03 9.99986328e-01 -7.77714425e-05 3.03922705e-01] [-6.77902022e-03 1.13215709e-04 9.99977016e-01 -2.04278900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.06592 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:166.11, Y:0.30, Z:-2.03 [[ 9.99960908e-01 -5.67582834e-03 6.77989463e-03 1.66108598e+02] [ 5.67626752e-03 9.99983889e-01 -4.55355245e-05 3.02120768e-01] [-6.77952695e-03 8.40182401e-05 9.99977015e-01 -2.02989027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.09592 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:166.14, Y:0.30, Z:-2.03 [[ 9.99962732e-01 -5.34509355e-03 6.77972312e-03 1.66140290e+02] [ 5.34562377e-03 9.99985710e-01 -6.00871297e-05 3.01921304e-01] [-6.77930507e-03 9.63267395e-05 9.99977016e-01 -2.03010418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.12592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.17, Y:0.30, Z:-2.04 [[ 9.99964662e-01 -4.97096859e-03 6.77969186e-03 1.66171899e+02] [ 4.97150767e-03 9.99987640e-01 -6.26629012e-05 3.01229881e-01] [-6.77929657e-03 9.63659769e-05 9.99977016e-01 -2.04450868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.15592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:166.20, Y:0.30, Z:-2.03 [[ 9.99924384e-01 -1.02598714e-02 6.77943731e-03 1.66201177e+02] [ 1.02606723e-02 9.99947354e-01 -8.33638834e-05 2.99086642e-01] [-6.77822510e-03 1.52919164e-04 9.99977016e-01 -2.02762440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.18592 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:166.23, Y:0.29, Z:-2.03 [[ 9.99898433e-01 -1.25360532e-02 6.78016283e-03 1.66232818e+02] [ 1.25365050e-02 9.99921415e-01 -2.41377057e-05 2.94639228e-01] [-6.77932741e-03 1.09134799e-04 9.99977014e-01 -2.02869060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.21592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.27, Y:0.29, Z:-2.05 [[ 9.99913285e-01 -1.12894959e-02 6.78013523e-03 1.66265590e+02] [ 1.12899335e-02 9.99936266e-01 -2.62675032e-05 2.92661482e-01] [-6.77940656e-03 1.02812501e-04 9.99977014e-01 -2.04633675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.24592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.30, Y:0.29, Z:-2.05 [[ 9.99915560e-01 -1.10867232e-02 6.77924826e-03 1.66298165e+02] [ 1.10876002e-02 9.99938526e-01 -9.17821308e-05 2.90774867e-01] [-6.77781395e-03 1.66939975e-04 9.99977016e-01 -2.04641522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.27592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.33, Y:0.29, Z:-2.04 [[ 9.99927076e-01 -9.99429337e-03 6.77920777e-03 1.66330508e+02] [ 9.99516484e-03 9.99950043e-01 -9.46816905e-05 2.86988521e-01] [-6.77792282e-03 1.62434085e-04 9.99977016e-01 -2.04465840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.30592000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.36, Y:0.28, Z:-2.05 [[ 9.99936589e-01 -8.99226212e-03 6.77916605e-03 1.66362596e+02] [ 8.99313021e-03 9.99959556e-01 -9.75801119e-05 2.84511781e-01] [-6.77801440e-03 1.58539847e-04 9.99977016e-01 -2.04543062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.33592000000002 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:166.39, Y:0.28, Z:-2.03 [[ 9.99945788e-01 -7.90350752e-03 6.77912331e-03 1.66392353e+02] [ 7.90437015e-03 9.99968755e-01 -1.00463944e-04 2.79219417e-01] [-6.77811748e-03 1.54043198e-04 9.99977016e-01 -2.02747334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.36592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.42, Y:0.28, Z:-2.05 [[ 9.99956431e-01 -6.41634370e-03 6.77979802e-03 1.66424247e+02] [ 6.41685931e-03 9.99979410e-01 -5.43004840e-05 2.77450984e-01] [-6.77931001e-03 9.78031282e-05 9.99977015e-01 -2.04681597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.39592000000002 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:166.46, Y:0.27, Z:-2.03 [[ 9.99976410e-01 -1.10594015e-03 6.77909673e-03 1.66455604e+02] [ 1.10665198e-03 9.99999383e-01 -1.01253514e-04 2.73923998e-01] [-6.77898056e-03 1.08753226e-04 9.99977017e-01 -2.02789882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.42592000000002 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:166.49, Y:0.27, Z:-2.03 [[ 9.99975507e-01 1.74171373e-03 6.77880075e-03 1.66486752e+02] [-1.74093384e-03 9.99998477e-01 -1.20947467e-04 2.71783651e-01] [-6.77900108e-03 1.09143061e-04 9.99977016e-01 -2.02879362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.45592000000002 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:166.52, Y:0.27, Z:-2.03 [[ 9.99968650e-01 4.09272803e-03 6.77854513e-03 1.66515873e+02] [-4.09188510e-03 9.99991619e-01 -1.38216364e-04 2.70626450e-01] [-6.77905400e-03 1.10475003e-04 9.99977016e-01 -2.02771661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.48592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:166.55, Y:0.27, Z:-2.03 [[ 9.99950681e-01 7.25808355e-03 6.77914120e-03 1.66547797e+02] [-7.25758937e-03 9.99973659e-01 -9.74945145e-05 2.71013712e-01] [-6.77967026e-03 4.82894830e-05 9.99977017e-01 -2.03121887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.51592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:166.58, Y:0.27, Z:-2.04 [[ 9.99894036e-01 1.28826904e-02 6.77884673e-03 1.66579672e+02] [-1.28821906e-02 9.99917014e-01 -1.17383797e-04 2.70777590e-01] [-6.77979640e-03 3.00449633e-05 9.99977016e-01 -2.03739942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.54592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:166.61, Y:0.27, Z:-2.04 [[ 9.99849688e-01 1.59577252e-02 6.77880317e-03 1.66611359e+02] [-1.59572763e-02 9.99872667e-01 -1.20313574e-04 2.70661004e-01] [-6.77985994e-03 1.21242539e-05 9.99977016e-01 -2.03543300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.57592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:166.64, Y:0.28, Z:-2.04 [[ 9.99751937e-01 2.12158213e-02 6.77882271e-03 1.66644581e+02] [-2.12155021e-02 9.99774919e-01 -1.19008175e-04 2.76070626e-01] [-6.77982178e-03 -2.48374736e-05 9.99977016e-01 -2.03751157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.60592 meters Centerline goodness : 0.996712 Centerline is valid? [True, True] Translation: X:166.66, Y:0.25, Z:-2.04 [[ 9.98969409e-01 -4.48794881e-02 6.77872621e-03 1.66658892e+02] [ 4.48813687e-02 9.98992316e-01 -1.25473946e-04 2.49552353e-01] [-6.76626419e-03 4.29583144e-04 9.99977016e-01 -2.04350522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.63592 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:166.71, Y:0.28, Z:-2.04 [[ 9.99552983e-01 2.91166976e-02 6.78610890e-03 1.66705118e+02] [-2.91199641e-02 9.99575851e-01 3.83027790e-04 2.83107639e-01] [-6.77207807e-03 -5.80467818e-04 9.99976901e-01 -2.04066745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.66592 meters Centerline goodness : 0.998556 Centerline is valid? [True, True] Translation: X:166.74, Y:0.29, Z:-2.03 [[ 9.99426403e-01 3.31804783e-02 6.77655431e-03 1.66736567e+02] [-3.31801523e-02 9.99449374e-01 -1.60555577e-04 2.88751168e-01] [-6.77815027e-03 -6.43836214e-05 9.99977026e-01 -2.03198269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.69592 meters Centerline goodness : 0.999152 Centerline is valid? [True, True] Translation: X:166.77, Y:0.30, Z:-2.04 [[ 9.99313569e-01 3.64207696e-02 6.77636225e-03 1.66766801e+02] [-3.64204435e-02 9.99336541e-01 -1.71557630e-04 2.97941500e-01] [-6.77811467e-03 -7.53582511e-05 9.99977025e-01 -2.04389202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.72592 meters Centerline goodness : 0.998102 Centerline is valid? [True, True] Translation: X:166.80, Y:0.30, Z:-2.03 [[ 9.99326618e-01 3.60608711e-02 6.77669043e-03 1.66799380e+02] [-3.60606651e-02 9.99349591e-01 -1.52624333e-04 3.02108699e-01] [-6.77778658e-03 -9.18504050e-05 9.99977026e-01 -2.03165533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.75592 meters Centerline goodness : 0.998457 Centerline is valid? [True, True] Translation: X:166.83, Y:0.31, Z:-2.04 [[ 9.99355468e-01 3.52523867e-02 6.77619720e-03 1.66829482e+02] [-3.52519647e-02 9.99378440e-01 -1.81740216e-04 3.06025274e-01] [-6.77839216e-03 -5.72511856e-05 9.99977025e-01 -2.04384664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.78592 meters Centerline goodness : 0.998904 Centerline is valid? [True, True] Translation: X:166.86, Y:0.31, Z:-2.05 [[ 9.99417777e-01 3.34392485e-02 6.77669619e-03 1.66861901e+02] [-3.34389861e-02 9.99440749e-01 -1.52053201e-04 3.13344155e-01] [-6.77799086e-03 -7.46411771e-05 9.99977026e-01 -2.04562393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.81592 meters Centerline goodness : 0.842954 Centerline is valid? [True, False] Translation: X:166.86, Y:0.31, Z:-2.05 [[ 9.99810149e-01 1.73003946e-02 8.96444884e-03 1.66862430e+02] [-1.73308835e-02 9.99844248e-01 3.33463069e-03 3.12166630e-01] [-8.90536219e-03 -3.48935943e-03 9.99954258e-01 -2.04706825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.84592 meters Centerline goodness : 0.999055 Centerline is valid? [False, True] Translation: X:166.89, Y:0.32, Z:-2.04 [[ 9.99975338e-01 4.57254244e-03 5.33064746e-03 1.66886801e+02] [-4.56721924e-03 9.99989060e-01 -1.01034913e-03 3.21930602e-01] [-5.33520901e-03 9.85977980e-04 9.99985282e-01 -2.04489935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.87592 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:166.92, Y:0.32, Z:-2.04 [[ 9.99982082e-01 2.73352062e-03 5.32583074e-03 1.66919846e+02] [-2.73369145e-03 9.99996263e-01 2.47967391e-05 3.23686679e-01] [-5.32574305e-03 -3.93554728e-05 9.99985817e-01 -2.04070006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.90592 meters Centerline goodness : 0.896818 Centerline is valid? [True, False] Translation: X:166.93, Y:0.35, Z:-2.04 [[ 9.99983586e-01 4.86581402e-03 -3.02518385e-03 1.66925357e+02] [-4.92929676e-03 9.99760040e-01 -2.13439691e-02 3.49952900e-01] [ 2.92060214e-03 2.13585308e-02 9.99767615e-01 -2.03722238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.93592 meters Centerline goodness : 0.996717 Centerline is valid? [False, True] Translation: X:166.95, Y:0.35, Z:-2.03 [[ 9.99958480e-01 -1.34951699e-03 -9.01201288e-03 1.66947405e+02] [ 1.17673420e-03 9.99815923e-01 -1.91503535e-02 3.48533526e-01] [ 9.03619770e-03 1.91389537e-02 9.99775999e-01 -2.03326551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.96592 meters Centerline goodness : 0.832645 Centerline is valid? [True, False] Translation: X:166.94, Y:0.36, Z:-2.03 [[ 9.99973299e-01 -3.43690069e-03 6.44897977e-03 1.66941215e+02] [ 3.58650703e-03 9.99721336e-01 -2.33321113e-02 3.57353336e-01] [-6.36699252e-03 2.33546177e-02 9.99706969e-01 -2.03460292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.99592 meters Centerline goodness : 0.998011 Centerline is valid? [False, True] Translation: X:166.94, Y:0.35, Z:-2.04 [[ 9.99980334e-01 5.89840792e-04 6.24371227e-03 1.66941768e+02] [-4.73223201e-04 9.99825726e-01 -1.86626320e-02 3.54747653e-01] [-6.25363213e-03 1.86593103e-02 9.99806342e-01 -2.03513264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.02592 meters Centerline goodness : 0.998257 Centerline is valid? [True, True] Translation: X:166.97, Y:0.34, Z:-2.04 [[ 9.99976599e-01 -2.42269510e-03 6.39781458e-03 1.66974155e+02] [ 2.42283758e-03 9.99997065e-01 -1.45199196e-05 3.36865039e-01] [-6.39776063e-03 3.00204454e-05 9.99979534e-01 -2.03753283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.05592000000001 meters Centerline goodness : 0.998109 Centerline is valid? [True, True] Translation: X:167.00, Y:0.34, Z:-2.04 [[ 9.99947510e-01 -8.00312592e-03 6.39743306e-03 1.67004296e+02] [ 8.00368374e-03 9.99967968e-01 -6.15975379e-05 3.39327289e-01] [-6.39673517e-03 1.12797336e-04 9.99979534e-01 -2.03761217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.08592000000002 meters Centerline goodness : 0.997414 Centerline is valid? [True, True] Translation: X:167.04, Y:0.34, Z:-2.04 [[ 9.99872418e-01 -1.46362574e-02 6.39748345e-03 1.67036010e+02] [ 1.46369117e-02 9.99892873e-01 -5.54526428e-05 3.37859041e-01] [-6.39598648e-03 1.49084968e-04 9.99979534e-01 -2.03527430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.11592000000002 meters Centerline goodness : 0.998060 Centerline is valid? [True, True] Translation: X:167.07, Y:0.34, Z:-2.04 [[ 9.99832649e-01 -1.71389242e-02 6.39770167e-03 1.67069314e+02] [ 1.71394644e-02 9.99853108e-01 -2.96108069e-05 3.35372032e-01] [-6.39625441e-03 1.39259031e-04 9.99979534e-01 -2.04277152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.14592000000002 meters Centerline goodness : 0.999005 Centerline is valid? [True, True] Translation: X:167.10, Y:0.33, Z:-2.05 [[ 9.99736200e-01 -2.20591769e-02 6.39704296e-03 1.67099501e+02] [ 2.20603065e-02 9.99756636e-01 -1.06064916e-04 3.33802518e-01] [-6.39314644e-03 2.47157664e-04 9.99979533e-01 -2.05444863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.17592000000002 meters Centerline goodness : 0.981309 Centerline is valid? [True, True] Translation: X:167.08, Y:0.33, Z:-2.06 [[ 9.99972391e-01 -3.78005599e-03 6.39748233e-03 1.67081306e+02] [ 3.78048082e-03 9.99992852e-01 -5.43149932e-05 3.30836647e-01] [-6.39723129e-03 7.84990529e-05 9.99979534e-01 -2.05682116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.20592000000002 meters Centerline goodness : 0.997809 Centerline is valid? [True, True] Translation: X:167.16, Y:0.32, Z:-2.04 [[ 9.99645470e-01 -2.58449562e-02 6.40092317e-03 1.67156598e+02] [ 2.58395253e-02 9.99665671e-01 9.29718546e-04 3.20345851e-01] [-6.42281169e-03 -7.63992117e-04 9.99979082e-01 -2.04088015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.23592 meters Centerline goodness : 0.998308 Centerline is valid? [True, True] Translation: X:167.19, Y:0.31, Z:-2.05 [[ 9.99609334e-01 -2.72101731e-02 6.38642864e-03 1.67190654e+02] [ 2.72117008e-02 9.99629681e-01 -1.52415327e-04 3.14287325e-01] [-6.37991638e-03 3.26141369e-04 9.99979595e-01 -2.04630981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.26592 meters Centerline goodness : 0.998009 Centerline is valid? [True, True] Translation: X:167.22, Y:0.31, Z:-2.04 [[ 9.99641696e-01 -2.59942364e-02 6.38583140e-03 1.67220322e+02] [ 2.59960185e-02 9.99662027e-01 -1.96215007e-04 3.09505275e-01] [-6.37857270e-03 3.62150893e-04 9.99979591e-01 -2.03835533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.29592 meters Centerline goodness : 0.997906 Centerline is valid? [True, True] Translation: X:167.25, Y:0.30, Z:-2.04 [[ 9.99666829e-01 -2.50088552e-02 6.38651155e-03 1.67252961e+02] [ 2.50102377e-02 9.99687186e-01 -1.36690192e-04 3.02121910e-01] [-6.38109529e-03 2.96372823e-04 9.99979597e-01 -2.04093236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.32592 meters Centerline goodness : 0.927596 Centerline is valid? [True, False] Translation: X:167.26, Y:0.31, Z:-2.04 [[ 9.99925112e-01 -1.16483026e-02 3.75319779e-03 1.67255476e+02] [ 1.16719279e-02 9.99911810e-01 -6.33552643e-03 3.05149892e-01] [-3.67906866e-03 6.37885903e-03 9.99972887e-01 -2.04183975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.35592 meters Centerline goodness : 0.998903 Centerline is valid? [False, True] Translation: X:167.28, Y:0.30, Z:-2.04 [[ 9.99995258e-01 -2.91363054e-03 9.96911350e-04 1.67279060e+02] [ 2.91879431e-03 9.99982126e-01 -5.21812832e-03 2.96730949e-01] [-9.81689833e-04 5.22101335e-03 9.99985889e-01 -2.04075636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.38592 meters Centerline goodness : 0.992073 Centerline is valid? [True, True] Translation: X:167.35, Y:0.29, Z:-2.04 [[ 9.99986390e-01 -5.08972911e-03 1.14660007e-03 1.67345761e+02] [ 5.08976450e-03 9.99987047e-01 -2.79504540e-05 2.94434608e-01] [-1.14644296e-03 3.37859979e-05 9.99999342e-01 -2.04196571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.41592 meters Centerline goodness : 0.925121 Centerline is valid? [True, False] Translation: X:167.37, Y:0.29, Z:-2.04 [[ 9.99994303e-01 2.05862898e-03 -2.67522788e-03 1.67367807e+02] [-2.05987634e-03 9.99997771e-01 -4.63592462e-04 2.87717708e-01] [ 2.67426755e-03 4.69100460e-04 9.99996314e-01 -2.03824157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.44592 meters Centerline goodness : 0.932052 Centerline is valid? [False, False] Translation: X:167.39, Y:0.29, Z:-2.03 [[ 9.99963887e-01 4.75062170e-03 -7.04677308e-03 1.67389274e+02] [-4.79966311e-03 9.99964268e-01 -6.95890491e-03 2.89852015e-01] [ 7.01346216e-03 6.99247574e-03 9.99950957e-01 -2.03355135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.47592 meters Centerline goodness : 0.988739 Centerline is valid? [False, True] Translation: X:167.39, Y:0.29, Z:-2.03 [[ 9.99974423e-01 2.92307559e-03 -6.52748789e-03 1.67385276e+02] [-2.97402318e-03 9.99965086e-01 -7.80906503e-03 2.85435878e-01] [ 6.50443350e-03 7.82827820e-03 9.99948204e-01 -2.03032838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.50592 meters Centerline goodness : 0.974832 Centerline is valid? [True, True] Translation: X:167.42, Y:0.27, Z:-2.03 [[ 9.99978697e-01 -3.22222937e-03 -5.67646472e-03 1.67417137e+02] [ 3.23010698e-03 9.99993832e-01 1.37914648e-03 2.74181441e-01] [ 5.67198578e-03 -1.39745269e-03 9.99982938e-01 -2.03154465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.53592 meters Centerline goodness : 0.937463 Centerline is valid? [True, False] Translation: X:167.44, Y:0.28, Z:-2.03 [[ 9.99955829e-01 -8.68019489e-05 -9.39851565e-03 1.67438448e+02] [ 3.45735247e-05 9.99984559e-01 -5.55711273e-03 2.78936260e-01] [ 9.39885289e-03 5.55654233e-03 9.99940391e-01 -2.02691863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.56592 meters Centerline goodness : 0.921130 Centerline is valid? [False, False] Translation: X:167.44, Y:0.28, Z:-2.03 [[ 9.99956741e-01 -1.70386017e-04 -9.29988004e-03 1.67438262e+02] [ 1.24645392e-04 9.99987895e-01 -4.91876828e-03 2.75857356e-01] [ 9.30060555e-03 4.91739631e-03 9.99944657e-01 -2.02679081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.59592 meters Centerline goodness : 0.997313 Centerline is valid? [False, True] Translation: X:167.44, Y:0.28, Z:-2.03 [[ 9.99955207e-01 -1.47625762e-04 -9.46368521e-03 1.67438729e+02] [ 1.01410761e-04 9.99988070e-01 -4.88369820e-03 2.75780450e-01] [ 9.46429326e-03 4.88251973e-03 9.99943292e-01 -2.02714939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.62592 meters Centerline goodness : 0.997710 Centerline is valid? [True, True] Translation: X:167.47, Y:0.27, Z:-2.03 [[ 9.99940301e-01 5.55702254e-03 -9.40816847e-03 1.67467529e+02] [-5.55602308e-03 9.99984556e-01 1.32367248e-04 2.71966747e-01] [ 9.40875874e-03 -8.00873450e-05 9.99955733e-01 -2.03413181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.65592 meters Centerline goodness : 0.996965 Centerline is valid? [True, True] Translation: X:167.50, Y:0.27, Z:-2.03 [[ 9.99942124e-01 5.21740117e-03 -9.40888214e-03 1.67498163e+02] [-5.21700460e-03 9.99986389e-01 6.66919244e-05 2.71122422e-01] [ 9.40910203e-03 -1.76018831e-05 9.99955733e-01 -2.03110513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.68592 meters Centerline goodness : 0.997163 Centerline is valid? [True, True] Translation: X:167.53, Y:0.27, Z:-2.03 [[ 9.99919752e-01 8.48394221e-03 -9.40811488e-03 1.67527827e+02] [-8.48302400e-03 9.99964009e-01 1.37498740e-04 2.70702872e-01] [ 9.40894280e-03 -5.76784412e-05 9.99955733e-01 -2.02958371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.71592 meters Centerline goodness : 0.998905 Centerline is valid? [True, True] Translation: X:167.56, Y:0.27, Z:-2.05 [[ 9.99895725e-01 1.09557447e-02 -9.40806462e-03 1.67557194e+02] [-1.09548908e-02 9.99939983e-01 1.42300119e-04 2.72936683e-01] [ 9.40905899e-03 -3.92209598e-05 9.99955733e-01 -2.04543961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.74592 meters Centerline goodness : 0.997464 Centerline is valid? [True, True] Translation: X:167.59, Y:0.28, Z:-2.03 [[ 9.99878403e-01 1.24361857e-02 -9.40854120e-03 1.67586531e+02] [-1.24358404e-02 9.99922667e-01 9.52022931e-05 2.78761195e-01] [ 9.40899757e-03 2.18124004e-05 9.99955734e-01 -2.03092070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.77592 meters Centerline goodness : 0.997513 Centerline is valid? [True, True] Translation: X:167.62, Y:0.28, Z:-2.03 [[ 9.99857354e-01 1.40266139e-02 -9.40881477e-03 1.67615590e+02] [-1.40265971e-02 9.99901620e-01 6.77798284e-05 2.80866640e-01] [ 9.40883985e-03 6.42034938e-05 9.99955734e-01 -2.02809365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.80592000000001 meters Centerline goodness : 0.998657 Centerline is valid? [True, True] Translation: X:167.65, Y:0.28, Z:-2.04 [[ 9.99822063e-01 1.63497140e-02 -9.40903696e-03 1.67645755e+02] [-1.63500102e-02 9.99866329e-01 4.54438914e-05 2.82377786e-01] [ 9.40852224e-03 1.08402045e-04 9.99955733e-01 -2.04077523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.83592000000002 meters Centerline goodness : 0.997462 Centerline is valid? [True, True] Translation: X:167.67, Y:0.29, Z:-2.03 [[ 9.99840931e-01 1.51523012e-02 -9.40857903e-03 1.67673321e+02] [-1.51521021e-02 9.99885196e-01 9.24440966e-05 2.86852079e-01] [ 9.40889963e-03 5.01303583e-05 9.99955734e-01 -2.02652426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.86592000000002 meters Centerline goodness : 0.999254 Centerline is valid? [True, True] Translation: X:167.70, Y:0.29, Z:-2.04 [[ 9.99859656e-01 1.38614042e-02 -9.40903900e-03 1.67704262e+02] [-1.38616036e-02 9.99903922e-01 4.40252323e-05 2.89564590e-01] [ 9.40874525e-03 8.64053148e-05 9.99955733e-01 -2.04339555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.89592000000002 meters Centerline goodness : 0.920366 Centerline is valid? [True, False] Translation: X:167.72, Y:0.29, Z:-2.04 [[ 9.99960402e-01 5.89417305e-04 -8.87960010e-03 1.67724310e+02] [-6.18249775e-04 9.99994545e-01 -3.24465104e-03 2.93204548e-01] [ 8.87763921e-03 3.25001237e-03 9.99955311e-01 -2.04128968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.92592000000002 meters Centerline goodness : 0.999751 Centerline is valid? [False, True] Translation: X:167.74, Y:0.31, Z:-2.04 [[ 9.99949121e-01 9.64082990e-04 -1.00412024e-02 1.67744935e+02] [-1.11585765e-03 9.99885055e-01 -1.51205695e-02 3.05330255e-01] [ 1.00254708e-02 1.51310047e-02 9.99835258e-01 -2.03804527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.95592000000002 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:167.78, Y:0.30, Z:-2.05 [[ 9.99949655e-01 9.93890106e-05 -1.00338062e-02 1.67775834e+02] [-1.00805634e-04 9.99999985e-01 -1.40679427e-04 2.96105697e-01] [ 1.00337921e-02 1.41683809e-04 9.99949650e-01 -2.04518947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.98592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:167.80, Y:0.30, Z:-2.04 [[ 9.99949576e-01 -4.13264447e-04 -1.00336977e-02 1.67804265e+02] [ 4.13359129e-04 9.99999915e-01 7.36264996e-06 2.95621218e-01] [ 1.00336938e-02 -1.15097992e-05 9.99949661e-01 -2.04491664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.01592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:167.83, Y:0.30, Z:-2.04 [[ 9.99948794e-01 -1.31718387e-03 -1.00336988e-02 1.67833267e+02] [ 1.31727229e-03 9.99999132e-01 2.20341536e-06 2.97463698e-01] [ 1.00336872e-02 -1.54204160e-05 9.99949661e-01 -2.04380675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.04592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:167.86, Y:0.30, Z:-2.03 [[ 9.99937975e-01 -4.83445924e-03 -1.00336989e-02 1.67862721e+02] [ 4.83471185e-03 9.99988313e-01 9.20305765e-07 2.98890680e-01] [ 1.00335772e-02 -4.94302918e-05 9.99949661e-01 -2.02883696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.07592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:167.89, Y:0.30, Z:-2.04 [[ 9.99932192e-01 -5.91071661e-03 -1.00336967e-02 1.67891921e+02] [ 5.91083988e-03 9.99982531e-01 -1.73691305e-05 3.00124832e-01] [ 1.00336241e-02 -4.19396222e-05 9.99949661e-01 -2.03798671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.10592 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:167.92, Y:0.30, Z:-2.03 [[ 9.99911563e-01 -8.72870802e-03 -1.00336939e-02 1.67920215e+02] [ 8.72867719e-03 9.99961903e-01 -4.68657435e-05 3.01897524e-01] [ 1.00337207e-02 -4.07192761e-05 9.99949660e-01 -2.02585816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.13592 meters Centerline goodness : 0.999452 Centerline is valid? [True, True] Translation: X:167.95, Y:0.30, Z:-2.03 [[ 9.99886598e-01 -1.12301533e-02 -1.00336896e-02 1.67949563e+02] [ 1.12301401e-02 9.99936938e-01 -5.76608413e-05 3.03043683e-01] [ 1.00337044e-02 -5.50254374e-05 9.99949660e-01 -2.03465406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.16592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:167.98, Y:0.31, Z:-2.04 [[ 9.99874021e-01 -1.22990567e-02 -1.00336880e-02 1.67980789e+02] [ 1.22990402e-02 9.99924362e-01 -6.33538123e-05 3.06652625e-01] [ 1.00337083e-02 -6.00589007e-05 9.99949659e-01 -2.04038096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.19592 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:168.01, Y:0.31, Z:-2.03 [[ 9.99848368e-01 -1.42325827e-02 -1.00336972e-02 1.68009149e+02] [ 1.42332843e-02 9.99898702e-01 -1.48155043e-06 3.07279133e-01] [ 1.00327019e-02 -1.41331138e-04 9.99949661e-01 -2.02734020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.22592 meters Centerline goodness : 0.999005 Centerline is valid? [True, True] Translation: X:168.04, Y:0.31, Z:-2.02 [[ 9.99841271e-01 -1.47226924e-02 -1.00336788e-02 1.68037913e+02] [ 1.47229826e-02 9.99891610e-01 -4.49440143e-05 3.10247219e-01] [ 1.00332529e-02 -1.02788798e-04 9.99949660e-01 -2.02264078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.25592 meters Centerline goodness : 0.999004 Centerline is valid? [True, True] Translation: X:168.07, Y:0.31, Z:-2.02 [[ 9.99817317e-01 -1.62683399e-02 -1.00336773e-02 1.68066413e+02] [ 1.62686714e-02 9.99867655e-01 -4.85819827e-05 3.12177997e-01] [ 1.00331397e-02 -1.14661491e-04 9.99949660e-01 -2.02110667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.28592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:168.10, Y:0.32, Z:-2.03 [[ 9.99773074e-01 -1.87916557e-02 -1.00336688e-02 1.68097110e+02] [ 1.87918336e-02 9.99823415e-01 -7.65614905e-05 3.16449004e-01] [ 1.00333358e-02 -1.12006918e-04 9.99949659e-01 -2.03324605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.31592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.13, Y:0.32, Z:-2.04 [[ 9.99730009e-01 -2.09579251e-02 -1.00336774e-02 1.68127929e+02] [ 2.09585751e-02 9.99780344e-01 -4.03764792e-05 3.18836304e-01] [ 1.00323196e-02 -1.69926004e-04 9.99949661e-01 -2.03938358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.34592 meters Centerline goodness : 0.998707 Centerline is valid? [True, True] Translation: X:168.16, Y:0.32, Z:-2.02 [[ 9.99660865e-01 -2.40308290e-02 -1.00336872e-02 1.68155176e+02] [ 2.40320127e-02 9.99711189e-01 -2.60119735e-06 3.19288730e-01] [ 1.00308519e-02 -2.38529383e-04 9.99949661e-01 -2.02002041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.37592 meters Centerline goodness : 0.998806 Centerline is valid? [True, True] Translation: X:168.18, Y:0.32, Z:-2.02 [[ 9.99547960e-01 -2.83408089e-02 -1.00336239e-02 1.68183484e+02] [ 2.83411835e-02 9.99598302e-01 -1.04880103e-04 3.23252809e-01] [ 1.00325658e-02 -1.79532083e-04 9.99949656e-01 -2.02068220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.40592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:168.22, Y:0.33, Z:-2.04 [[ 9.99489931e-01 -3.03184012e-02 -1.00336120e-02 1.68216448e+02] [ 3.03186821e-02 9.99540275e-01 -1.24143133e-04 3.27478418e-01] [ 1.00327631e-02 -1.80126081e-04 9.99949654e-01 -2.03874080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.43592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:168.25, Y:0.33, Z:-2.04 [[ 9.99440496e-01 -3.19064526e-02 -1.00336526e-02 1.68245606e+02] [ 3.19080251e-02 9.99490809e-01 -3.36228868e-06 3.29265369e-01] [ 1.00286508e-02 -3.16793630e-04 9.99949662e-01 -2.03769649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.46592 meters Centerline goodness : 0.998805 Centerline is valid? [True, True] Translation: X:168.27, Y:0.33, Z:-2.02 [[ 9.99359520e-01 -3.43493166e-02 -1.00336520e-02 1.68273379e+02] [ 3.43510001e-02 9.99409830e-01 -4.55508138e-06 3.30876379e-01] [ 1.00278869e-02 -3.40113817e-04 9.99949662e-01 -2.02084892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.49592 meters Centerline goodness : 0.990890 Centerline is valid? [True, True] Translation: X:168.34, Y:0.34, Z:-2.04 [[ 9.98879882e-01 -4.62418549e-02 -1.00335812e-02 1.68342506e+02] [ 4.62433013e-02 9.98930202e-01 -8.79220761e-05 3.36405688e-01] [ 1.00269130e-02 -3.76162327e-04 9.99949658e-01 -2.03613652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.52592 meters Centerline goodness : 0.998408 Centerline is valid? [True, True] Translation: X:168.32, Y:0.32, Z:-2.02 [[ 9.98824032e-01 -4.74328813e-02 -1.00337192e-02 1.68324364e+02] [ 4.74516893e-02 9.98872180e-01 1.64466198e-03 3.23998360e-01] [ 9.94439193e-03 -2.11884484e-03 9.99948308e-01 -2.02311141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.55592000000001 meters Centerline goodness : 0.949925 Centerline is valid? [True, False] Translation: X:168.32, Y:0.33, Z:-2.02 [[ 9.99365038e-01 -3.53411104e-02 -4.53070819e-03 1.68319760e+02] [ 3.53132438e-02 9.99357739e-01 -6.08975576e-03 3.32801753e-01] [ 4.74301703e-03 5.92589499e-03 9.99971193e-01 -2.02294065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.58592000000002 meters Centerline goodness : 0.999304 Centerline is valid? [False, True] Translation: X:168.32, Y:0.34, Z:-2.02 [[ 9.99768621e-01 -2.15033742e-02 5.55621238e-04 1.68316702e+02] [ 2.15083975e-02 9.99700490e-01 -1.16756121e-02 3.39870984e-01] [-3.04389767e-04 1.16848611e-02 9.99931683e-01 -2.02383593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.61592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.35, Y:0.32, Z:-2.04 [[ 9.99725804e-01 -2.34006765e-02 8.51689221e-04 1.68350686e+02] [ 2.34008964e-02 9.99726130e-01 -2.49125508e-04 3.24490530e-01] [-8.45626264e-04 2.68987490e-04 9.99999606e-01 -2.03761736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.64592000000002 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:168.38, Y:0.32, Z:-2.03 [[ 9.99596741e-01 -2.83834243e-02 8.57728327e-04 1.68378357e+02] [ 2.83834544e-02 9.99597108e-01 -2.28966992e-05 3.19071597e-01] [-8.56732868e-04 4.72327588e-05 9.99999632e-01 -2.02965069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.67592000000002 meters Centerline goodness : 0.999303 Centerline is valid? [True, True] Translation: X:168.41, Y:0.31, Z:-2.02 [[ 9.99554348e-01 -2.98390695e-02 8.58024405e-04 1.68409252e+02] [ 2.98390906e-02 9.99554715e-01 -1.17829528e-05 3.13648511e-01] [-8.57290747e-04 3.73803697e-05 9.99999632e-01 -2.02168635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.70592000000002 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:168.44, Y:0.31, Z:-2.03 [[ 9.99444647e-01 -3.33115722e-02 8.57954833e-04 1.68438676e+02] [ 3.33115968e-02 9.99445015e-01 -1.43611715e-05 3.09857308e-01] [-8.57000288e-04 4.29330415e-05 9.99999632e-01 -2.02647343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.73592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:168.47, Y:0.30, Z:-2.04 [[ 9.99530761e-01 -3.06189674e-02 8.58144517e-04 1.68473056e+02] [ 3.06189851e-02 9.99531129e-01 -7.44562618e-06 3.01927206e-01] [-8.57514180e-04 3.37176465e-05 9.99999632e-01 -2.03746172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.76592 meters Centerline goodness : 0.998857 Centerline is valid? [True, True] Translation: X:168.50, Y:0.29, Z:-2.02 [[ 9.99394816e-01 -3.47745109e-02 8.57671978e-04 1.68500182e+02] [ 3.47745444e-02 9.99395182e-01 -2.41958001e-05 2.94647909e-01] [-8.56311845e-04 5.40063095e-05 9.99999632e-01 -2.02220390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.79592 meters Centerline goodness : 0.998756 Centerline is valid? [True, True] Translation: X:168.53, Y:0.29, Z:-2.02 [[ 9.99482898e-01 -3.21434289e-02 8.57900293e-04 1.68529329e+02] [ 3.21434545e-02 9.99483266e-01 -1.61277926e-05 2.87662793e-01] [-8.56938583e-04 4.36953319e-05 9.99999632e-01 -2.01932276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.82592 meters Centerline goodness : 0.999003 Centerline is valid? [True, True] Translation: X:168.56, Y:0.28, Z:-2.02 [[ 9.99448675e-01 -3.31905036e-02 8.58014673e-04 1.68561402e+02] [ 3.31905262e-02 9.99449043e-01 -1.20988979e-05 2.82171722e-01] [-8.57140375e-04 4.05701859e-05 9.99999632e-01 -2.01996028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.85592 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:168.59, Y:0.28, Z:-2.02 [[ 9.99434733e-01 -3.36077036e-02 8.57961528e-04 1.68593691e+02] [ 3.36077280e-02 9.99435101e-01 -1.39457657e-05 2.75828085e-01] [-8.57008181e-04 4.27720203e-05 9.99999632e-01 -2.02111829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.88592 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:168.62, Y:0.27, Z:-2.02 [[ 9.99520754e-01 -3.09439118e-02 8.57884972e-04 1.68623638e+02] [ 3.09439373e-02 9.99521122e-01 -1.65568697e-05 2.66596166e-01] [-8.56961815e-04 4.30952737e-05 9.99999632e-01 -2.01917489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.91592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.66, Y:0.26, Z:-2.04 [[ 9.99669263e-01 -2.57026869e-02 8.57976902e-04 1.68657477e+02] [ 2.57027079e-02 9.99669631e-01 -1.34764984e-05 2.59622207e-01] [-8.57347071e-04 3.55243709e-05 9.99999632e-01 -2.03823483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.94592 meters Centerline goodness : 0.998807 Centerline is valid? [True, True] Translation: X:168.68, Y:0.25, Z:-2.02 [[ 9.99664491e-01 -2.58876305e-02 8.57590531e-04 1.68683683e+02] [ 2.58876624e-02 9.99664858e-01 -2.61483615e-05 2.53709921e-01] [-8.56626197e-04 4.83406027e-05 9.99999632e-01 -2.01860075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.97592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:168.72, Y:0.25, Z:-2.04 [[ 9.99793867e-01 -2.02851446e-02 8.58023919e-04 1.68717688e+02] [ 2.02851623e-02 9.99794235e-01 -1.19355341e-05 2.51465246e-01] [-8.57605253e-04 2.93382283e-05 9.99999632e-01 -2.03866862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.00592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.75, Y:0.25, Z:-2.04 [[ 9.99929878e-01 -1.18111691e-02 8.57560253e-04 1.68749763e+02] [ 1.18111964e-02 9.99930245e-01 -2.67820794e-05 2.47454958e-01] [-8.57184106e-04 3.69090139e-05 9.99999632e-01 -2.03691597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.03592 meters Centerline goodness : 0.999253 Centerline is valid? [True, True] Translation: X:168.78, Y:0.24, Z:-2.02 [[ 9.99984168e-01 -5.56131594e-03 8.57557092e-04 1.68779279e+02] [ 5.56134104e-03 9.99984535e-01 -2.68829291e-05 2.42511570e-01] [-8.57394325e-04 3.16516709e-05 9.99999632e-01 -2.02199194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.06592 meters Centerline goodness : 0.999302 Centerline is valid? [True, True] Translation: X:168.81, Y:0.24, Z:-2.02 [[ 9.99997980e-01 -1.81763079e-03 8.57738432e-04 1.68809014e+02] [ 1.81764955e-03 9.99998348e-01 -2.10899321e-05 2.41025451e-01] [-8.57698681e-04 2.26489574e-05 9.99999632e-01 -2.02066316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.09592 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:168.84, Y:0.24, Z:-2.02 [[ 9.99998012e-01 1.79978678e-03 8.57985695e-04 1.68840555e+02] [-1.79977606e-03 9.99998380e-01 -1.32629035e-05 2.39081303e-01] [-8.58008176e-04 1.17186951e-05 9.99999632e-01 -2.02304878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.12592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:168.87, Y:0.24, Z:-2.04 [[ 9.99916696e-01 1.28788486e-02 8.57816498e-04 1.68872750e+02] [-1.28788374e-02 9.99917064e-01 -1.85144943e-05 2.40738434e-01] [-8.57983799e-04 7.46527275e-06 9.99999632e-01 -2.03854690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.15592 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:168.90, Y:0.24, Z:-2.02 [[ 9.99895012e-01 1.44647509e-02 8.57519208e-04 1.68901461e+02] [-1.44647324e-02 9.99895380e-01 -2.77133688e-05 2.41271834e-01] [-8.57830361e-04 1.53066733e-05 9.99999632e-01 -2.02300761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.18592 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:168.93, Y:0.24, Z:-2.02 [[ 9.99798933e-01 2.00339011e-02 8.57739584e-04 1.68932434e+02] [-2.00338905e-02 9.99799301e-01 -2.09103129e-05 2.43500818e-01] [-8.57986352e-04 3.72224762e-06 9.99999632e-01 -2.02132378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.21592 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:168.96, Y:0.24, Z:-2.02 [[ 9.99745653e-01 2.25365104e-02 8.57729605e-04 1.68962539e+02] [-2.25365005e-02 9.99746021e-01 -2.12176698e-05 2.43486285e-01] [-8.57989932e-04 1.88204941e-06 9.99999632e-01 -2.02189102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.24592 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:168.99, Y:0.24, Z:-2.02 [[ 9.99706948e-01 2.41925963e-02 8.57735811e-04 1.68993050e+02] [-2.41925871e-02 9.99707316e-01 -2.10278431e-05 2.42476462e-01] [-8.57993484e-04 2.70832518e-07 9.99999632e-01 -2.02457107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.27592 meters Centerline goodness : 0.998805 Centerline is valid? [True, True] Translation: X:169.02, Y:0.24, Z:-2.02 [[ 9.99763172e-01 2.17454519e-02 8.57623522e-04 1.69022798e+02] [-2.17454389e-02 9.99763540e-01 -2.44606073e-05 2.42406406e-01] [-8.57952635e-04 5.80541440e-06 9.99999632e-01 -2.02492823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.30592000000001 meters Centerline goodness : 0.998855 Centerline is valid? [True, True] Translation: X:169.05, Y:0.24, Z:-2.02 [[ 9.99787326e-01 2.06050289e-02 8.57661084e-04 1.69053108e+02] [-2.06050165e-02 9.99787694e-01 -2.33101921e-05 2.41570221e-01] [-8.57959305e-04 5.63311385e-06 9.99999632e-01 -2.02402582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.33592000000002 meters Centerline goodness : 0.999502 Centerline is valid? [True, True] Translation: X:169.08, Y:0.24, Z:-2.04 [[ 9.99816253e-01 1.91500553e-02 8.57613242e-04 1.69084723e+02] [-1.91500411e-02 9.99816621e-01 -2.47773537e-05 2.40426095e-01] [-8.57930462e-04 8.34947209e-06 9.99999632e-01 -2.03926709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.36592000000002 meters Centerline goodness : 0.998756 Centerline is valid? [True, True] Translation: X:169.11, Y:0.24, Z:-2.02 [[ 9.99885169e-01 1.51299002e-02 8.57507882e-04 1.69114471e+02] [-1.51298818e-02 9.99885536e-01 -2.80036359e-05 2.37653461e-01] [-8.57833420e-04 1.50264273e-05 9.99999632e-01 -2.02282105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.39592000000002 meters Centerline goodness : 0.994430 Centerline is valid? [True, True] Translation: X:169.17, Y:0.24, Z:-2.03 [[ 9.99984787e-01 5.44886906e-03 8.57715499e-04 1.69170088e+02] [-5.44885255e-03 9.99985155e-01 -2.15849304e-05 2.35245997e-01] [-8.57820380e-04 1.69110368e-05 9.99999632e-01 -2.03217446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.42592000000002 meters Centerline goodness : 0.947793 Centerline is valid? [True, False] Translation: X:169.17, Y:0.24, Z:-2.03 [[ 9.99998834e-01 1.35992001e-03 6.94315744e-04 1.69170527e+02] [-1.35668701e-03 9.99988334e-01 -4.63580035e-03 2.37294815e-01] [-7.00611961e-04 4.63485298e-03 9.99989014e-01 -2.03220780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.45592000000002 meters Centerline goodness : 0.998110 Centerline is valid? [False, True] Translation: X:169.17, Y:0.23, Z:-2.03 [[ 9.99999038e-01 1.21627325e-03 6.66974964e-04 1.69170562e+02] [-1.21353198e-03 9.99990879e-01 -4.09510826e-03 2.34454833e-01] [-6.71949651e-04 4.09429493e-03 9.99991393e-01 -2.03225297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.48592 meters Centerline goodness : 0.852493 Centerline is valid? [True, False] Translation: X:169.18, Y:0.23, Z:-2.04 [[ 9.99999632e-01 -8.29418234e-04 -2.18259802e-04 1.69175728e+02] [ 8.28054777e-04 9.99980594e-01 -6.17459851e-03 2.34738600e-01] [ 2.23376891e-04 6.17441551e-03 9.99980913e-01 -2.03662132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.51592 meters Centerline goodness : 0.998504 Centerline is valid? [False, True] Translation: X:169.18, Y:0.23, Z:-2.04 [[ 9.99999614e-01 -8.34242309e-04 -2.77169668e-04 1.69175933e+02] [ 8.32643975e-04 9.99983308e-01 -5.71754664e-03 2.32617904e-01] [ 2.81934861e-04 5.71731365e-03 9.99983616e-01 -2.03667939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.54592 meters Centerline goodness : 0.999005 Centerline is valid? [True, True] Translation: X:169.21, Y:0.22, Z:-2.06 [[ 9.99999458e-01 1.02982947e-03 -1.50472383e-04 1.69207282e+02] [-1.02984014e-03 9.99999467e-01 -7.08419101e-05 2.22714978e-01] [ 1.50399348e-04 7.09968342e-05 9.99999986e-01 -2.05594863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.57592 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:169.24, Y:0.22, Z:-2.05 [[ 9.99999477e-01 1.01224340e-03 -1.48786082e-04 1.69238033e+02] [-1.01224291e-03 9.99999488e-01 3.38036129e-06 2.20245174e-01] [ 1.48789428e-04 -3.22975187e-06 9.99999989e-01 -2.05448918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.60592 meters Centerline goodness : 0.876775 Centerline is valid? [True, False] Translation: X:169.24, Y:0.22, Z:-2.05 [[ 9.99995225e-01 -3.06351015e-03 -4.05529024e-04 1.69238775e+02] [ 3.06174871e-03 9.99986174e-01 -4.27517208e-03 2.20753856e-01] [ 4.18620451e-04 4.27391004e-03 9.99990779e-01 -2.05458069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.63592 meters Centerline goodness : 0.822940 Centerline is valid? [False, False] Translation: X:169.24, Y:0.22, Z:-2.05 [[ 9.99995257e-01 -3.04618926e-03 -4.54636491e-04 1.69238963e+02] [ 3.04442950e-03 9.99988060e-01 -3.82246591e-03 2.18818929e-01] [ 4.66275017e-04 3.82106367e-03 9.99992591e-01 -2.05479034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.66592 meters Centerline goodness : 0.993168 Centerline is valid? [False, True] Translation: X:169.26, Y:0.22, Z:-2.05 [[ 9.99993265e-01 1.68416487e-03 -3.26076861e-03 1.69262281e+02] [-1.71540908e-03 9.99952420e-01 -9.60288930e-03 2.22391140e-01] [ 3.24444061e-03 9.60841818e-03 9.99948575e-01 -2.05276424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.69592 meters Centerline goodness : 0.998308 Centerline is valid? [True, True] Translation: X:169.28, Y:0.19, Z:-2.04 [[ 9.98405428e-01 -5.63336703e-02 -3.62212730e-03 1.69281722e+02] [ 5.63360422e-02 9.98411709e-01 5.56086056e-04 1.86844744e-01] [ 3.58504794e-03 -7.59255652e-04 9.99993285e-01 -2.04411734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.72592 meters Centerline goodness : 0.998855 Centerline is valid? [True, True] Translation: X:169.31, Y:0.19, Z:-2.04 [[ 9.98459330e-01 -5.53718143e-02 -3.59569210e-03 1.69311750e+02] [ 5.53716258e-02 9.98465803e-01 -1.52020424e-04 1.87655477e-01] [ 3.59859324e-03 -4.73131062e-05 9.99993524e-01 -2.04304879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.75592 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:169.34, Y:0.19, Z:-2.06 [[ 9.98587193e-01 -5.30159518e-02 -3.59530167e-03 1.69343591e+02] [ 5.30157105e-02 9.98593665e-01 -1.62458028e-04 1.88906229e-01] [ 3.59885833e-03 -2.83789658e-05 9.99993524e-01 -2.05634170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.78592 meters Centerline goodness : 0.998555 Centerline is valid? [True, True] Translation: X:169.37, Y:0.19, Z:-2.04 [[ 9.98548260e-01 -5.37442025e-02 -3.59638333e-03 1.69372942e+02] [ 5.37440710e-02 9.98554734e-01 -1.33268226e-04 1.89358703e-01] [ 3.59834799e-03 -6.02095257e-05 9.99993524e-01 -2.04251058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.81592 meters Centerline goodness : 0.999451 Centerline is valid? [True, True] Translation: X:169.40, Y:0.19, Z:-2.05 [[ 9.98628585e-01 -5.22304550e-02 -3.59553043e-03 1.69404240e+02] [ 5.22302309e-02 9.98635058e-01 -1.56262714e-04 1.90884098e-01] [ 3.59878441e-03 -3.17469718e-05 9.99993524e-01 -2.05296473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.84592 meters Centerline goodness : 0.998853 Centerline is valid? [True, True] Translation: X:169.43, Y:0.19, Z:-2.04 [[ 9.98681843e-01 -5.12019825e-02 -3.59619589e-03 1.69433486e+02] [ 5.12018169e-02 9.98688317e-01 -1.38173890e-04 1.92788450e-01] [ 3.59855359e-03 -4.61400083e-05 9.99993524e-01 -2.04400674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.87592 meters Centerline goodness : 0.998854 Centerline is valid? [True, True] Translation: X:169.46, Y:0.20, Z:-2.05 [[ 9.98683049e-01 -5.11784573e-02 -3.59616702e-03 1.69463762e+02] [ 5.11782886e-02 9.98689523e-01 -1.38959874e-04 1.95523543e-01] [ 3.59856608e-03 -4.52688034e-05 9.99993524e-01 -2.04661872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.90592 meters Centerline goodness : 0.998854 Centerline is valid? [True, True] Translation: X:169.49, Y:0.20, Z:-2.05 [[ 9.98687343e-01 -5.10946345e-02 -3.59565349e-03 1.69492907e+02] [ 5.10944147e-02 9.98693816e-01 -1.53014420e-04 1.96635468e-01] [ 3.59877512e-03 -3.09042464e-05 9.99993524e-01 -2.04651334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.93592 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:169.52, Y:0.20, Z:-2.06 [[ 9.98777580e-01 -4.92992674e-02 -3.59565219e-03 1.69523980e+02] [ 4.92990359e-02 9.98784052e-01 -1.53050162e-04 2.00096158e-01] [ 3.59882532e-03 -2.43991156e-05 9.99993524e-01 -2.05565258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.96592 meters Centerline goodness : 0.999004 Centerline is valid? [True, True] Translation: X:169.55, Y:0.20, Z:-2.06 [[ 9.98773899e-01 -4.93737194e-02 -3.59646268e-03 1.69553852e+02] [ 4.93735686e-02 9.98780373e-01 -1.30757757e-04 2.04151058e-01] [ 3.59853234e-03 -4.69727625e-05 9.99993524e-01 -2.05625245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.99592 meters Centerline goodness : 0.998059 Centerline is valid? [True, True] Translation: X:169.58, Y:0.21, Z:-2.05 [[ 9.98653911e-01 -5.17439081e-02 -3.59645429e-03 1.69584066e+02] [ 5.17437718e-02 9.98660385e-01 -1.30988075e-04 2.07360368e-01] [ 3.59841427e-03 -5.52823566e-05 9.99993524e-01 -2.05407483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.02592 meters Centerline goodness : 0.709422 Centerline is valid? [True, False] Translation: X:169.58, Y:0.22, Z:-2.05 [[ 9.99293785e-01 -3.73800727e-02 -3.82904911e-03 1.69584412e+02] [ 3.73542379e-02 9.99280226e-01 -6.60990941e-03 2.17659694e-01] [ 4.07337196e-03 6.46221018e-03 9.99970823e-01 -2.05437500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.05592000000001 meters Centerline goodness : 0.998607 Centerline is valid? [False, True] Translation: X:169.58, Y:0.23, Z:-2.06 [[ 9.99734612e-01 -2.29474814e-02 -2.02963759e-03 1.69584290e+02] [ 2.29201555e-02 9.99657977e-01 -1.25934370e-02 2.26901304e-01] [ 2.31793107e-03 1.25435752e-02 9.99918640e-01 -2.05552869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.08592000000002 meters Centerline goodness : 0.998605 Centerline is valid? [True, True] Translation: X:169.61, Y:0.22, Z:-2.06 [[ 9.99667372e-01 -2.57052558e-02 -2.09394565e-03 1.69614411e+02] [ 2.57052898e-02 9.99669564e-01 -1.06741619e-05 2.16572194e-01] [ 2.09352811e-03 -4.31548682e-05 9.99997808e-01 -2.05666913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.11592000000002 meters Centerline goodness : 0.998456 Centerline is valid? [True, True] Translation: X:169.64, Y:0.22, Z:-2.06 [[ 9.99619056e-01 -2.75201589e-02 -2.09394497e-03 1.69644344e+02] [ 2.75201966e-02 9.99621248e-01 -1.08051762e-05 2.17605285e-01] [ 2.09344924e-03 -4.68247173e-05 9.99997808e-01 -2.05659390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.14592000000002 meters Centerline goodness : 0.998456 Centerline is valid? [True, True] Translation: X:169.67, Y:0.22, Z:-2.06 [[ 9.99527830e-01 -3.06550513e-02 -2.09394429e-03 1.69673625e+02] [ 3.06550957e-02 9.99530022e-01 -1.09360707e-05 2.19098139e-01] [ 2.09329542e-03 -5.32591554e-05 9.99997808e-01 -2.05582842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.17592000000002 meters Centerline goodness : 0.995914 Centerline is valid? [True, True] Translation: X:169.70, Y:0.22, Z:-2.04 [[ 9.99401534e-01 -3.45280995e-02 -2.09394360e-03 1.69703093e+02] [ 3.45281521e-02 9.99403726e-01 -1.10655377e-05 2.18655043e-01] [ 2.09307711e-03 -6.12410878e-05 9.99997808e-01 -2.04008388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.20592000000002 meters Centerline goodness : 0.998905 Centerline is valid? [True, True] Translation: X:169.73, Y:0.22, Z:-2.06 [[ 9.99388478e-01 -3.49039442e-02 -2.09391605e-03 1.69734308e+02] [ 3.49039869e-02 9.99390670e-01 -1.61680016e-05 2.20283588e-01] [ 2.09320449e-03 -5.69279038e-05 9.99997808e-01 -2.05668787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.23592 meters Centerline goodness : 0.998903 Centerline is valid? [True, True] Translation: X:169.76, Y:0.22, Z:-2.06 [[ 9.99342377e-01 -3.61998403e-02 -2.09394328e-03 1.69764724e+02] [ 3.61998967e-02 9.99344569e-01 -1.09706314e-05 2.21667259e-01] [ 2.09296798e-03 -6.48371136e-05 9.99997808e-01 -2.05697022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.26592 meters Centerline goodness : 0.998856 Centerline is valid? [True, True] Translation: X:169.79, Y:0.22, Z:-2.06 [[ 9.99209749e-01 -3.96924906e-02 -2.09394328e-03 1.69794733e+02] [ 3.96925546e-02 9.99211940e-01 -1.09706314e-05 2.23449623e-01] [ 2.09272858e-03 -7.21519961e-05 9.99997808e-01 -2.05721754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.29592 meters Centerline goodness : 0.997511 Centerline is valid? [True, True] Translation: X:169.83, Y:0.22, Z:-2.04 [[ 9.99053031e-01 -4.34586866e-02 -2.09394328e-03 1.69825552e+02] [ 4.34587589e-02 9.99055222e-01 -1.09706314e-05 2.21095194e-01] [ 2.09244173e-03 -8.00399335e-05 9.99997808e-01 -2.04281640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.32592 meters Centerline goodness : 0.997259 Centerline is valid? [True, True] Translation: X:169.85, Y:0.22, Z:-2.04 [[ 9.98844181e-01 -4.80199729e-02 -2.09402600e-03 1.69854221e+02] [ 4.80200895e-02 9.98846370e-01 5.41954378e-06 2.17200455e-01] [ 2.09135003e-03 -1.05968596e-04 9.99997808e-01 -2.04245756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.35592 meters Centerline goodness : 0.997653 Centerline is valid? [True, True] Translation: X:169.89, Y:0.22, Z:-2.04 [[ 9.98748803e-01 -4.99644221e-02 -2.09394987e-03 1.69885129e+02] [ 4.99645117e-02 9.98750994e-01 -9.53459272e-06 2.15385343e-01] [ 2.09181090e-03 -9.51005198e-05 9.99997808e-01 -2.04127525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.38592 meters Centerline goodness : 0.997449 Centerline is valid? [True, True] Translation: X:169.91, Y:0.21, Z:-2.04 [[ 9.98425161e-01 -5.60608016e-02 -2.09391162e-03 1.69914017e+02] [ 5.60608878e-02 9.98427352e-01 -1.75435810e-05 2.09091736e-01] [ 2.09160214e-03 -9.98705918e-05 9.99997808e-01 -2.03989297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.41592 meters Centerline goodness : 0.997511 Centerline is valid? [True, True] Translation: X:169.95, Y:0.21, Z:-2.04 [[ 9.98370391e-01 -5.70278744e-02 -2.09381785e-03 1.69945001e+02] [ 5.70279197e-02 9.98372583e-01 -3.81170402e-05 2.05748266e-01] [ 2.09258407e-03 -8.13511516e-05 9.99997807e-01 -2.04086837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.44592 meters Centerline goodness : 0.997064 Centerline is valid? [True, True] Translation: X:169.98, Y:0.20, Z:-2.04 [[ 9.98359658e-01 -5.72154703e-02 -2.09384224e-03 1.69977709e+02] [ 5.72155283e-02 9.98361849e-01 -3.22379981e-05 1.98286013e-01] [ 2.09225672e-03 -8.76151733e-05 9.99997807e-01 -2.03903478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.47592 meters Centerline goodness : 0.927746 Centerline is valid? [True, False] Translation: X:169.98, Y:0.20, Z:-2.04 [[ 9.98995922e-01 -4.47286908e-02 -2.54813863e-03 1.69978160e+02] [ 4.47092399e-02 9.98973823e-01 -7.23777412e-03 2.01856388e-01] [ 2.86925995e-03 7.11658149e-03 9.99970560e-01 -2.03951381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.50592 meters Centerline goodness : 0.937045 Centerline is valid? [False, False] Translation: X:169.98, Y:0.20, Z:-2.04 [[ 9.99512807e-01 -3.11918182e-02 1.10383640e-03 1.69975455e+02] [ 3.12033059e-02 9.99432867e-01 -1.26609204e-02 2.03620754e-01] [-7.08293252e-04 1.26891954e-02 9.99919238e-01 -2.04012784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.53592 meters Centerline goodness : 0.998506 Centerline is valid? [False, True] Translation: X:169.97, Y:0.20, Z:-2.04 [[ 9.99843485e-01 -1.72882364e-02 3.75784762e-03 1.69974404e+02] [ 1.73485465e-02 9.99710739e-01 -1.66572965e-02 1.98823780e-01] [-3.46878534e-03 1.67198826e-02 9.99854196e-01 -2.04156494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.56592 meters Centerline goodness : 0.998754 Centerline is valid? [True, True] Translation: X:170.01, Y:0.17, Z:-2.04 [[ 9.99849962e-01 -1.67468872e-02 4.42654597e-03 1.70005231e+02] [ 1.67478453e-02 9.99859729e-01 -1.79474871e-04 1.69911196e-01] [-4.42291941e-03 2.53583050e-04 9.99990187e-01 -2.04089565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.59592 meters Centerline goodness : 0.997659 Centerline is valid? [True, True] Translation: X:170.05, Y:0.16, Z:-2.04 [[ 9.99519291e-01 -3.06853886e-02 4.42652504e-03 1.70048303e+02] [ 3.06864851e-02 9.99529043e-01 -1.79989564e-04 1.58172867e-01] [-4.41891729e-03 3.15737536e-04 9.99990187e-01 -2.03645534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.62592 meters Centerline goodness : 0.996318 Centerline is valid? [True, True] Translation: X:170.06, Y:0.15, Z:-2.02 [[ 9.99749533e-01 -2.19401308e-02 4.41612039e-03 1.70058689e+02] [ 2.19423125e-02 9.99759139e-01 -4.46171844e-04 1.52748357e-01] [-4.40526765e-03 5.42959986e-04 9.99990149e-01 -2.02454425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.65592 meters Centerline goodness : 0.999299 Centerline is valid? [True, True] Translation: X:170.09, Y:0.13, Z:-2.05 [[ 9.99045336e-01 -4.34602759e-02 4.42964760e-03 1.70092159e+02] [ 4.34610401e-02 9.99055120e-01 -7.63648594e-05 1.34916229e-01] [-4.42214327e-03 2.68809048e-04 9.99990186e-01 -2.05429332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.68592 meters Centerline goodness : 0.993217 Centerline is valid? [True, True] Translation: X:170.17, Y:0.11, Z:-2.05 [[ 9.98962495e-01 -4.53249557e-02 4.42512088e-03 1.70171734e+02] [ 4.53262574e-02 9.98972218e-01 -1.94266154e-04 1.14593901e-01] [-4.41176771e-03 3.94638769e-04 9.99990190e-01 -2.04546764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.71592 meters Centerline goodness : 0.994073 Centerline is valid? [True, True] Translation: X:170.20, Y:0.11, Z:-2.04 [[ 9.99040471e-01 -4.35765728e-02 4.38394127e-03 1.70199391e+02] [ 4.35813020e-02 9.99049394e-01 -9.89044460e-04 1.09073663e-01] [-4.33667470e-03 1.17915331e-03 9.99989901e-01 -2.04050141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.74592 meters Centerline goodness : 0.997310 Centerline is valid? [True, True] Translation: X:170.19, Y:0.09, Z:-2.03 [[ 9.99239159e-01 -3.87537199e-02 4.38771187e-03 1.70190721e+02] [ 3.87565066e-02 9.99248532e-01 -5.51852930e-04 9.43456447e-02] [-4.36302829e-03 7.21485441e-04 9.99990222e-01 -2.02524797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.77592 meters Centerline goodness : 0.932438 Centerline is valid? [True, False] Translation: X:170.19, Y:0.09, Z:-2.03 [[ 9.99717966e-01 -2.22349909e-02 8.34224176e-03 1.70189819e+02] [ 2.22558140e-02 9.99749400e-01 -2.41160668e-03 9.25984389e-02] [-8.28652914e-03 2.59658990e-03 9.99962295e-01 -2.02692895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.80592000000001 meters Centerline goodness : 0.998657 Centerline is valid? [False, True] Translation: X:170.19, Y:0.10, Z:-2.03 [[ 9.99946160e-01 -5.97895252e-03 8.48107967e-03 1.70189788e+02] [ 6.03149715e-03 9.99962692e-01 -6.18352372e-03 9.64430366e-02] [-8.44379226e-03 6.23434441e-03 9.99944916e-01 -2.02675847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.83592000000002 meters Centerline goodness : 0.971555 Centerline is valid? [True, True] Translation: X:170.26, Y:0.11, Z:-2.06 [[ 9.97555953e-01 6.93385007e-02 8.61928624e-03 1.70264988e+02] [-6.93393655e-02 9.97593110e-01 -1.98825419e-04 1.05513993e-01] [-8.61232683e-03 -3.99316359e-04 9.99962833e-01 -2.06209924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.86592000000002 meters Centerline goodness : 0.900998 Centerline is valid? [True, False] Translation: X:170.27, Y:0.10, Z:-2.06 [[ 9.98322958e-01 5.78586658e-02 1.90963826e-03 1.70268628e+02] [-5.78722964e-02 9.98291241e-01 8.08679556e-03 9.54533438e-02] [-1.43848395e-03 -8.18374882e-03 9.99965478e-01 -2.06226309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.89592000000002 meters Centerline goodness : 0.902037 Centerline is valid? [False, False] Translation: X:170.27, Y:0.08, Z:-2.06 [[ 9.98716927e-01 5.03740807e-02 -5.19154473e-03 1.70271263e+02] [-5.02639917e-02 9.98545326e-01 1.95131701e-02 8.45949592e-02] [ 6.16695073e-03 -1.92271855e-02 9.99796121e-01 -2.06191487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.92592000000002 meters Centerline goodness : 0.996957 Centerline is valid? [False, True] Translation: X:170.27, Y:0.08, Z:-2.06 [[ 9.99342975e-01 3.62317846e-02 -9.35503898e-04 1.70267849e+02] [-3.61973552e-02 9.99035317e-01 2.48633758e-02 7.80349220e-02] [ 1.83544591e-03 -2.48131772e-02 9.99690421e-01 -2.06210178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.95592000000002 meters Centerline goodness : 0.998407 Centerline is valid? [True, True] Translation: X:170.30, Y:0.10, Z:-2.08 [[ 9.99220816e-01 3.94225505e-02 -1.90371315e-03 1.70300051e+02] [-3.94218501e-02 9.99222575e-01 4.04059629e-04 1.02759819e-01] [ 1.91816222e-03 -3.28696897e-04 9.99998106e-01 -2.07562711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.98592 meters Centerline goodness : 0.996616 Centerline is valid? [True, True] Translation: X:170.33, Y:0.11, Z:-2.06 [[ 9.99068709e-01 4.31049654e-02 -1.91723450e-03 1.70328254e+02] [-4.31049200e-02 9.99070549e-01 6.50077908e-05 1.05350531e-01] [ 1.91825468e-03 1.76949901e-05 9.99998160e-01 -2.06213140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.01592 meters Centerline goodness : 0.996563 Centerline is valid? [True, True] Translation: X:170.36, Y:0.11, Z:-2.06 [[ 9.98862927e-01 4.76358480e-02 -1.91795309e-03 1.70359037e+02] [-4.76358456e-02 9.98864768e-01 4.69784236e-05 1.10856273e-01] [ 1.91801362e-03 4.44383113e-05 9.99998160e-01 -2.06155112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.04592 meters Centerline goodness : 0.998805 Centerline is valid? [True, True] Translation: X:170.39, Y:0.11, Z:-2.08 [[ 9.98743468e-01 5.00780146e-02 -1.91764484e-03 1.70390943e+02] [-5.00780019e-02 9.98745308e-01 5.46383934e-05 1.11735766e-01] [ 1.91797497e-03 4.14620834e-05 9.99998160e-01 -2.07877513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.07592 meters Centerline goodness : 0.984517 Centerline is valid? [True, True] Translation: X:170.44, Y:0.09, Z:-2.08 [[ 9.99998105e-01 3.39751807e-04 -1.91673718e-03 1.70438910e+02] [-3.39604496e-04 9.99999939e-01 7.71798365e-05 9.35724240e-02] [ 1.91676328e-03 -7.65287577e-05 9.99998160e-01 -2.08434998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.10592 meters Centerline goodness : 0.997509 Centerline is valid? [True, True] Translation: X:170.45, Y:0.12, Z:-2.06 [[ 9.98899841e-01 4.68557837e-02 -1.90893594e-03 1.70448292e+02] [-4.68553591e-02 9.98901649e-01 2.66581777e-04 1.15764492e-01] [ 1.91933016e-03 -1.76844615e-04 9.99998142e-01 -2.06494669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.13592 meters Centerline goodness : 0.998158 Centerline is valid? [True, True] Translation: X:170.48, Y:0.12, Z:-2.07 [[ 9.98829468e-01 4.83323825e-02 -1.91672718e-03 1.70479172e+02] [-4.83323594e-02 9.98831307e-01 5.83748654e-05 1.22936844e-01] [ 1.91730851e-03 3.43334110e-05 9.99998161e-01 -2.07176413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.16592 meters Centerline goodness : 0.998106 Centerline is valid? [True, True] Translation: X:170.51, Y:0.13, Z:-2.07 [[ 9.98861182e-01 4.76724727e-02 -1.91675888e-03 1.70508638e+02] [-4.76724500e-02 9.98863021e-01 5.75318561e-05 1.26110617e-01] [ 1.91732225e-03 3.39102542e-05 9.99998161e-01 -2.06916165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.19592 meters Centerline goodness : 0.998753 Centerline is valid? [True, True] Translation: X:170.54, Y:0.13, Z:-2.07 [[ 9.98974514e-01 4.52354607e-02 -1.91658201e-03 1.70538113e+02] [-4.52354245e-02 9.98976352e-01 6.22543611e-05 1.33220540e-01] [ 1.91743621e-03 2.45068805e-05 9.99998161e-01 -2.07334697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.22592 meters Centerline goodness : 0.998408 Centerline is valid? [True, True] Translation: X:170.57, Y:0.14, Z:-2.06 [[ 9.99088744e-01 4.26380942e-02 -1.91684284e-03 1.70567484e+02] [-4.26380666e-02 9.99090583e-01 5.52713355e-05 1.35218835e-01] [ 1.91745630e-03 2.65095036e-05 9.99998161e-01 -2.06172837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.25592 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:170.60, Y:0.14, Z:-2.07 [[ 9.99275816e-01 3.80022221e-02 -1.91684908e-03 1.70596797e+02] [-3.80021863e-02 9.99277655e-01 5.51043389e-05 1.40310365e-01] [ 1.91755854e-03 1.77800225e-05 9.99998161e-01 -2.07143563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.28592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:170.63, Y:0.14, Z:-2.07 [[ 9.99369917e-01 3.54414091e-02 -1.91706531e-03 1.70625713e+02] [-3.54413797e-02 9.99371756e-01 4.93095795e-05 1.41999821e-01] [ 1.91760852e-03 1.86649292e-05 9.99998161e-01 -2.07213198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.31592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.66, Y:0.15, Z:-2.07 [[ 9.99535266e-01 3.04232942e-02 -1.91719801e-03 1.70655171e+02] [-3.04232624e-02 9.99537104e-01 4.57824491e-05 1.47249586e-01] [ 1.91770340e-03 1.25662456e-05 9.99998161e-01 -2.07200858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.34592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.68, Y:0.15, Z:-2.07 [[ 9.99577267e-01 2.90105411e-02 -1.91733457e-03 1.70684071e+02] [-2.90105136e-02 9.99579106e-01 4.21671746e-05 1.50618014e-01] [ 1.91775087e-03 1.34735115e-05 9.99998161e-01 -2.07416871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.37592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.71, Y:0.16, Z:-2.07 [[ 9.99653233e-01 2.62628763e-02 -1.91722844e-03 1.70712796e+02] [-2.62628383e-02 9.99655071e-01 4.49487447e-05 1.56346213e-01] [ 1.91774762e-03 5.41870272e-06 9.99998161e-01 -2.07295858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.40592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.74, Y:0.16, Z:-2.07 [[ 9.99722472e-01 2.34798606e-02 -1.91718539e-03 1.70741256e+02] [-2.34798154e-02 9.99724310e-01 4.60698909e-05 1.55871658e-01] [ 1.91773856e-03 -1.04194616e-06 9.99998161e-01 -2.07316083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.43592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:170.77, Y:0.15, Z:-2.06 [[ 9.99725184e-01 2.33640820e-02 -1.91734949e-03 1.70773481e+02] [-2.33640449e-02 9.99727023e-01 4.17703838e-05 1.54734905e-01] [ 1.91780203e-03 3.03813490e-06 9.99998161e-01 -2.06485600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.46592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:170.80, Y:0.15, Z:-2.07 [[ 9.99830515e-01 1.83103740e-02 -1.91609843e-03 1.70801504e+02] [-1.83102652e-02 9.99832350e-01 7.43145981e-05 1.54686085e-01] [ 1.91713793e-03 -3.92177325e-05 9.99998162e-01 -2.07014945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.49592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:170.84, Y:0.16, Z:-2.07 [[ 9.99818551e-01 1.89522692e-02 -1.91727765e-03 1.70835390e+02] [-1.89522200e-02 9.99820390e-01 4.38604711e-05 1.57259287e-01] [ 1.91776454e-03 -7.51584489e-06 9.99998161e-01 -2.06642211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.52592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.86, Y:0.16, Z:-2.07 [[ 9.99893762e-01 1.44497778e-02 -1.91555943e-03 1.70863841e+02] [-1.44496360e-02 9.99895595e-01 8.78764267e-05 1.56622340e-01] [ 1.91662923e-03 -6.01879544e-05 9.99998161e-01 -2.06816931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.55592000000001 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:170.89, Y:0.15, Z:-2.07 [[ 9.99935434e-01 1.12005803e-02 -1.91686793e-03 1.70892982e+02] [-1.12004964e-02 9.99937271e-01 5.44815306e-05 1.54447175e-01] [ 1.91735791e-03 -3.30081406e-05 9.99998161e-01 -2.07446452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.58592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.92, Y:0.15, Z:-2.07 [[ 9.99967081e-01 7.88425049e-03 -1.91701164e-03 1.70921360e+02] [-7.88416752e-03 9.99968918e-01 5.08327916e-05 1.51441392e-01] [ 1.91735283e-03 -3.57170774e-05 9.99998161e-01 -2.07492742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.61592000000002 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:170.95, Y:0.15, Z:-2.07 [[ 9.99961823e-01 8.52511783e-03 -1.91695554e-03 1.70952718e+02] [-8.52503332e-03 9.99963660e-01 5.22549017e-05 1.47133718e-01] [ 1.91733136e-03 -3.59107970e-05 9.99998161e-01 -2.06514317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.64592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.98, Y:0.14, Z:-2.07 [[ 9.99981751e-01 5.72941645e-03 -1.91630061e-03 1.70981298e+02] [-5.72929522e-03 9.99983585e-01 6.87469050e-05 1.44184054e-01] [ 1.91666303e-03 -5.77665985e-05 9.99998162e-01 -2.07084575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.67592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.01, Y:0.14, Z:-2.07 [[ 9.99981436e-01 5.78403040e-03 -1.91644068e-03 1.71009913e+02] [-5.78391604e-03 9.99983271e-01 6.52119299e-05 1.41653036e-01] [ 1.91678581e-03 -5.41261873e-05 9.99998161e-01 -2.07097698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.70592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.04, Y:0.14, Z:-2.07 [[ 9.99984687e-01 5.19164537e-03 -1.91637782e-03 1.71038382e+02] [-5.19152688e-03 9.99986522e-01 6.68011276e-05 1.38757204e-01] [ 1.91669879e-03 -5.68511778e-05 9.99998162e-01 -2.07265407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.73592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:171.07, Y:0.14, Z:-2.07 [[ 9.99974681e-01 6.85308459e-03 -1.91640802e-03 1.71066883e+02] [-6.85297062e-03 9.99976516e-01 6.60321840e-05 1.36449568e-01] [ 1.91681554e-03 -5.28974243e-05 9.99998162e-01 -2.07221916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.76592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:171.10, Y:0.14, Z:-2.07 [[ 9.99974707e-01 6.84928539e-03 -1.91629487e-03 1.71096021e+02] [-6.84916586e-03 9.99976542e-01 6.89284289e-05 1.35304489e-01] [ 1.91672203e-03 -5.58016641e-05 9.99998162e-01 -2.07216328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.79592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.13, Y:0.13, Z:-2.06 [[ 9.99882277e-01 1.52236731e-02 -1.91629297e-03 1.71127625e+02] [-1.52235688e-02 9.99884112e-01 6.89772140e-05 1.30570023e-01] [ 1.91712098e-03 -3.97962758e-05 9.99998162e-01 -2.06454409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.82592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.16, Y:0.13, Z:-2.07 [[ 9.99891122e-01 1.46313756e-02 -1.91503198e-03 1.71156173e+02] [-1.46312082e-02 9.99892953e-01 1.01385586e-04 1.28557380e-01] [ 1.91631039e-03 -7.33553153e-05 9.99998161e-01 -2.07282771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.85592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.18, Y:0.13, Z:-2.07 [[ 9.99836694e-01 1.79698290e-02 -1.91593854e-03 1.71184591e+02] [-1.79697129e-02 9.99838529e-01 7.78133723e-05 1.27891685e-01] [ 1.91702747e-03 -4.33717994e-05 9.99998162e-01 -2.07290620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.88592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.21, Y:0.13, Z:-2.07 [[ 9.99808314e-01 1.94849908e-02 -1.91593047e-03 1.71213869e+02] [-1.94848771e-02 9.99810149e-01 7.80245970e-05 1.26350333e-01] [ 1.91708704e-03 -4.06779710e-05 9.99998162e-01 -2.07292380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.91592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.24, Y:0.12, Z:-2.07 [[ 9.99796162e-01 2.00988698e-02 -1.91576868e-03 1.71242815e+02] [-2.00987490e-02 9.99797996e-01 8.23170710e-05 1.23303883e-01] [ 1.91703617e-03 -4.37957378e-05 9.99998162e-01 -2.07240614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.94592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.27, Y:0.12, Z:-2.07 [[ 9.99775749e-01 2.10898177e-02 -1.91584917e-03 1.71271178e+02] [-2.10897028e-02 9.99777584e-01 8.01499086e-05 1.21717300e-01] [ 1.91711340e-03 -3.97272452e-05 9.99998162e-01 -2.07347933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.97592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:171.30, Y:0.12, Z:-2.07 [[ 9.99707537e-01 2.41074826e-02 -1.91583576e-03 1.71299714e+02] [-2.41073725e-02 9.99709372e-01 8.05141271e-05 1.20723059e-01] [ 1.91721996e-03 -3.43048132e-05 9.99998162e-01 -2.07368182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.00592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:171.33, Y:0.12, Z:-2.07 [[ 9.99678719e-01 2.52742801e-02 -1.91574307e-03 1.71329836e+02] [-2.52741673e-02 9.99680554e-01 8.30603985e-05 1.19521796e-01] [ 1.91723039e-03 -3.46149018e-05 9.99998162e-01 -2.07450474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.03592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.36, Y:0.12, Z:-2.07 [[ 9.99560500e-01 2.95827254e-02 -1.91565663e-03 1.71358823e+02] [-2.95826159e-02 9.99562335e-01 8.54659888e-05 1.20160804e-01] [ 1.91734654e-03 -2.87582920e-05 9.99998161e-01 -2.07491023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.06592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:171.39, Y:0.12, Z:-2.07 [[ 9.99506265e-01 3.13617068e-02 -1.91558762e-03 1.71387116e+02] [-3.13615969e-02 9.99508100e-01 8.74124448e-05 1.21163140e-01] [ 1.91738675e-03 -2.72933994e-05 9.99998161e-01 -2.07454436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.09592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.42, Y:0.12, Z:-2.07 [[ 9.99397843e-01 3.46450687e-02 -1.91564556e-03 1.71416962e+02] [-3.46449680e-02 9.99399679e-01 8.57425597e-05 1.24933230e-01] [ 1.91746612e-03 -1.93234502e-05 9.99998161e-01 -2.07489936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.12592 meters Centerline goodness : 0.998904 Centerline is valid? [True, True] Translation: X:171.45, Y:0.12, Z:-2.06 [[ 9.99342554e-01 3.62048371e-02 -1.91544144e-03 1.71447912e+02] [-3.62047278e-02 9.99344390e-01 9.16850322e-05 1.24973638e-01] [ 1.91750509e-03 -2.22767183e-05 9.99998161e-01 -2.06081575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.15592 meters Centerline goodness : 0.999451 Centerline is valid? [True, True] Translation: X:171.48, Y:0.13, Z:-2.06 [[ 9.99346683e-01 3.60906972e-02 -1.91533267e-03 1.71476409e+02] [-3.60905817e-02 9.99348518e-01 9.48809301e-05 1.27113703e-01] [ 1.91750918e-03 -2.56934727e-05 9.99998161e-01 -2.06166970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.18592 meters Centerline goodness : 0.999252 Centerline is valid? [True, True] Translation: X:171.51, Y:0.13, Z:-2.06 [[ 9.99369373e-01 3.54568420e-02 -1.91542385e-03 1.71505539e+02] [-3.54567306e-02 9.99371208e-01 9.21116676e-05 1.29341679e-01] [ 1.91748543e-03 -2.41389123e-05 9.99998161e-01 -2.06025097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.21592 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:171.54, Y:0.14, Z:-2.06 [[ 9.99430669e-01 3.36848271e-02 -1.91555314e-03 1.71536857e+02] [-3.36847200e-02 9.99432505e-01 8.81276141e-05 1.35691327e-01] [ 1.91743464e-03 -2.35525691e-05 9.99998161e-01 -2.06111606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.24592 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:171.56, Y:0.14, Z:-2.06 [[ 9.99423837e-01 3.38869781e-02 -1.91482575e-03 1.71564939e+02] [-3.38868278e-02 9.99425670e-01 1.10900719e-04 1.37350037e-01] [ 1.91748410e-03 -4.59494515e-05 9.99998161e-01 -2.05969300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.27592 meters Centerline goodness : 0.993876 Centerline is valid? [True, True] Translation: X:171.62, Y:0.14, Z:-2.07 [[ 9.99735749e-01 2.29076963e-02 -1.91537863e-03 1.71623408e+02] [-2.29075596e-02 9.99737583e-01 9.33241826e-05 1.44902954e-01] [ 1.91701384e-03 -4.94228717e-05 9.99998161e-01 -2.07179665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.30592000000001 meters Centerline goodness : 0.992481 Centerline is valid? [True, True] Translation: X:171.66, Y:0.14, Z:-2.08 [[ 9.99965570e-01 8.07973685e-03 -1.89127870e-03 1.71662574e+02] [-8.07892536e-03 9.99967270e-01 4.36317792e-04 1.44908576e-01] [ 1.89474213e-03 -4.21023270e-04 9.99998116e-01 -2.07813525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.33592000000002 meters Centerline goodness : 0.997659 Centerline is valid? [True, True] Translation: X:171.66, Y:0.15, Z:-2.07 [[ 9.99900118e-01 1.40063464e-02 -1.89089951e-03 1.71663035e+02] [-1.40055301e-02 9.99901819e-01 4.44251372e-04 1.46693672e-01] [ 1.89693619e-03 -4.17723949e-04 9.99998114e-01 -2.06566499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.36592000000002 meters Centerline goodness : 0.993132 Centerline is valid? [True, True] Translation: X:171.72, Y:0.14, Z:-2.08 [[ 9.99986325e-01 -4.87274691e-03 -1.89882693e-03 1.71716855e+02] [ 4.87323450e-03 9.99988094e-01 2.52242034e-04 1.44694870e-01] [ 1.89757521e-03 -2.61492014e-04 9.99998165e-01 -2.07619364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.39592000000002 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:171.70, Y:0.14, Z:-2.08 [[ 9.99957501e-01 -9.02183344e-03 -1.89829676e-03 1.71702389e+02] [ 9.02246645e-03 9.99959244e-01 3.25162392e-04 1.36640784e-01] [ 1.89528583e-03 -3.42275892e-04 9.99998145e-01 -2.07873712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.42592000000002 meters Centerline goodness : 0.999253 Centerline is valid? [True, True] Translation: X:171.73, Y:0.14, Z:-2.06 [[ 9.99935789e-01 -1.11720853e-02 -1.89821683e-03 1.71731119e+02] [ 1.11721045e-02 9.99937590e-01 -4.66554748e-07 1.38659847e-01] [ 1.89810357e-03 -2.07405520e-05 9.99998198e-01 -2.05879630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.45592000000002 meters Centerline goodness : 0.999347 Centerline is valid? [True, True] Translation: X:171.76, Y:0.14, Z:-2.06 [[ 9.99919297e-01 -1.25617279e-02 -1.89821337e-03 1.71760934e+02] [ 1.25617278e-02 9.99921098e-01 -1.19994146e-05 1.41502743e-01] [ 1.89821433e-03 -1.18463933e-05 9.99998198e-01 -2.05999583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.48592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.79, Y:0.14, Z:-2.08 [[ 9.99915106e-01 -1.28909836e-02 -1.89821377e-03 1.71791494e+02] [ 1.28909911e-02 9.99916908e-01 -8.27798262e-06 1.43627997e-01] [ 1.89816275e-03 -1.61925768e-05 9.99998198e-01 -2.07986968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.51592 meters Centerline goodness : 0.999502 Centerline is valid? [True, True] Translation: X:171.82, Y:0.15, Z:-2.07 [[ 9.99923424e-01 -1.22288053e-02 -1.89821389e-03 1.71822126e+02] [ 1.22288272e-02 9.99925225e-01 -2.88798612e-08 1.47108557e-01] [ 1.89807231e-03 -2.31840521e-05 9.99998198e-01 -2.06621679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.54592 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:171.85, Y:0.15, Z:-2.06 [[ 9.99891443e-01 -1.46116347e-02 -1.89821432e-03 1.71851451e+02] [ 1.46116766e-02 9.99893244e-01 8.21526875e-06 1.47941940e-01] [ 1.89789163e-03 -3.59504707e-05 9.99998198e-01 -2.06208664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.57592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.88, Y:0.15, Z:-2.08 [[ 9.99896163e-01 -1.42849410e-02 -1.89822025e-03 1.71882835e+02] [ 1.42849360e-02 9.99897965e-01 -1.61684631e-05 1.49103042e-01] [ 1.89825753e-03 -1.09491706e-05 9.99998198e-01 -2.07656393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.60592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:171.91, Y:0.15, Z:-2.07 [[ 9.99933091e-01 -1.14109681e-02 -1.89821500e-03 1.71913546e+02] [ 1.14109749e-02 9.99934893e-01 -7.27030952e-06 1.51750281e-01] [ 1.89817437e-03 -1.43906606e-05 9.99998198e-01 -2.06703892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.63592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.94, Y:0.16, Z:-2.08 [[ 9.99964332e-01 -8.22996834e-03 -1.89820762e-03 1.71943423e+02] [ 8.22999301e-03 9.99966133e-01 5.18358493e-06 1.57877521e-01] [ 1.89810067e-03 -2.08056355e-05 9.99998198e-01 -2.08085295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.66592 meters Centerline goodness : 0.999253 Centerline is valid? [True, True] Translation: X:171.97, Y:0.16, Z:-2.07 [[ 9.99982278e-01 -5.64270914e-03 -1.89820945e-03 1.71974552e+02] [ 5.64272080e-03 9.99984080e-01 7.88105340e-07 1.59703863e-01] [ 1.89817478e-03 -1.14991573e-05 9.99998198e-01 -2.06670932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.69592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:172.00, Y:0.16, Z:-2.08 [[ 9.99988838e-01 -4.32679572e-03 -1.89820662e-03 1.72004214e+02] [ 4.32681638e-03 9.99990639e-01 6.77545168e-06 1.61221661e-01] [ 1.89815954e-03 -1.49885676e-05 9.99998198e-01 -2.08086570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.72592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:172.03, Y:0.17, Z:-2.08 [[ 9.99996422e-01 -1.88501979e-03 -1.89820890e-03 1.72032596e+02] [ 1.88502454e-03 9.99998223e-01 7.12796761e-07 1.65304804e-01] [ 1.89820419e-03 -4.29096457e-06 9.99998198e-01 -2.08089483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.75592 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:172.06, Y:0.17, Z:-2.06 [[ 9.99995705e-01 -2.23322578e-03 -1.89820884e-03 1.72061241e+02] [ 2.23322956e-03 9.99997506e-01 -1.30369558e-07 1.68194501e-01] [ 1.89820440e-03 -4.10876709e-06 9.99998198e-01 -2.06296571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.78592 meters Centerline goodness : 0.892688 Centerline is valid? [True, False] Translation: X:172.08, Y:0.18, Z:-2.06 [[ 9.99953029e-01 -4.97809491e-03 -8.31615949e-03 1.72083910e+02] [ 4.86507810e-03 9.99896285e-01 -1.35554192e-02 1.84474665e-01] [ 8.38277715e-03 1.35143237e-02 9.99873538e-01 -2.05862039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.81592 meters Centerline goodness : 0.999004 Centerline is valid? [False, True] Translation: X:172.09, Y:0.18, Z:-2.06 [[ 9.99953075e-01 -3.08075465e-03 -9.18459304e-03 1.72089050e+02] [ 2.97310279e-03 9.99926997e-01 -1.17116201e-02 1.84455326e-01] [ 9.22000316e-03 1.16837638e-02 9.99889234e-01 -2.06300298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.84592 meters Centerline goodness : 0.999252 Centerline is valid? [True, True] Translation: X:172.12, Y:0.18, Z:-2.06 [[ 9.99946395e-01 -4.74120945e-03 -9.20482030e-03 1.72118637e+02] [ 4.73972828e-03 9.99988751e-01 -1.82721068e-04 1.77244580e-01] [ 9.20558307e-03 1.39082926e-04 9.99957618e-01 -2.06487238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.87592 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:172.15, Y:0.18, Z:-2.06 [[ 9.99939624e-01 -6.00138236e-03 -9.20495419e-03 1.72146807e+02] [ 6.00072084e-03 9.99981991e-01 -9.94827801e-05 1.78815494e-01] [ 9.20538545e-03 4.42404134e-05 9.99957629e-01 -2.06363398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.90592 meters Centerline goodness : 0.999502 Centerline is valid? [True, True] Translation: X:172.18, Y:0.18, Z:-2.07 [[ 9.99922889e-01 -8.33580823e-03 -9.20492781e-03 1.72175353e+02] [ 8.33510003e-03 9.99965256e-01 -1.15297930e-04 1.79944320e-01] [ 9.20556910e-03 3.85650448e-05 9.99957627e-01 -2.06632609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.93592 meters Centerline goodness : 0.998853 Centerline is valid? [True, True] Translation: X:172.20, Y:0.18, Z:-2.06 [[ 9.99915156e-01 -9.21688311e-03 -9.20492348e-03 1.72203799e+02] [ 9.21618390e-03 9.99957523e-01 -1.18376326e-04 1.81179122e-01] [ 9.20562354e-03 3.35320145e-05 9.99957627e-01 -2.06303921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.96592 meters Centerline goodness : 0.999253 Centerline is valid? [True, True] Translation: X:172.23, Y:0.18, Z:-2.07 [[ 9.99895965e-01 -1.11053313e-02 -9.20494010e-03 1.72232334e+02] [ 1.11048226e-02 9.99938334e-01 -1.06375223e-04 1.83765907e-01] [ 9.20555380e-03 4.14492898e-06 9.99957628e-01 -2.06705803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.99592 meters Centerline goodness : 0.998805 Centerline is valid? [True, True] Translation: X:172.26, Y:0.18, Z:-2.07 [[ 9.99888141e-01 -1.17886919e-02 -9.20496002e-03 1.72260509e+02] [ 1.17883288e-02 9.99930511e-01 -9.37060816e-05 1.84117450e-01] [ 9.20542505e-03 -1.48154957e-05 9.99957629e-01 -2.06588698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.02592 meters Centerline goodness : 0.998804 Centerline is valid? [True, True] Translation: X:172.29, Y:0.18, Z:-2.06 [[ 9.99921555e-01 -8.49423925e-03 -9.20496258e-03 1.72288962e+02] [ 8.49375472e-03 9.99963923e-01 -9.17305627e-05 1.84836733e-01] [ 9.20540968e-03 1.35386725e-05 9.99957629e-01 -2.06318078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.05592000000001 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] Translation: X:172.32, Y:0.19, Z:-2.06 [[ 9.99949116e-01 -4.12720381e-03 -9.20494929e-03 1.72319881e+02] [ 4.12645830e-03 9.99991481e-01 -9.99814360e-05 1.89892461e-01] [ 9.20528352e-03 6.19925092e-05 9.99957629e-01 -2.06354296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.08592000000002 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:172.35, Y:0.19, Z:-2.08 [[ 9.99957485e-01 5.43877729e-04 -9.20500194e-03 1.72350955e+02] [-5.44490324e-04 9.99999850e-01 -6.40443381e-05 1.92829612e-01] [ 9.20496573e-03 6.90536498e-05 9.99957631e-01 -2.08044719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.11592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.38, Y:0.19, Z:-2.08 [[ 9.99951211e-01 3.58374276e-03 -9.20506825e-03 1.72379800e+02] [-3.58400181e-03 9.99993577e-01 -1.16463503e-05 1.94281127e-01] [ 9.20496739e-03 4.46367633e-05 9.99957632e-01 -2.08049272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.14592000000002 meters Centerline goodness : 0.998904 Centerline is valid? [True, True] Translation: X:172.41, Y:0.20, Z:-2.06 [[ 9.99954565e-01 2.47692268e-03 -9.20506123e-03 1.72408017e+02] [-2.47717258e-03 9.99996932e-01 -1.57469000e-05 1.95488480e-01] [ 9.20499399e-03 3.85487098e-05 9.99957632e-01 -2.06443878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.17592000000002 meters Centerline goodness : 0.998406 Centerline is valid? [True, True] Translation: X:172.44, Y:0.20, Z:-2.06 [[ 9.99952664e-01 3.15257230e-03 -9.20492500e-03 1.72436776e+02] [-3.15344435e-03 9.99995025e-01 -8.02253738e-05 1.97912144e-01] [ 9.20462628e-03 1.09248795e-04 9.99957631e-01 -2.06249077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.20592000000002 meters Centerline goodness : 0.998555 Centerline is valid? [True, True] Translation: X:172.47, Y:0.20, Z:-2.06 [[ 9.99953156e-01 2.99226702e-03 -9.20495339e-03 1.72465345e+02] [-2.99300942e-03 9.99995519e-01 -6.68781246e-05 2.02206831e-01] [ 9.20471202e-03 9.44255040e-05 9.99957631e-01 -2.06112470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.23592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:172.50, Y:0.20, Z:-2.07 [[ 9.99957437e-01 6.27525220e-04 -9.20494927e-03 1.72495123e+02] [-6.28183294e-04 9.99999800e-01 -6.86002188e-05 2.02468955e-01] [ 9.20490438e-03 7.43796943e-05 9.99957631e-01 -2.06948055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.26592 meters Centerline goodness : 0.998855 Centerline is valid? [True, True] Translation: X:172.52, Y:0.20, Z:-2.06 [[ 9.99957341e-01 -7.64625560e-04 -9.20492654e-03 1.72524902e+02] [ 7.63941505e-04 9.99999705e-01 -7.78298628e-05 2.03503387e-01] [ 9.20498334e-03 7.07945172e-05 9.99957631e-01 -2.06035483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.29592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.55, Y:0.20, Z:-2.07 [[ 9.99955354e-01 -2.13517751e-03 -9.20497592e-03 1.72554981e+02] [ 2.13472892e-03 9.99997720e-01 -5.85590104e-05 2.04581628e-01] [ 9.20507996e-03 3.89062677e-05 9.99957632e-01 -2.07158630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.32592 meters Centerline goodness : 0.999402 Centerline is valid? [True, True] Translation: X:172.59, Y:0.21, Z:-2.06 [[ 9.99949690e-01 -3.98584607e-03 -9.20496237e-03 1.72585019e+02] [ 3.98543092e-03 9.99992056e-01 -6.34436157e-05 2.08515611e-01] [ 9.20514212e-03 2.67546822e-05 9.99957631e-01 -2.06064518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.35592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:172.62, Y:0.21, Z:-2.06 [[ 9.99951383e-01 -3.53563333e-03 -9.20492055e-03 1.72615560e+02] [ 3.53506499e-03 9.99993749e-01 -7.80132731e-05 2.09881769e-01] [ 9.20513883e-03 4.54694880e-05 9.99957631e-01 -2.06013340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.38592 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:172.64, Y:0.21, Z:-2.06 [[ 9.99936962e-01 -6.42965615e-03 -9.20497973e-03 1.72644102e+02] [ 6.42941975e-03 9.99979330e-01 -5.52738778e-05 2.10874601e-01] [ 9.20514485e-03 -3.91228507e-06 9.99957632e-01 -2.06013110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.41592 meters Centerline goodness : 0.998505 Centerline is valid? [True, True] Translation: X:172.68, Y:0.21, Z:-2.06 [[ 9.99940796e-01 -5.80311137e-03 -9.20485222e-03 1.72675810e+02] [ 5.80239883e-03 9.99983161e-01 -1.04113310e-04 2.12044407e-01] [ 9.20530140e-03 5.06969227e-05 9.99957629e-01 -2.05799903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.44592 meters Centerline goodness : 0.998954 Centerline is valid? [True, True] Translation: X:172.71, Y:0.21, Z:-2.06 [[ 9.99926905e-01 -7.83922745e-03 -9.20495707e-03 1.72705803e+02] [ 7.83899325e-03 9.99969273e-01 -6.15221200e-05 2.13216820e-01] [ 9.20515651e-03 -1.06399734e-05 9.99957632e-01 -2.06030264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.47592 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:172.74, Y:0.21, Z:-2.06 [[ 9.99907084e-01 -1.00544268e-02 -9.20497025e-03 1.72735604e+02] [ 1.00543353e-02 9.99949452e-01 -5.62168691e-05 2.13278414e-01] [ 9.20507019e-03 -3.63382118e-05 9.99957632e-01 -2.06022005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.50592 meters Centerline goodness : 0.999004 Centerline is valid? [True, True] Translation: X:172.76, Y:0.21, Z:-2.06 [[ 9.99894067e-01 -1.12749209e-02 -9.20491579e-03 1.72764365e+02] [ 1.12746712e-02 9.99936436e-01 -7.90206607e-05 2.13355211e-01] [ 9.20522164e-03 -2.47701089e-05 9.99957631e-01 -2.05769716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.53592 meters Centerline goodness : 0.999303 Centerline is valid? [True, True] Translation: X:172.79, Y:0.21, Z:-2.06 [[ 9.99892676e-01 -1.13976671e-02 -9.20486093e-03 1.72793169e+02] [ 1.13971887e-02 9.99935044e-01 -1.04430807e-04 2.13894618e-01] [ 9.20545330e-03 -4.89938365e-07 9.99957629e-01 -2.05771879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.56592 meters Centerline goodness : 0.998455 Centerline is valid? [True, True] Translation: X:172.82, Y:0.21, Z:-2.06 [[ 9.99885578e-01 -1.20042447e-02 -9.20486798e-03 1.72822694e+02] [ 1.20038246e-02 9.99927946e-01 -1.00892283e-04 2.13726979e-01] [ 9.20541587e-03 -9.61288230e-06 9.99957629e-01 -2.05699585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.59592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:172.85, Y:0.21, Z:-2.07 [[ 9.99880250e-01 -1.24400704e-02 -9.20488492e-03 1.72853403e+02] [ 1.24397494e-02 9.99922619e-01 -9.21232674e-05 2.12489485e-01] [ 9.20531865e-03 -2.23942260e-05 9.99957630e-01 -2.06833887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.62592 meters Centerline goodness : 0.999004 Centerline is valid? [True, True] Translation: X:172.88, Y:0.21, Z:-2.06 [[ 9.99850140e-01 -1.46617764e-02 -9.20491929e-03 1.72882388e+02] [ 1.46617066e-02 9.99892509e-01 -7.50683486e-05 2.09202040e-01] [ 9.20503047e-03 -5.99027267e-05 9.99957631e-01 -2.06211656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.65592 meters Centerline goodness : 0.999004 Centerline is valid? [True, True] Translation: X:172.91, Y:0.21, Z:-2.07 [[ 9.99855396e-01 -1.42988615e-02 -9.20487446e-03 1.72912554e+02] [ 1.42985636e-02 9.99897765e-01 -9.81721933e-05 2.08627700e-01] [ 9.20533715e-03 -3.34584858e-05 9.99957629e-01 -2.06865510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.68592 meters Centerline goodness : 0.998955 Centerline is valid? [True, True] Translation: X:172.94, Y:0.21, Z:-2.07 [[ 9.99847784e-01 -1.48215520e-02 -9.20489486e-03 1.72941519e+02] [ 1.48213870e-02 9.99890154e-01 -8.61458730e-05 2.06803178e-01] [ 9.20516055e-03 -5.02965484e-05 9.99957630e-01 -2.07051471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.71592 meters Centerline goodness : 0.998955 Centerline is valid? [True, True] Translation: X:172.97, Y:0.21, Z:-2.07 [[ 9.99848042e-01 -1.48041343e-02 -9.20491952e-03 1.72970015e+02] [ 1.48040963e-02 9.99890411e-01 -7.22700640e-05 2.06889888e-01] [ 9.20498066e-03 -6.40114330e-05 9.99957631e-01 -2.07025416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.74592 meters Centerline goodness : 0.997803 Centerline is valid? [True, True] Translation: X:173.00, Y:0.20, Z:-2.06 [[ 9.99831084e-01 -1.59082591e-02 -9.20492226e-03 1.72998996e+02] [ 1.59082829e-02 9.99873453e-01 -7.06277493e-05 2.03858818e-01] [ 9.20488096e-03 -7.58186886e-05 9.99957631e-01 -2.05736269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.77592 meters Centerline goodness : 0.998954 Centerline is valid? [True, True] Translation: X:173.03, Y:0.20, Z:-2.07 [[ 9.99835335e-01 -1.56388180e-02 -9.20486270e-03 1.73030553e+02] [ 1.56385092e-02 9.99877705e-01 -1.05535159e-04 1.97773465e-01] [ 9.20538744e-03 -3.84325487e-05 9.99957629e-01 -2.07418651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.80592000000001 meters Centerline goodness : 0.997010 Centerline is valid? [True, True] Translation: X:173.06, Y:0.20, Z:-2.06 [[ 9.99811627e-01 -1.70873817e-02 -9.20500411e-03 1.73058862e+02] [ 1.70879745e-02 9.99853990e-01 -1.42572736e-05 1.95761246e-01] [ 9.20390371e-03 -1.43040287e-04 9.99957633e-01 -2.05768042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.83592000000002 meters Centerline goodness : 0.998354 Centerline is valid? [True, True] Translation: X:173.09, Y:0.19, Z:-2.07 [[ 9.99810084e-01 -1.71774555e-02 -9.20492982e-03 1.73088506e+02] [ 1.71776301e-02 9.99852452e-01 -6.00954589e-05 1.93310453e-01] [ 9.20460394e-03 -9.80348341e-05 9.99957632e-01 -2.07201862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.86592000000002 meters Centerline goodness : 0.996960 Centerline is valid? [True, True] Translation: X:173.12, Y:0.19, Z:-2.06 [[ 9.99778401e-01 -1.89319629e-02 -9.20490537e-03 1.73118911e+02] [ 1.89320662e-02 9.99820769e-01 -7.59206587e-05 1.89205096e-01] [ 9.20469290e-03 -9.83640431e-05 9.99957631e-01 -2.05887915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.89592000000002 meters Centerline goodness : 0.996414 Centerline is valid? [True, True] Translation: X:173.15, Y:0.19, Z:-2.06 [[ 9.99825471e-01 -1.62572025e-02 -9.20498239e-03 1.73146715e+02] [ 1.62577005e-02 9.99867835e-01 -2.07271811e-05 1.88770831e-01] [ 9.20410278e-03 -1.28928284e-04 9.99957633e-01 -2.05667306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.92592000000002 meters Centerline goodness : 0.726258 Centerline is valid? [True, False] Translation: X:173.14, Y:0.20, Z:-2.06 [[ 9.99971366e-01 -5.63731582e-03 -5.04847165e-03 1.73144087e+02] [ 5.58805308e-03 9.99937151e-01 -9.71946624e-03 1.98189379e-01] [ 5.10294605e-03 9.69097681e-03 9.99940021e-01 -2.05641246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.95592000000002 meters Centerline goodness : 0.996407 Centerline is valid? [False, True] Translation: X:173.17, Y:0.20, Z:-2.05 [[ 9.99962805e-01 1.45388595e-03 -8.50151488e-03 1.73165105e+02] [-1.55552159e-03 9.99927259e-01 -1.19606380e-02 2.00578240e-01] [ 8.48350707e-03 1.19734174e-02 9.99892328e-01 -2.05197843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.98592 meters Centerline goodness : 0.996565 Centerline is valid? [True, True] Translation: X:173.19, Y:0.19, Z:-2.05 [[ 9.99964147e-01 1.38047383e-03 -8.35458360e-03 1.73194692e+02] [-1.38221288e-03 9.99999024e-01 -2.02384596e-04 1.88623311e-01] [ 8.35429606e-03 2.13925153e-04 9.99965079e-01 -2.05409041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.01592 meters Centerline goodness : 0.996910 Centerline is valid? [True, True] Translation: X:173.23, Y:0.19, Z:-2.05 [[ 9.99952902e-01 4.94244467e-03 -8.35262415e-03 1.73225164e+02] [-4.94303700e-03 9.99987782e-01 -5.02731807e-05 1.88851908e-01] [ 8.35227362e-03 9.15581432e-05 9.99965115e-01 -2.05458051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.04592 meters Centerline goodness : 0.997312 Centerline is valid? [True, True] Translation: X:173.25, Y:0.19, Z:-2.06 [[ 9.99944096e-01 6.48425887e-03 -8.35221657e-03 1.73254326e+02] [-6.48465275e-03 9.99978974e-01 -2.00784284e-05 1.90157207e-01] [ 8.35191077e-03 7.42385302e-05 9.99965119e-01 -2.05550529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.07592 meters Centerline goodness : 0.998505 Centerline is valid? [True, True] Translation: X:173.29, Y:0.19, Z:-2.07 [[ 9.99867305e-01 1.39858917e-02 -8.35272435e-03 1.73288770e+02] [-1.39868602e-02 9.99902177e-01 -5.75398566e-05 1.91716545e-01] [ 8.35110252e-03 1.74360609e-04 9.99965114e-01 -2.06958289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.10592 meters Centerline goodness : 0.995957 Centerline is valid? [True, True] Translation: X:173.32, Y:0.19, Z:-2.05 [[ 9.99881618e-01 1.29237863e-02 -8.35022613e-03 1.73315705e+02] [-1.29232473e-02 9.99916484e-01 1.18503513e-04 1.93437965e-01] [ 8.35106027e-03 -1.05774466e-05 9.99965129e-01 -2.05077143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.13592 meters Centerline goodness : 0.996117 Centerline is valid? [True, True] Translation: X:173.34, Y:0.19, Z:-2.05 [[ 9.99867660e-01 1.39610801e-02 -8.35170516e-03 1.73344054e+02] [-1.39614695e-02 9.99902534e-01 1.16868944e-05 1.93986229e-01] [ 8.35105431e-03 1.04916729e-04 9.99965124e-01 -2.05104448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.16592 meters Centerline goodness : 0.996468 Centerline is valid? [True, True] Translation: X:173.37, Y:0.20, Z:-2.05 [[ 9.99855627e-01 1.47977499e-02 -8.35173805e-03 1.73374293e+02] [-1.47981886e-02 9.99890501e-01 9.27423403e-06 1.95582602e-01] [ 8.35096078e-03 1.14317699e-04 9.99965124e-01 -2.05103485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.19592 meters Centerline goodness : 0.996067 Centerline is valid? [True, True] Translation: X:173.40, Y:0.20, Z:-2.05 [[ 9.99845122e-01 1.54913114e-02 -8.35171912e-03 1.73403819e+02] [-1.54917630e-02 9.99879995e-01 1.06174856e-05 1.96196301e-01] [ 8.35088136e-03 1.18767012e-04 9.99965124e-01 -2.04884931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.22592 meters Centerline goodness : 0.886967 Centerline is valid? [True, False] Translation: X:173.40, Y:0.19, Z:-2.05 [[ 9.99988635e-01 3.14498568e-03 3.58303737e-03 1.73395001e+02] [-3.15477113e-03 9.99991301e-01 2.72867982e-03 1.93632726e-01] [-3.57442455e-03 -2.73995247e-03 9.99989858e-01 -2.05013901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.25592 meters Centerline goodness : 0.996162 Centerline is valid? [False, True] Translation: X:173.40, Y:0.21, Z:-2.05 [[ 9.99967060e-01 6.70323783e-03 -4.57657357e-03 1.73397177e+02] [-6.76883333e-03 9.99872377e-01 -1.44710935e-02 2.12892740e-01] [ 4.47898631e-03 1.45015949e-02 9.99884815e-01 -2.04646029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.28592 meters Centerline goodness : 0.994718 Centerline is valid? [True, True] Translation: X:173.43, Y:0.20, Z:-2.05 [[ 9.99968522e-01 6.53171658e-03 -4.50456316e-03 1.73427286e+02] [-6.53270929e-03 9.99978640e-01 -2.05700297e-04 2.02735713e-01] [ 4.50312337e-03 2.35120824e-04 9.99989833e-01 -2.04673912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.31592 meters Centerline goodness : 0.995155 Centerline is valid? [True, True] Translation: X:173.46, Y:0.20, Z:-2.05 [[ 9.99970464e-01 6.22809508e-03 -4.50356280e-03 1.73455984e+02] [-6.22820878e-03 9.99980604e-01 -1.12223216e-05 2.04180730e-01] [ 4.50340555e-03 3.92711195e-05 9.99989859e-01 -2.04746520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.34592 meters Centerline goodness : 0.996415 Centerline is valid? [True, True] Translation: X:173.49, Y:0.21, Z:-2.05 [[ 9.99963754e-01 7.22558617e-03 -4.50356981e-03 1.73485138e+02] [-7.22571630e-03 9.99973894e-01 -1.26248275e-05 2.05489292e-01] [ 4.50336101e-03 4.51658877e-05 9.99989859e-01 -2.05049522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.37592 meters Centerline goodness : 0.983377 Centerline is valid? [True, True] Translation: X:173.56, Y:0.22, Z:-2.07 [[ 9.99980939e-01 4.22350248e-03 -4.50363979e-03 1.73560746e+02] [-4.22367135e-03 9.99991080e-01 -2.79838477e-05 2.19405683e-01] [ 4.50348143e-03 4.70052086e-05 9.99989858e-01 -2.06771876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.40592 meters Centerline goodness : 0.892642 Centerline is valid? [True, False] Translation: X:173.59, Y:0.24, Z:-2.06 [[ 9.99960830e-01 4.43151753e-04 -8.83985735e-03 1.73586968e+02] [-5.97288644e-04 9.99847706e-01 -1.74415693e-02 2.37651354e-01] [ 8.83078183e-03 1.74461660e-02 9.99808806e-01 -2.06351253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.43592 meters Centerline goodness : 0.995964 Centerline is valid? [False, True] Translation: X:173.59, Y:0.24, Z:-2.07 [[ 9.99952067e-01 -1.66692025e-03 -9.64802997e-03 1.73592088e+02] [ 1.47218897e-03 9.99795772e-01 -2.01555561e-02 2.40434053e-01] [ 9.67965728e-03 2.01403863e-02 9.99750303e-01 -2.06744454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.46592 meters Centerline goodness : 0.866740 Centerline is valid? [True, False] Translation: X:173.61, Y:0.24, Z:-2.07 [[ 9.99904500e-01 -6.68507961e-03 -1.20954902e-02 1.73614295e+02] [ 6.51483261e-03 9.99879925e-01 -1.40603200e-02 2.35673307e-01] [ 1.21880322e-02 1.39801772e-02 9.99827988e-01 -2.06554706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.49592 meters Centerline goodness : 0.965792 Centerline is valid? [False, True] Translation: X:173.61, Y:0.23, Z:-2.07 [[ 9.99923682e-01 -2.59376318e-03 -1.20789782e-02 1.73614228e+02] [ 2.48089426e-03 9.99953211e-01 -9.34987239e-03 2.32984066e-01] [ 1.21026643e-02 9.31919216e-03 9.99883332e-01 -2.06607592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.52592 meters Centerline goodness : 0.939479 Centerline is valid? [True, False] Translation: X:173.61, Y:0.24, Z:-2.07 [[ 9.99997080e-01 -1.31106114e-03 2.03012534e-03 1.73608861e+02] [ 1.33334142e-03 9.99938470e-01 -1.10126489e-02 2.35266034e-01] [-2.01556217e-03 1.10153236e-02 9.99937298e-01 -2.06697499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.55592000000001 meters Centerline goodness : 0.915704 Centerline is valid? [False, False] Translation: X:173.61, Y:0.24, Z:-2.07 [[ 9.99997330e-01 -1.29528555e-03 1.91345191e-03 1.73609251e+02] [ 1.31621199e-03 9.99938895e-01 -1.09760150e-02 2.35101730e-01] [-1.89911792e-03 1.09785042e-02 9.99937931e-01 -2.06712198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.58592000000002 meters Centerline goodness : 0.904613 Centerline is valid? [False, False] Translation: X:173.61, Y:0.23, Z:-2.07 [[ 9.99997321e-01 -1.33597998e-03 1.89047813e-03 1.73609442e+02] [ 1.35601493e-03 9.99942511e-01 -1.06365225e-02 2.33359096e-01] [-1.87615926e-03 1.06390576e-02 9.99941644e-01 -2.06703275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.61592000000002 meters Centerline goodness : 0.828888 Centerline is valid? [False, False] Translation: X:173.61, Y:0.23, Z:-2.07 [[ 9.99997486e-01 -1.36546099e-03 1.77862066e-03 1.73609809e+02] [ 1.38404883e-03 9.99944002e-01 -1.04917384e-02 2.32557805e-01] [-1.76419500e-03 1.04941737e-02 9.99943378e-01 -2.06722352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.64592000000002 meters Centerline goodness : 0.994723 Centerline is valid? [False, True] Translation: X:173.62, Y:0.23, Z:-2.07 [[ 9.99999584e-01 4.15232727e-04 8.11880656e-04 1.73615101e+02] [-4.08525529e-04 9.99965933e-01 -8.24409611e-03 2.30315500e-01] [-8.15276217e-04 8.24376101e-03 9.99965687e-01 -2.07207879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.67592000000002 meters Centerline goodness : 0.995420 Centerline is valid? [True, True] Translation: X:173.65, Y:0.22, Z:-2.07 [[ 9.99996516e-01 2.44225757e-03 1.00209935e-03 1.73647566e+02] [-2.44215591e-03 9.99997013e-01 -1.02664556e-04 2.21674005e-01] [-1.00234709e-03 1.00216916e-04 9.99999493e-01 -2.07430108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.70592000000002 meters Centerline goodness : 0.803180 Centerline is valid? [True, False] Translation: X:173.67, Y:0.23, Z:-2.07 [[ 9.99991741e-01 2.65625798e-03 -3.07600095e-03 1.73672881e+02] [-2.68972800e-03 9.99936665e-01 -1.09284881e-02 2.31099655e-01] [ 3.04677724e-03 1.09366714e-02 9.99935551e-01 -2.07241856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.73592 meters Centerline goodness : 0.998156 Centerline is valid? [False, True] Translation: X:173.67, Y:0.23, Z:-2.07 [[ 9.99990946e-01 2.67070038e-03 -3.31299626e-03 1.73673552e+02] [-2.70624907e-03 9.99938314e-01 -1.07724041e-02 2.30411446e-01] [ 3.28402203e-03 1.07812723e-02 9.99936488e-01 -2.07248135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.76592 meters Centerline goodness : 0.990489 Centerline is valid? [True, True] Translation: X:173.72, Y:0.20, Z:-2.09 [[ 9.99440338e-01 -3.33249893e-02 -2.90798243e-03 1.73716494e+02] [ 3.33254448e-02 9.99444547e-01 1.08290429e-04 1.98966867e-01] [ 2.90275841e-03 -2.05139630e-04 9.99995766e-01 -2.08590726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.79592 meters Centerline goodness : 0.996413 Centerline is valid? [True, True] Translation: X:173.73, Y:0.21, Z:-2.07 [[ 9.99986234e-01 4.37396314e-03 -2.89839652e-03 1.73727738e+02] [-4.37297475e-03 9.99990378e-01 3.47260428e-04 2.14612543e-01] [ 2.89988754e-03 -3.34581033e-04 9.99995739e-01 -2.07346174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.82592 meters Centerline goodness : 0.996265 Centerline is valid? [True, True] Translation: X:173.76, Y:0.21, Z:-2.07 [[ 9.99992581e-01 2.52618085e-03 -2.90791136e-03 1.73755112e+02] [-2.52592635e-03 9.99996806e-01 9.11878796e-05 2.14089631e-01] [ 2.90813243e-03 -8.38420332e-05 9.99995768e-01 -2.07456211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.85592 meters Centerline goodness : 0.997061 Centerline is valid? [True, True] Translation: X:173.78, Y:0.21, Z:-2.07 [[ 9.99995370e-01 8.94540287e-04 -2.90848328e-03 1.73784251e+02] [-8.94323830e-04 9.99999597e-01 7.57222351e-05 2.11974793e-01] [ 2.90854984e-03 -7.31207587e-05 9.99995767e-01 -2.07398524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.88592 meters Centerline goodness : 0.997656 Centerline is valid? [True, True] Translation: X:173.81, Y:0.21, Z:-2.07 [[ 9.99994702e-01 -1.46256270e-03 -2.90812323e-03 1.73812577e+02] [ 1.46281739e-03 9.99998926e-01 8.54530396e-05 2.07798220e-01] [ 2.90799513e-03 -8.97066401e-05 9.99995768e-01 -2.07470162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.91592 meters Centerline goodness : 0.998255 Centerline is valid? [True, True] Translation: X:173.84, Y:0.21, Z:-2.08 [[ 9.99990045e-01 -3.38424510e-03 -2.90822581e-03 1.73841330e+02] [ 3.38449990e-03 9.99994269e-01 8.26949829e-05 2.06390325e-01] [ 2.90792928e-03 -9.25370496e-05 9.99995768e-01 -2.07511814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.94592 meters Centerline goodness : 0.998805 Centerline is valid? [True, True] Translation: X:173.87, Y:0.21, Z:-2.08 [[ 9.99989364e-01 -3.57946922e-03 -2.90832520e-03 1.73871656e+02] [ 3.57971713e-03 9.99993590e-01 8.00411177e-05 2.05102685e-01] [ 2.90802005e-03 -9.04512480e-05 9.99995768e-01 -2.07804149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.97592 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:173.90, Y:0.20, Z:-2.08 [[ 9.99989021e-01 -3.67470599e-03 -2.90756298e-03 1.73900635e+02] [ 3.67501282e-03 9.99993242e-01 1.00190476e-04 2.03117104e-01] [ 2.90717516e-03 -1.10874708e-04 9.99995768e-01 -2.07817796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.00592 meters Centerline goodness : 0.998699 Centerline is valid? [True, True] Translation: X:173.93, Y:0.20, Z:-2.08 [[ 9.99985385e-01 -4.55785014e-03 -2.90788613e-03 1.73928672e+02] [ 4.55813580e-03 9.99989607e-01 9.16170506e-05 1.98811300e-01] [ 2.90743833e-03 -1.04870251e-04 9.99995768e-01 -2.07732296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.03592 meters Centerline goodness : 0.997206 Centerline is valid? [True, True] Translation: X:173.96, Y:0.20, Z:-2.06 [[ 9.99993596e-01 -2.08642921e-03 -2.90787213e-03 1.73957878e+02] [ 2.08670551e-03 9.99997819e-01 9.19879460e-05 1.96306809e-01] [ 2.90767386e-03 -9.80552296e-05 9.99995768e-01 -2.06286871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.06592 meters Centerline goodness : 0.998757 Centerline is valid? [True, True] Translation: X:173.99, Y:0.19, Z:-2.08 [[ 9.99992729e-01 -2.46674609e-03 -2.90815672e-03 1.73988866e+02] [ 2.46700207e-03 9.99996953e-01 8.44377760e-05 1.93599554e-01] [ 2.90793957e-03 -9.16115907e-05 9.99995768e-01 -2.07830453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.09592 meters Centerline goodness : 0.997110 Centerline is valid? [True, True] Translation: X:174.02, Y:0.19, Z:-2.06 [[ 9.99995570e-01 6.37003813e-04 -2.90761694e-03 1.74017706e+02] [-6.36719832e-04 9.99999792e-01 9.85925217e-05 1.91193565e-01] [ 2.90767914e-03 -9.67407476e-05 9.99995768e-01 -2.06419547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.12592 meters Centerline goodness : 0.996915 Centerline is valid? [True, True] Translation: X:174.05, Y:0.19, Z:-2.06 [[ 9.99995090e-01 1.16870499e-03 -2.90761048e-03 1.74047013e+02] [-1.16842276e-03 9.99999313e-01 9.87623126e-05 1.89295096e-01] [ 2.90772390e-03 -9.53645094e-05 9.99995768e-01 -2.06365473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.15592 meters Centerline goodness : 0.865724 Centerline is valid? [True, False] Translation: X:174.05, Y:0.19, Z:-2.06 [[ 9.99990579e-01 -2.81954278e-03 -3.30039492e-03 1.74048119e+02] [ 2.80354874e-03 9.99984354e-01 -4.84073510e-03 1.93131828e-01] [ 3.31399194e-03 4.83143668e-03 9.99982837e-01 -2.06333735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.18592 meters Centerline goodness : 0.997016 Centerline is valid? [False, True] Translation: X:174.07, Y:0.20, Z:-2.06 [[ 9.99961331e-01 3.75476210e-03 -7.95225839e-03 1.74070103e+02] [-3.81050466e-03 9.99968197e-01 -7.00613868e-03 1.95338360e-01] [ 7.92569909e-03 7.03616987e-03 9.99943836e-01 -2.05893029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.21592 meters Centerline goodness : 0.998856 Centerline is valid? [True, True] Translation: X:174.10, Y:0.19, Z:-2.07 [[ 9.99954576e-01 5.64325488e-03 -7.68114918e-03 1.74101274e+02] [-5.64186420e-03 9.99984064e-01 2.02706596e-04 1.86349141e-01] [ 7.68217070e-03 -1.59361387e-04 9.99970479e-01 -2.07343338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.24592 meters Centerline goodness : 0.996958 Centerline is valid? [True, True] Translation: X:174.13, Y:0.18, Z:-2.06 [[ 9.99930535e-01 8.94301411e-03 -7.67772976e-03 1.74130887e+02] [-8.94102444e-03 9.99959985e-01 2.93433677e-04 1.84880950e-01] [ 7.68004672e-03 -2.24766524e-04 9.99970483e-01 -2.05938550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.27592 meters Centerline goodness : 0.997008 Centerline is valid? [True, True] Translation: X:174.16, Y:0.18, Z:-2.06 [[ 9.99917469e-01 1.03009854e-02 -7.67754224e-03 1.74160554e+02] [-1.02989974e-02 9.99946919e-01 2.98430089e-04 1.84553092e-01] [ 7.68020883e-03 -2.19334472e-04 9.99970483e-01 -2.05770519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.30592000000001 meters Centerline goodness : 0.997260 Centerline is valid? [True, True] Translation: X:174.19, Y:0.19, Z:-2.06 [[ 9.99888338e-01 1.28218735e-02 -7.67532446e-03 1.74187156e+02] [-1.28195020e-02 9.99917763e-01 3.58093399e-04 1.85081277e-01] [ 7.67928469e-03 -2.59659576e-04 9.99970480e-01 -2.05882773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.33592000000002 meters Centerline goodness : 0.997314 Centerline is valid? [True, True] Translation: X:174.24, Y:0.19, Z:-2.07 [[ 9.99939991e-01 7.81488763e-03 -7.67739368e-03 1.74240035e+02] [-7.81280200e-03 9.99969434e-01 3.01612903e-04 1.86769262e-01] [ 7.67951608e-03 -2.41612847e-04 9.99970483e-01 -2.06643034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.36592000000002 meters Centerline goodness : 0.930818 Centerline is valid? [True, False] Translation: X:174.24, Y:0.19, Z:-2.07 [[ 9.99961191e-01 3.75141504e-03 -7.97138260e-03 1.74240853e+02] [-3.79108421e-03 9.99980477e-01 -4.96717824e-03 1.91738149e-01] [ 7.95259303e-03 4.99720565e-03 9.99955891e-01 -2.06606651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.39592000000002 meters Centerline goodness : 0.997357 Centerline is valid? [False, True] Translation: X:174.24, Y:0.20, Z:-2.07 [[ 9.99967388e-01 -3.10163737e-04 -8.07005513e-03 1.74241162e+02] [ 2.30323124e-04 9.99951042e-01 -9.89248991e-03 1.95209367e-01] [ 8.07272833e-03 9.89030858e-03 9.99918503e-01 -2.06562635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.42592000000002 meters Centerline goodness : 0.997512 Centerline is valid? [True, True] Translation: X:174.27, Y:0.19, Z:-2.07 [[ 9.99965391e-01 2.45047982e-03 -7.95060865e-03 1.74269572e+02] [-2.44996242e-03 9.99996996e-01 7.48155683e-05 1.86837834e-01] [ 7.95076810e-03 -5.53342866e-05 9.99968391e-01 -2.06706034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.45592000000002 meters Centerline goodness : 0.998458 Centerline is valid? [True, True] Translation: X:174.30, Y:0.19, Z:-2.08 [[ 9.99958752e-01 4.39247916e-03 -7.94986620e-03 1.74298260e+02] [-4.39152245e-03 9.99990348e-01 1.37794584e-04 1.88418060e-01] [ 7.95039472e-03 -1.02876884e-04 9.99968390e-01 -2.08039941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.48592 meters Centerline goodness : 0.945301 Centerline is valid? [True, False] Translation: X:174.32, Y:0.20, Z:-2.08 [[ 9.99930517e-01 4.06533025e-03 -1.10650125e-02 1.74320864e+02] [-4.20261100e-03 9.99914138e-01 -1.24118971e-02 2.01935712e-01] [ 1.10136040e-02 1.24575366e-02 9.99861746e-01 -2.07565466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.51592 meters Centerline goodness : 0.982617 Centerline is valid? [False, True] Translation: X:174.34, Y:0.20, Z:-2.07 [[ 9.99918823e-01 -5.03515630e-03 -1.17044914e-02 1.74340652e+02] [ 4.90613346e-03 9.99927175e-01 -1.10260603e-02 2.00438187e-01] [ 1.17591569e-02 1.09677414e-02 9.99870707e-01 -2.07302371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.54592 meters Centerline goodness : 0.876408 Centerline is valid? [True, False] Translation: X:174.36, Y:0.21, Z:-2.07 [[ 9.99892070e-01 2.69288366e-03 -1.44428588e-02 1.74362091e+02] [-2.88948009e-03 9.99903226e-01 -1.36084669e-02 2.06219301e-01] [ 1.44048151e-02 1.36487305e-02 9.99803087e-01 -2.06905741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.57592 meters Centerline goodness : 0.876408 Centerline is valid? [False, False] Translation: X:174.36, Y:0.21, Z:-2.07 [[ 9.99891617e-01 2.70644864e-03 -1.44716743e-02 1.74362185e+02] [-2.90326796e-03 9.99903346e-01 -1.35966467e-02 2.06006625e-01] [ 1.44334770e-02 1.36371882e-02 9.99802831e-01 -2.06902228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.60592 meters Centerline goodness : 0.846689 Centerline is valid? [False, False] Translation: X:174.35, Y:0.21, Z:-2.07 [[ 9.99998984e-01 1.41204270e-03 1.97018845e-04 1.74354048e+02] [-1.40878217e-03 9.99876233e-01 -1.56695308e-02 2.08862242e-01] [-2.19120507e-04 1.56692373e-02 9.99877206e-01 -2.07019001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.63592 meters Centerline goodness : 0.906183 Centerline is valid? [False, False] Translation: X:174.36, Y:0.21, Z:-2.07 [[ 9.99999334e-01 -4.25826531e-04 -1.07246590e-03 1.74360078e+02] [ 4.05622484e-04 9.99823762e-01 -1.87691472e-02 2.14922204e-01] [ 1.08026929e-03 1.87686997e-02 9.99823269e-01 -2.07424477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.66592 meters Centerline goodness : 0.867896 Centerline is valid? [False, False] Translation: X:174.38, Y:0.21, Z:-2.07 [[ 9.99973512e-01 -4.74810258e-03 -5.51636590e-03 1.74383664e+02] [ 4.67411578e-03 9.99899979e-01 -1.33485880e-02 2.14962939e-01] [ 5.57919461e-03 1.33224503e-02 9.99895687e-01 -2.07201711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.69592 meters Centerline goodness : 0.883069 Centerline is valid? [False, False] Translation: X:174.39, Y:0.22, Z:-2.08 [[ 9.99975679e-01 -2.80202370e-03 -6.38670907e-03 1.74388880e+02] [ 2.72611765e-03 9.99925917e-01 -1.18628800e-02 2.17044795e-01] [ 6.41947600e-03 1.18451806e-02 9.99909237e-01 -2.07645209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.72592 meters Centerline goodness : 0.899155 Centerline is valid? [False, False] Translation: X:174.41, Y:0.23, Z:-2.07 [[ 9.99967209e-01 2.02189991e-03 -7.84177242e-03 1.74411439e+02] [-2.17270484e-03 9.99811948e-01 -1.92703761e-02 2.30032502e-01] [ 7.80133499e-03 1.92867820e-02 9.99783556e-01 -2.07406208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.75592 meters Centerline goodness : 0.999851 Centerline is valid? [False, True] Translation: X:174.43, Y:0.23, Z:-2.07 [[ 9.99953918e-01 -4.05694477e-03 -8.70076868e-03 1.74433523e+02] [ 3.92897401e-03 9.99884597e-01 -1.46749826e-02 2.29313907e-01] [ 8.75930018e-03 1.46401213e-02 9.99854460e-01 -2.07343620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.78592 meters Centerline goodness : 0.907446 Centerline is valid? [True, False] Translation: X:174.43, Y:0.23, Z:-2.07 [[ 9.99960847e-01 9.63187374e-05 -8.84849629e-03 1.74433849e+02] [-1.85740718e-04 9.99948920e-01 -1.01056298e-02 2.27494360e-01] [ 8.84707094e-03 1.01068777e-02 9.99909786e-01 -2.07395257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.81592 meters Centerline goodness : 0.938062 Centerline is valid? [False, False] Translation: X:174.44, Y:0.23, Z:-2.08 [[ 9.99950873e-01 1.83292674e-03 -9.74123082e-03 1.74438846e+02] [-1.91529415e-03 9.99962439e-01 -8.45295231e-03 2.27605847e-01] [ 9.72537129e-03 8.47119436e-03 9.99916825e-01 -2.07849546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.84592 meters Centerline goodness : 0.986521 Centerline is valid? [False, True] Translation: X:174.43, Y:0.23, Z:-2.08 [[ 9.99984374e-01 1.47848512e-03 5.39124969e-03 1.74431694e+02] [-1.42637177e-03 9.99952349e-01 -9.65735127e-03 2.32156281e-01] [-5.40527104e-03 9.64951044e-03 9.99938833e-01 -2.07962802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.87592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.50, Y:0.24, Z:-2.08 [[ 9.99984727e-01 2.22518677e-04 5.52234405e-03 1.74504479e+02] [-2.15257560e-04 9.99999112e-01 -1.31542099e-03 2.35823059e-01] [-5.52263185e-03 1.31421217e-03 9.99983887e-01 -2.08305029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.90592 meters Centerline goodness : 0.998706 Centerline is valid? [True, True] Translation: X:174.54, Y:0.23, Z:-2.07 [[ 9.99982656e-01 1.97403456e-03 5.54893624e-03 1.74536159e+02] [-1.97337790e-03 9.99998045e-01 -1.23812925e-04 2.34300040e-01] [-5.54916980e-03 1.12860630e-04 9.99984597e-01 -2.06644836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.93592 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:174.57, Y:0.23, Z:-2.07 [[ 9.99984485e-01 4.94650950e-04 5.54838565e-03 1.74567253e+02] [-4.93834550e-04 9.99999867e-01 -1.48510917e-04 2.33125212e-01] [-5.54845837e-03 1.45768628e-04 9.99984597e-01 -2.06656712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.96592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.60, Y:0.23, Z:-2.09 [[ 9.99967198e-01 -5.90062669e-03 5.54847786e-03 1.74597171e+02] [ 5.90151863e-03 9.99982575e-01 -1.44394448e-04 2.32002109e-01] [-5.54752916e-03 1.77134157e-04 9.99984597e-01 -2.08578724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.99592 meters Centerline goodness : 0.998857 Centerline is valid? [True, True] Translation: X:174.63, Y:0.23, Z:-2.07 [[ 9.99972405e-01 -4.93945372e-03 5.54892143e-03 1.74628716e+02] [ 4.94022140e-03 9.99987789e-01 -1.24648534e-04 2.29884360e-01] [-5.54823797e-03 1.52057994e-04 9.99984597e-01 -2.06890431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.02592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:174.66, Y:0.23, Z:-2.09 [[ 9.99948854e-01 -8.45584136e-03 5.54866143e-03 1.74658168e+02] [ 8.45672675e-03 9.99964232e-01 -1.36125082e-04 2.28451861e-01] [-5.54731192e-03 1.83041633e-04 9.99984597e-01 -2.08523287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.05592000000001 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:174.69, Y:0.23, Z:-2.07 [[ 9.99966036e-01 -6.09392498e-03 5.54889799e-03 1.74688896e+02] [ 6.09471614e-03 9.99981419e-01 -1.25680893e-04 2.26116326e-01] [-5.54802900e-03 1.59495582e-04 9.99984597e-01 -2.06957983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.08592000000002 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:174.72, Y:0.23, Z:-2.07 [[ 9.99975660e-01 -4.22972259e-03 5.54879703e-03 1.74720169e+02] [ 4.23050949e-03 9.99991043e-01 -1.30086068e-04 2.25417341e-01] [-5.54819710e-03 1.53557140e-04 9.99984597e-01 -2.06930185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.11592000000002 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:174.75, Y:0.22, Z:-2.07 [[ 9.99982611e-01 -1.99780316e-03 5.54861896e-03 1.74752236e+02] [ 1.99859860e-03 9.99997993e-01 -1.37816852e-04 2.22512638e-01] [-5.54833250e-03 1.48903917e-04 9.99984597e-01 -2.06978289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.14592000000002 meters Centerline goodness : 0.999006 Centerline is valid? [True, True] Translation: X:174.78, Y:0.22, Z:-2.07 [[ 9.99983101e-01 -1.73521700e-03 5.54861193e-03 1.74782251e+02] [ 1.73601009e-03 9.99998484e-01 -1.38121319e-04 2.20583990e-01] [-5.54836385e-03 1.47751431e-04 9.99984597e-01 -2.06945188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.17592000000002 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:174.81, Y:0.22, Z:-2.07 [[ 9.99984224e-01 -8.68939579e-04 5.54950477e-03 1.74814467e+02] [ 8.69507409e-04 9.99999617e-01 -9.99090972e-05 2.17916066e-01] [-5.54941583e-03 1.04732856e-04 9.99984596e-01 -2.06878513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.20592000000002 meters Centerline goodness : 0.999002 Centerline is valid? [True, True] Translation: X:174.85, Y:0.22, Z:-2.07 [[ 9.99983977e-01 1.11725656e-03 5.54953450e-03 1.74845457e+02] [-1.11672620e-03 9.99999372e-01 -9.86654804e-05 2.15300955e-01] [-5.54964124e-03 9.24665889e-05 9.99984596e-01 -2.06774588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.23592 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:174.88, Y:0.21, Z:-2.07 [[ 9.99983919e-01 1.16793923e-03 5.54954459e-03 1.74877900e+02] [-1.16741197e-03 9.99999314e-01 -9.82469437e-05 2.12693195e-01] [-5.54965552e-03 9.17667590e-05 9.99984596e-01 -2.06717375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.26592 meters Centerline goodness : 0.873503 Centerline is valid? [True, False] Translation: X:174.88, Y:0.21, Z:-2.07 [[ 9.99983847e-01 1.07905672e-03 5.58045852e-03 1.74877831e+02] [-1.08235940e-03 9.99999241e-01 5.88844177e-04 2.09323417e-01] [-5.57981889e-03 -5.94874727e-04 9.99984256e-01 -2.06736735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.29592 meters Centerline goodness : 0.998856 Centerline is valid? [False, True] Translation: X:174.88, Y:0.21, Z:-2.07 [[ 9.99980357e-01 -2.97352905e-03 5.51764419e-03 1.74878074e+02] [ 2.99654074e-03 9.99986828e-01 -4.16699468e-03 2.12024575e-01] [-5.50518083e-03 4.18344667e-03 9.99976096e-01 -2.06718961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.32592 meters Centerline goodness : 0.998706 Centerline is valid? [True, True] Translation: X:174.91, Y:0.21, Z:-2.07 [[ 9.99984337e-01 -2.66113161e-04 5.59062044e-03 1.74910092e+02] [ 2.66623183e-04 9.99999960e-01 -9.04830146e-05 2.07961445e-01] [-5.59059614e-03 9.19721864e-05 9.99984368e-01 -2.06822723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.35592 meters Centerline goodness : 0.998556 Centerline is valid? [True, True] Translation: X:174.94, Y:0.21, Z:-2.07 [[ 9.99976939e-01 3.85492420e-03 5.59113534e-03 1.74942716e+02] [-3.85463651e-03 9.99992569e-01 -6.22299188e-05 2.07690943e-01] [-5.59133368e-03 4.06766894e-05 9.99984368e-01 -2.06754025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.38592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.98, Y:0.21, Z:-2.08 [[ 9.99963828e-01 6.40959124e-03 5.59105830e-03 1.74975887e+02] [-6.40932019e-03 9.99979458e-01 -6.63963243e-05 2.07433942e-01] [-5.59136902e-03 3.05590397e-05 9.99984368e-01 -2.08444513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.41592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.01, Y:0.21, Z:-2.08 [[ 9.99942416e-01 9.16034272e-03 5.59034711e-03 1.75008138e+02] [-9.15990187e-03 9.99958042e-01 -1.04457708e-04 2.07139713e-01] [-5.59106942e-03 5.32446615e-05 9.99984368e-01 -2.08475076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.44592 meters Centerline goodness : 0.811609 Centerline is valid? [True, False] Translation: X:175.01, Y:0.21, Z:-2.08 [[ 9.99972372e-01 5.09261845e-03 5.41489765e-03 1.75008563e+02] [-5.06471757e-03 9.99973893e-01 -5.15390177e-03 2.10901442e-01] [-5.44100314e-03 5.12633445e-03 9.99972058e-01 -2.08446540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.47592 meters Centerline goodness : 0.747066 Centerline is valid? [False, False] Translation: X:175.01, Y:0.22, Z:-2.08 [[ 9.99985483e-01 1.10079910e-03 5.27467306e-03 1.75009021e+02] [-1.04686400e-03 9.99947255e-01 -1.02171715e-02 2.15037526e-01] [-5.28564190e-03 1.02115013e-02 9.99933891e-01 -2.08402860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.50592 meters Centerline goodness : 0.998757 Centerline is valid? [False, True] Translation: X:175.01, Y:0.22, Z:-2.08 [[ 9.99985575e-01 1.16675738e-03 5.24294010e-03 1.75009170e+02] [-1.11215461e-03 9.99945244e-01 -1.04054070e-02 2.15909971e-01] [-5.25479360e-03 1.03994260e-02 9.99932117e-01 -2.08394677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.53592 meters Centerline goodness : 0.725817 Centerline is valid? [True, False] Translation: X:175.01, Y:0.22, Z:-2.08 [[ 9.99983605e-01 -2.72783712e-03 5.03476084e-03 1.75009889e+02] [ 2.80654557e-03 9.99872923e-01 -1.56927175e-02 2.21193833e-01] [-4.99131386e-03 1.57065905e-02 9.99864186e-01 -2.08335886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.56592 meters Centerline goodness : 0.998907 Centerline is valid? [False, True] Translation: X:175.01, Y:0.22, Z:-2.08 [[ 9.99987261e-01 1.34223215e-03 4.86578296e-03 1.75010324e+02] [-1.29045705e-03 9.99942686e-01 -1.06282187e-02 2.17116316e-01] [-4.87976962e-03 1.06218042e-02 9.99931680e-01 -2.08407441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.59592 meters Centerline goodness : 0.774740 Centerline is valid? [True, False] Translation: X:175.01, Y:0.21, Z:-2.08 [[ 9.99988015e-01 1.34613269e-03 4.70715383e-03 1.75010771e+02] [-1.29920451e-03 9.99949570e-01 -9.95843067e-03 2.14130425e-01] [-4.72032181e-03 9.95219576e-03 9.99939334e-01 -2.08437074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.62592 meters Centerline goodness : 0.999752 Centerline is valid? [False, True] Translation: X:175.01, Y:0.21, Z:-2.08 [[ 9.99988136e-01 1.33024824e-03 4.68595160e-03 1.75010926e+02] [-1.28473171e-03 9.99952099e-01 -9.70305578e-03 2.12820249e-01] [-4.69863461e-03 9.69692047e-03 9.99941945e-01 -2.08454602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.65592 meters Centerline goodness : 0.745482 Centerline is valid? [True, False] Translation: X:175.01, Y:0.21, Z:-2.08 [[ 9.99988978e-01 1.27087713e-03 4.51980790e-03 1.75011374e+02] [-1.22845540e-03 9.99955288e-01 -9.37616082e-03 2.10980372e-01] [-4.53152176e-03 9.37050509e-03 9.99945828e-01 -2.08469837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.68592 meters Centerline goodness : 0.999751 Centerline is valid? [False, True] Translation: X:175.01, Y:0.21, Z:-2.08 [[ 9.99987090e-01 -2.71062074e-03 4.29789008e-03 1.75012075e+02] [ 2.76982880e-03 9.99900518e-01 -1.38304992e-02 2.12388130e-01] [-4.25997328e-03 1.38422251e-02 9.99895117e-01 -2.08457731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.71592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.04, Y:0.20, Z:-2.10 [[ 9.99981831e-01 -4.10381009e-03 4.41547534e-03 1.75044053e+02] [ 4.10411995e-03 9.99991576e-01 -6.11166262e-05 1.95067744e-01] [-4.41518734e-03 7.92371562e-05 9.99990250e-01 -2.10186766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.74592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:175.07, Y:0.19, Z:-2.09 [[ 9.99977805e-01 -4.98912208e-03 4.41567245e-03 1.75074349e+02] [ 4.98934082e-03 9.99987552e-01 -3.85238233e-05 1.92000059e-01] [-4.41542529e-03 6.05542631e-05 9.99990250e-01 -2.08771000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.77592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:175.10, Y:0.19, Z:-2.08 [[ 9.99966673e-01 -6.86691884e-03 4.41572049e-03 1.75104356e+02] [ 6.86713199e-03 9.99976420e-01 -3.31114359e-05 1.88549355e-01] [-4.41538900e-03 6.34336678e-05 9.99990250e-01 -2.08499589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.80592000000001 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:175.14, Y:0.19, Z:-2.10 [[ 9.99975033e-01 -5.51651727e-03 4.41593379e-03 1.75137228e+02] [ 5.51661094e-03 9.99984783e-01 -9.03297427e-06 1.86818649e-01] [-4.41581677e-03 3.33937374e-05 9.99990250e-01 -2.10234213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.83592000000002 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:175.17, Y:0.18, Z:-2.10 [[ 9.99977236e-01 -5.10199734e-03 4.41563274e-03 1.75167872e+02] [ 5.10222924e-03 9.99986983e-01 -4.12554249e-05 1.83912891e-01] [-4.41536478e-03 6.37840563e-05 9.99990250e-01 -2.10134491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.86592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.20, Y:0.18, Z:-2.10 [[ 9.99984803e-01 -3.30056646e-03 4.41580443e-03 1.75199668e+02] [ 3.30070080e-03 9.99994552e-01 -2.31349015e-05 1.81572702e-01] [-4.41570401e-03 3.77097991e-05 9.99990250e-01 -2.10266615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.89592000000002 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:175.23, Y:0.18, Z:-2.09 [[ 9.99987180e-01 -2.47839125e-03 4.41560504e-03 1.75230672e+02] [ 2.47860711e-03 9.99996927e-01 -4.34144724e-05 1.80590766e-01] [-4.41548387e-03 5.43584659e-05 9.99990250e-01 -2.08819912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.92592000000002 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:175.26, Y:0.18, Z:-2.09 [[ 9.99989139e-01 -1.49178407e-03 4.41555205e-03 1.75260482e+02] [ 1.49201386e-03 9.99998886e-01 -4.87480325e-05 1.81434722e-01] [-4.41547441e-03 5.53355678e-05 9.99990250e-01 -2.08855176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.95592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.29, Y:0.18, Z:-2.10 [[ 9.99989975e-01 7.42612740e-04 4.41571685e-03 1.75291162e+02] [-7.42477573e-04 9.99999724e-01 -3.22496549e-05 1.81628943e-01] [-4.41573958e-03 2.89707608e-05 9.99990250e-01 -2.10367958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.98592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.32, Y:0.18, Z:-2.10 [[ 9.99987794e-01 2.21686183e-03 4.41559026e-03 1.75323518e+02] [-2.21668588e-03 9.99997542e-01 -4.47424283e-05 1.81748329e-01] [-4.41567860e-03 3.49539056e-05 9.99990250e-01 -2.10320899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.01592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.35, Y:0.18, Z:-2.12 [[ 9.99717105e-01 2.33711755e-02 4.41558453e-03 1.75345679e+02] [-2.33712033e-02 9.99726855e-01 -4.53013986e-05 1.84540964e-01] [-4.41543718e-03 -5.79089406e-05 9.99990250e-01 -2.11990711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.04592 meters Centerline goodness : 0.995969 Centerline is valid? [True, True] Translation: X:175.35, Y:0.19, Z:-2.10 [[ 9.99571413e-01 2.89393412e-02 4.41635503e-03 1.75348778e+02] [-2.89402249e-02 9.99581135e-01 1.36305386e-04 1.93581908e-01] [-4.41056059e-03 -2.64057275e-04 9.99990239e-01 -2.09624510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.07592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:175.41, Y:0.20, Z:-2.09 [[ 9.99336230e-01 3.61596957e-02 4.42435020e-03 1.75409140e+02] [-3.61617496e-02 9.99345876e-01 3.85086192e-04 2.04293989e-01] [-4.40753153e-03 -5.44822827e-04 9.99990138e-01 -2.09009356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.10592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.44, Y:0.21, Z:-2.10 [[ 9.99296921e-01 3.72326440e-02 4.40388725e-03 1.75439658e+02] [-3.72322603e-02 9.99306625e-01 -1.69100893e-04 2.07583400e-01] [-4.40712977e-03 5.01532496e-06 9.99990289e-01 -2.10288459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.13592 meters Centerline goodness : 0.997762 Centerline is valid? [True, True] Translation: X:175.45, Y:0.21, Z:-2.09 [[ 9.99247558e-01 3.85346653e-02 4.40415821e-03 1.75448392e+02] [-3.85343268e-02 9.99257264e-01 -1.61721897e-04 2.05887907e-01] [-4.40711898e-03 -8.11106055e-06 9.99990289e-01 -2.09150385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.16592 meters Centerline goodness : 0.997862 Centerline is valid? [True, True] Translation: X:175.50, Y:0.21, Z:-2.08 [[ 9.99226674e-01 3.90709849e-02 4.41727169e-03 1.75498786e+02] [-3.90721829e-02 9.99236374e-01 1.85223455e-04 2.13488826e-01] [-4.40666168e-03 -3.57672664e-04 9.99990227e-01 -2.07777531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.19592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.53, Y:0.21, Z:-2.10 [[ 9.99257185e-01 3.82844087e-02 4.40247883e-03 1.75528878e+02] [-3.82840069e-02 9.99266883e-01 -1.75522590e-04 2.14505048e-01] [-4.40597108e-03 6.84767950e-06 9.99990294e-01 -2.10354622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.22592 meters Centerline goodness : 0.976670 Centerline is valid? [True, True] Translation: X:175.61, Y:0.23, Z:-2.11 [[ 9.99348377e-01 3.58251407e-02 4.40227991e-03 1.75608677e+02] [-3.58246937e-02 9.99358073e-01 -1.80377370e-04 2.29094326e-01] [-4.40591601e-03 2.25495032e-05 9.99990294e-01 -2.11095209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.25592 meters Centerline goodness : 0.998558 Centerline is valid? [True, True] Translation: X:175.58, Y:0.21, Z:-2.09 [[ 9.99528747e-01 3.03854968e-02 4.35952687e-03 1.75580855e+02] [-3.03808366e-02 9.99537756e-01 -1.13124945e-03 2.13565538e-01] [-4.39188528e-03 9.98270275e-04 9.99989857e-01 -2.08803316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.28592 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:175.61, Y:0.21, Z:-2.09 [[ 9.99579781e-01 2.86521782e-02 4.39476782e-03 1.75612093e+02] [-2.86517462e-02 9.99589441e-01 -1.61259179e-04 2.13771228e-01] [-4.39758393e-03 3.52736427e-05 9.99990330e-01 -2.08991099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.31592 meters Centerline goodness : 0.998807 Centerline is valid? [True, True] Translation: X:175.64, Y:0.21, Z:-2.09 [[ 9.99725118e-01 2.30300427e-02 4.39388727e-03 1.75641243e+02] [-2.30294493e-02 9.99734770e-01 -1.85600833e-04 2.12466133e-01] [-4.39699627e-03 8.43610110e-05 9.99990330e-01 -2.08695856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.34592 meters Centerline goodness : 0.998807 Centerline is valid? [True, True] Translation: X:175.67, Y:0.21, Z:-2.09 [[ 9.99780424e-01 2.04885120e-02 4.39599773e-03 1.75671988e+02] [-2.04881533e-02 9.99790088e-01 -1.26600701e-04 2.13553922e-01] [-4.39766882e-03 3.65070266e-05 9.99990330e-01 -2.08982715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.37592 meters Centerline goodness : 0.997612 Centerline is valid? [True, True] Translation: X:175.70, Y:0.21, Z:-2.09 [[ 9.99799761e-01 1.95224090e-02 4.39472422e-03 1.75703279e+02] [-1.95218855e-02 9.99809417e-01 -1.61992944e-04 2.11843197e-01] [-4.39704915e-03 7.61672032e-05 9.99990330e-01 -2.08509905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.40592 meters Centerline goodness : 0.998357 Centerline is valid? [True, True] Translation: X:175.73, Y:0.21, Z:-2.09 [[ 9.99905276e-01 1.30434483e-02 4.39406840e-03 1.75733274e+02] [-1.30427816e-02 9.99914923e-01 -1.80336410e-04 2.08849446e-01] [-4.39604677e-03 1.23008453e-04 9.99990330e-01 -2.08713940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.43592 meters Centerline goodness : 0.998758 Centerline is valid? [True, True] Translation: X:175.76, Y:0.21, Z:-2.09 [[ 9.99957879e-01 8.05751322e-03 4.39516198e-03 1.75762354e+02] [-8.05693407e-03 9.99967531e-01 -1.49459473e-04 2.07075845e-01] [-4.39622355e-03 1.14041647e-04 9.99990330e-01 -2.09131710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.46592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:175.79, Y:0.21, Z:-2.11 [[ 9.99972312e-01 6.00449871e-03 4.39569314e-03 1.75794489e+02] [-6.00396591e-03 9.99981967e-01 -1.34395600e-04 2.05138338e-01] [-4.39642085e-03 1.08000287e-04 9.99990330e-01 -2.10739670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.49592 meters Centerline goodness : 0.873489 Centerline is valid? [True, False] Translation: X:175.79, Y:0.21, Z:-2.11 [[ 9.99988386e-01 1.94057379e-03 4.41157406e-03 1.75794496e+02] [-1.91926542e-03 9.99986497e-01 -4.82921711e-03 2.07438782e-01] [-4.42088595e-03 4.82069404e-03 9.99978608e-01 -2.10685108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.52592 meters Centerline goodness : 0.873489 Centerline is valid? [False, False] Translation: X:175.79, Y:0.21, Z:-2.11 [[ 9.99988380e-01 1.93452006e-03 4.41548699e-03 1.75794482e+02] [-1.91320983e-03 9.99986528e-01 -4.82537976e-03 2.07405226e-01] [-4.42476229e-03 4.81687594e-03 9.99978609e-01 -2.10685036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.55592000000001 meters Centerline goodness : 0.999900 Centerline is valid? [False, True] Translation: X:175.79, Y:0.21, Z:-2.11 [[ 9.99988451e-01 1.93895947e-03 4.39755733e-03 1.75794573e+02] [-1.91749628e-03 9.99986256e-01 -4.87968204e-03 2.07472848e-01] [-4.40695840e-03 4.87119339e-03 9.99978425e-01 -2.10679873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.58592000000002 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:175.83, Y:0.20, Z:-2.11 [[ 9.99984613e-01 3.18062919e-03 4.54511484e-03 1.75826412e+02] [-3.18001889e-03 9.99994934e-01 -1.41495807e-04 2.02926134e-01] [-4.54554186e-03 1.27040079e-04 9.99989661e-01 -2.10807394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.61592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.86, Y:0.20, Z:-2.11 [[ 9.99983381e-01 3.54668281e-03 4.54509783e-03 1.75858142e+02] [-3.54607382e-03 9.99993703e-01 -1.42040101e-04 2.01320644e-01] [-4.54557298e-03 1.25920488e-04 9.99989661e-01 -2.10986587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.64592000000002 meters Centerline goodness : 0.998504 Centerline is valid? [True, True] Translation: X:175.89, Y:0.20, Z:-2.09 [[ 9.99981698e-01 3.99312595e-03 4.54508080e-03 1.75887423e+02] [-3.99251910e-03 9.99992020e-01 -1.42583048e-04 1.99017582e-01] [-4.54561388e-03 1.24434117e-04 9.99989661e-01 -2.09133113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.67592000000002 meters Centerline goodness : 0.946889 Centerline is valid? [True, False] Translation: X:175.89, Y:0.20, Z:-2.09 [[ 9.99990056e-01 4.06944150e-05 4.45937665e-03 1.75887684e+02] [-1.82342732e-05 9.99987316e-01 -5.03653507e-03 2.02610258e-01] [-4.45952505e-03 5.03640368e-03 9.99977373e-01 -2.09075321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.70592000000002 meters Centerline goodness : 0.999801 Centerline is valid? [False, True] Translation: X:175.89, Y:0.20, Z:-2.09 [[ 9.99990047e-01 1.07701494e-04 4.46022552e-03 1.75887765e+02] [-8.39428443e-05 9.99985810e-01 -5.32662689e-03 2.03907085e-01] [-4.46073591e-03 5.32619947e-03 9.99975866e-01 -2.09007542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.73592 meters Centerline goodness : 0.998012 Centerline is valid? [True, True] Translation: X:175.92, Y:0.20, Z:-2.07 [[ 9.99987923e-01 1.78992432e-03 4.57719375e-03 1.75916636e+02] [-1.78947423e-03 9.99998394e-01 -1.02427189e-04 1.97805571e-01] [-4.57736974e-03 9.42351820e-05 9.99989519e-01 -2.07252676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.76592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:175.95, Y:0.20, Z:-2.09 [[ 9.99979250e-01 4.53187324e-03 4.57829365e-03 1.75948838e+02] [-4.53168026e-03 9.99989731e-01 -5.25254859e-05 1.99362619e-01] [-4.57848467e-03 3.17770331e-05 9.99989518e-01 -2.09310971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.79592 meters Centerline goodness : 0.997413 Centerline is valid? [True, True] Translation: X:175.98, Y:0.20, Z:-2.08 [[ 9.99973419e-01 5.67548847e-03 4.57716582e-03 1.75979065e+02] [-5.67507754e-03 9.99983891e-01 -1.02761238e-04 1.99315567e-01] [-4.57767530e-03 7.67827354e-05 9.99989519e-01 -2.07528865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.82592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.01, Y:0.20, Z:-2.09 [[ 9.99978884e-01 4.61293965e-03 4.57747606e-03 1.76009639e+02] [-4.61258098e-03 9.99989358e-01 -8.89092593e-05 1.98432049e-01] [-4.57783748e-03 6.77934028e-05 9.99989519e-01 -2.09377775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.85592 meters Centerline goodness : 0.997413 Centerline is valid? [True, True] Translation: X:176.04, Y:0.20, Z:-2.08 [[ 9.99981583e-01 3.98525799e-03 4.57715926e-03 1.76038948e+02] [-3.98482832e-03 9.99992055e-01 -1.02988836e-04 1.95662547e-01] [-4.57753333e-03 8.47477452e-05 9.99989519e-01 -2.07507773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.88592 meters Centerline goodness : 0.998606 Centerline is valid? [True, True] Translation: X:176.07, Y:0.20, Z:-2.08 [[ 9.99985206e-01 2.93816278e-03 4.57760453e-03 1.76069492e+02] [-2.93781306e-03 9.99995681e-01 -8.31203283e-05 1.95276311e-01] [-4.57782898e-03 6.96709523e-05 9.99989519e-01 -2.07762150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.91592 meters Centerline goodness : 0.997863 Centerline is valid? [True, True] Translation: X:176.10, Y:0.20, Z:-2.08 [[ 9.99984375e-01 3.20793376e-03 4.57804353e-03 1.76100070e+02] [-3.20767470e-03 9.99994853e-01 -6.39286172e-05 1.95053960e-01] [-4.57822505e-03 4.92427440e-05 9.99989519e-01 -2.07533106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.94592 meters Centerline goodness : 0.997911 Centerline is valid? [True, True] Translation: X:176.13, Y:0.20, Z:-2.08 [[ 9.99983251e-01 3.54080647e-03 4.57819913e-03 1.76131948e+02] [-3.54058172e-03 9.99993730e-01 -5.71942981e-05 1.95465589e-01] [-4.57837294e-03 4.09838520e-05 9.99989518e-01 -2.07576443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.97592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:176.16, Y:0.19, Z:-2.09 [[ 9.99980800e-01 4.17662475e-03 4.57760375e-03 1.76162203e+02] [-4.17629001e-03 9.99991276e-01 -8.26819173e-05 1.94494061e-01] [-4.57790915e-03 6.35629291e-05 9.99989519e-01 -2.09440905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.00592 meters Centerline goodness : 0.996717 Centerline is valid? [True, True] Translation: X:176.19, Y:0.19, Z:-2.07 [[ 9.99981541e-01 3.99616609e-03 4.57700872e-03 1.76190680e+02] [-3.99571398e-03 9.99992011e-01 -1.07918370e-04 1.93170249e-01] [-4.57740341e-03 8.96279601e-05 9.99989520e-01 -2.07271956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.03592 meters Centerline goodness : 0.998107 Centerline is valid? [True, True] Translation: X:176.22, Y:0.19, Z:-2.08 [[ 9.99970893e-01 6.10351828e-03 4.57830232e-03 1.76224197e+02] [-6.10333711e-03 9.99981373e-01 -5.35423739e-05 1.92315033e-01] [-4.57854383e-03 2.55978930e-05 9.99989518e-01 -2.07650226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.06592 meters Centerline goodness : 0.828823 Centerline is valid? [True, False] Translation: X:176.23, Y:0.20, Z:-2.08 [[ 9.99994385e-01 1.77579590e-04 3.34630334e-03 1.76229702e+02] [-1.55683984e-04 9.99978586e-01 -6.54234701e-03 1.95446730e-01] [-3.34739347e-03 6.54178931e-03 9.99973000e-01 -2.08036983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.09592 meters Centerline goodness : 0.997665 Centerline is valid? [False, True] Translation: X:176.25, Y:0.20, Z:-2.08 [[ 9.99995432e-01 2.11672588e-03 -2.15777809e-03 1.76252013e+02] [-2.14538625e-03 9.99908347e-01 -1.33677175e-02 2.01423615e-01] [ 2.12928453e-03 1.33722857e-02 9.99908320e-01 -2.07674734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.12592 meters Centerline goodness : 0.997665 Centerline is valid? [True, True] Translation: X:176.28, Y:0.19, Z:-2.08 [[ 9.99990734e-01 3.86789491e-03 -1.89000951e-03 1.76281942e+02] [-3.86821045e-03 9.99992505e-01 -1.63324961e-04 1.88450926e-01] [ 1.88936362e-03 1.70634402e-04 9.99998201e-01 -2.07832197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.15592 meters Centerline goodness : 0.997616 Centerline is valid? [True, True] Translation: X:176.31, Y:0.19, Z:-2.08 [[ 9.99988617e-01 4.38274318e-03 -1.88607376e-03 1.76311902e+02] [-4.38269366e-03 9.99990395e-01 3.03916394e-05 1.85186857e-01] [ 1.88618884e-03 -2.21252099e-05 9.99998221e-01 -2.07787363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.18592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:176.34, Y:0.18, Z:-2.10 [[ 9.99990801e-01 3.85243601e-03 -1.88591090e-03 1.76341543e+02] [-3.85237034e-03 9.99992579e-01 3.84491457e-05 1.82587597e-01] [ 1.88604502e-03 -3.11835648e-05 9.99998221e-01 -2.09584523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.21592 meters Centerline goodness : 0.994225 Centerline is valid? [True, True] Translation: X:176.37, Y:0.18, Z:-2.07 [[ 9.99971747e-01 7.27657941e-03 -1.88591740e-03 1.76372339e+02] [-7.27652044e-03 9.99973525e-01 3.81276279e-05 1.78670664e-01] [ 1.88614491e-03 -2.44036342e-05 9.99998221e-01 -2.07101017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.24592 meters Centerline goodness : 0.996770 Centerline is valid? [True, True] Translation: X:176.40, Y:0.18, Z:-2.08 [[ 9.99981665e-01 5.75449422e-03 -1.88563263e-03 1.76401585e+02] [-5.75440531e-03 9.99983442e-01 5.25718549e-05 1.78275911e-01] [ 1.88590394e-03 -4.17201966e-05 9.99998221e-01 -2.07669086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.27592 meters Centerline goodness : 0.999402 Centerline is valid? [True, True] Translation: X:176.43, Y:0.18, Z:-2.09 [[ 9.99995464e-01 2.34871293e-03 -1.88577431e-03 1.76429808e+02] [-2.34863179e-03 9.99997241e-01 4.52404801e-05 1.76342624e-01] [ 1.88587537e-03 -4.08112854e-05 9.99998221e-01 -2.09305597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.30592000000001 meters Centerline goodness : 0.997763 Centerline is valid? [True, True] Translation: X:176.46, Y:0.17, Z:-2.08 [[ 9.99997250e-01 1.39419250e-03 -1.88594845e-03 1.76459767e+02] [-1.39412679e-03 9.99999028e-01 3.61576015e-05 1.74125151e-01] [ 1.88599703e-03 -3.35282508e-05 9.99998221e-01 -2.07850883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.33592000000002 meters Centerline goodness : 0.997812 Centerline is valid? [True, True] Translation: X:176.49, Y:0.17, Z:-2.08 [[ 9.99994885e-01 -2.58318626e-03 -1.88596794e-03 1.76488616e+02] [ 2.58325712e-03 9.99996663e-01 3.51348785e-05 1.72693923e-01] [ 1.88587089e-03 -4.00066389e-05 9.99998221e-01 -2.07890625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.36592000000002 meters Centerline goodness : 0.997564 Centerline is valid? [True, True] Translation: X:176.52, Y:0.17, Z:-2.08 [[ 9.99993304e-01 -3.13568960e-03 -1.88641178e-03 1.76519471e+02] [ 3.13571795e-03 9.99995084e-01 1.20729734e-05 1.70058011e-01] [ 1.88636465e-03 -1.79881479e-05 9.99998221e-01 -2.07754271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.39592000000002 meters Centerline goodness : 0.998110 Centerline is valid? [True, True] Translation: X:176.55, Y:0.17, Z:-2.08 [[ 9.99988019e-01 -4.51717876e-03 -1.88598687e-03 1.76548189e+02] [ 4.51725051e-03 9.99989797e-01 3.37821856e-05 1.68522994e-01] [ 1.88581503e-03 -4.23012560e-05 9.99998221e-01 -2.07914801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.42592000000002 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:176.58, Y:0.16, Z:-2.09 [[ 9.99979504e-01 -6.11832907e-03 -1.88611091e-03 1.76578348e+02] [ 6.11839167e-03 9.99981282e-01 2.74189036e-05 1.64155383e-01] [ 1.88590784e-03 -3.89583069e-05 9.99998221e-01 -2.09373545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.45592000000002 meters Centerline goodness : 0.998805 Centerline is valid? [True, True] Translation: X:176.61, Y:0.16, Z:-2.08 [[ 9.99962994e-01 -8.39371422e-03 -1.88592104e-03 1.76606845e+02] [ 8.39379906e-03 9.99964771e-01 3.70766264e-05 1.61003118e-01] [ 1.88554339e-03 -5.29052966e-05 9.99998221e-01 -2.07726511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.48592 meters Centerline goodness : 0.997908 Centerline is valid? [True, True] Translation: X:176.64, Y:0.16, Z:-2.08 [[ 9.99966264e-01 -7.99454705e-03 -1.88625006e-03 1.76636081e+02] [ 7.99459922e-03 9.99968042e-01 2.01204351e-05 1.58282867e-01] [ 1.88602893e-03 -3.51995697e-05 9.99998221e-01 -2.07544462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.51592 meters Centerline goodness : 0.998054 Centerline is valid? [True, True] Translation: X:176.67, Y:0.16, Z:-2.08 [[ 9.99950685e-01 -9.75043008e-03 -1.88603996e-03 1.76665590e+02] [ 9.75050572e-03 9.99952462e-01 3.09140753e-05 1.55407978e-01] [ 1.88564888e-03 -4.93023942e-05 9.99998221e-01 -2.07703381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.54592 meters Centerline goodness : 0.996566 Centerline is valid? [True, True] Translation: X:176.70, Y:0.15, Z:-2.07 [[ 9.99925508e-01 -1.20591174e-02 -1.88600311e-03 1.76695100e+02] [ 1.20592007e-02 9.99927285e-01 3.27871293e-05 1.48789607e-01] [ 1.88547059e-03 -5.55283770e-05 9.99998221e-01 -2.07442934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.57592 meters Centerline goodness : 0.997017 Centerline is valid? [True, True] Translation: X:176.73, Y:0.15, Z:-2.08 [[ 9.99957134e-01 -9.06486269e-03 -1.88620799e-03 1.76727782e+02] [ 9.06492161e-03 9.99958912e-01 2.26879425e-05 1.45381924e-01] [ 1.88592483e-03 -3.97852975e-05 9.99998221e-01 -2.07695599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.60592 meters Centerline goodness : 0.993872 Centerline is valid? [True, True] Translation: X:176.76, Y:0.14, Z:-2.07 [[ 9.99966590e-01 -7.95377529e-03 -1.88572926e-03 1.76757583e+02] [ 7.95387609e-03 9.99968366e-01 4.59596145e-05 1.40615285e-01] [ 1.88530405e-03 -6.09569358e-05 9.99998221e-01 -2.06825936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.63592 meters Centerline goodness : 0.995675 Centerline is valid? [True, True] Translation: X:176.79, Y:0.14, Z:-2.08 [[ 9.99938238e-01 -1.09527650e-02 -1.88580384e-03 1.76786251e+02] [ 1.09528643e-02 9.99940015e-01 4.23658617e-05 1.39046868e-01] [ 1.88522670e-03 -6.30181987e-05 9.99998221e-01 -2.07547412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.66592 meters Centerline goodness : 0.998459 Centerline is valid? [True, True] Translation: X:176.82, Y:0.13, Z:-2.09 [[ 9.99962209e-01 -8.48657441e-03 -1.88619686e-03 1.76818904e+02] [ 8.48663369e-03 9.99963988e-01 2.34232909e-05 1.34573721e-01] [ 1.88593015e-03 -3.94298675e-05 9.99998221e-01 -2.09110086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.69592 meters Centerline goodness : 0.829592 Centerline is valid? [True, False] Translation: X:176.84, Y:0.13, Z:-2.09 [[ 9.99985241e-01 -1.43217098e-03 -5.24083333e-03 1.76839868e+02] [ 1.42356012e-03 9.99997631e-01 -1.64639307e-03 1.34206720e-01] [ 5.24317884e-03 1.63890813e-03 9.99984911e-01 -2.08680296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.72592 meters Centerline goodness : 0.993784 Centerline is valid? [False, True] Translation: X:176.84, Y:0.13, Z:-2.09 [[ 9.99984667e-01 -1.39056074e-03 -5.36027261e-03 1.76840262e+02] [ 1.38291886e-03 9.99998023e-01 -1.42909391e-03 1.33290616e-01] [ 5.36224925e-03 1.42165917e-03 9.99984612e-01 -2.08677175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.75592 meters Centerline goodness : 0.997811 Centerline is valid? [True, True] Translation: X:176.87, Y:0.13, Z:-2.10 [[ 9.99983529e-01 -2.14668739e-03 -5.32285319e-03 1.76869987e+02] [ 2.14740322e-03 9.99997686e-01 1.28771342e-04 1.30344233e-01] [ 5.32256444e-03 -1.40199533e-04 9.99985825e-01 -2.10408415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.78592 meters Centerline goodness : 0.994277 Centerline is valid? [True, True] Translation: X:176.90, Y:0.13, Z:-2.09 [[ 9.99984979e-01 -1.30753405e-03 -5.32287968e-03 1.76898597e+02] [ 1.30823212e-03 9.99999136e-01 1.27666660e-04 1.27304716e-01] [ 5.32270816e-03 -1.34628304e-04 9.99985825e-01 -2.08641310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.81592 meters Centerline goodness : 0.997760 Centerline is valid? [True, True] Translation: X:176.93, Y:0.13, Z:-2.10 [[ 9.99985437e-01 -8.84970942e-04 -5.32373752e-03 1.76930195e+02] [ 8.85469718e-04 9.99999604e-01 9.13328108e-05 1.26577684e-01] [ 5.32365458e-03 -9.60454891e-05 9.99985825e-01 -2.10339951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.84592 meters Centerline goodness : 0.997958 Centerline is valid? [True, True] Translation: X:176.96, Y:0.12, Z:-2.10 [[ 9.99985733e-01 -4.47223839e-04 -5.32291079e-03 1.76958590e+02] [ 4.47901946e-04 9.99999892e-01 1.26202565e-04 1.24463432e-01] [ 5.32285377e-03 -1.28584907e-04 9.99985825e-01 -2.10412464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.87592 meters Centerline goodness : 0.997861 Centerline is valid? [True, True] Translation: X:176.99, Y:0.12, Z:-2.10 [[ 9.99985832e-01 -5.56044077e-05 -5.32292600e-03 1.76986558e+02] [ 5.62735379e-05 9.99999991e-01 1.25557526e-04 1.22639790e-01] [ 5.32291897e-03 -1.25855287e-04 9.99985825e-01 -2.10480615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.90592 meters Centerline goodness : 0.992675 Centerline is valid? [True, True] Translation: X:177.01, Y:0.12, Z:-2.08 [[ 9.99985823e-01 -1.40463737e-04 -5.32294884e-03 1.77013532e+02] [ 1.41128877e-04 9.99999982e-01 1.24581552e-04 1.18826204e-01] [ 5.32293125e-03 -1.25331008e-04 9.99985825e-01 -2.08436233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.93592 meters Centerline goodness : 0.993087 Centerline is valid? [True, True] Translation: X:177.04, Y:0.12, Z:-2.09 [[ 9.99982876e-01 2.42974446e-03 -5.32391705e-03 1.77043508e+02] [-2.42933794e-03 9.99997046e-01 8.28225452e-05 1.17779984e-01] [ 5.32410256e-03 -6.98875332e-05 9.99985824e-01 -2.08577698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.96592 meters Centerline goodness : 0.993736 Centerline is valid? [True, True] Translation: X:177.07, Y:0.12, Z:-2.09 [[ 9.99969207e-01 5.76563120e-03 -5.32372864e-03 1.77073374e+02] [-5.76522886e-03 9.99983377e-01 9.09190820e-05 1.15227663e-01] [ 5.32416434e-03 -6.02237684e-05 9.99985825e-01 -2.08689010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.99592 meters Centerline goodness : 0.993533 Centerline is valid? [True, True] Translation: X:177.10, Y:0.11, Z:-2.08 [[ 9.99966907e-01 6.15167040e-03 -5.32363031e-03 1.77101710e+02] [-6.15125109e-03 9.99981076e-01 9.51354431e-05 1.13495511e-01] [ 5.32411481e-03 -6.23853081e-05 9.99985825e-01 -2.08431274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.02592 meters Centerline goodness : 0.875883 Centerline is valid? [True, False] Translation: X:177.13, Y:0.12, Z:-2.08 [[ 9.99943616e-01 6.60508137e-03 -8.31492455e-03 1.77125479e+02] [-6.69974891e-03 9.99912466e-01 -1.14093584e-02 1.24161812e-01] [ 8.23883697e-03 1.14644230e-02 9.99900339e-01 -2.08113391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.05592000000001 meters Centerline goodness : 0.996712 Centerline is valid? [False, True] Translation: X:177.15, Y:0.12, Z:-2.08 [[ 9.99918886e-01 -1.14089204e-03 -1.26854272e-02 1.77147653e+02] [ 1.02418238e-03 9.99957127e-01 -9.20298684e-03 1.20731976e-01] [ 1.26953830e-02 9.18924815e-03 9.99877185e-01 -2.07774786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.08592000000002 meters Centerline goodness : 0.997565 Centerline is valid? [True, True] Translation: X:177.18, Y:0.11, Z:-2.08 [[ 9.99903647e-01 5.74757244e-03 -1.26357184e-02 1.77175844e+02] [-5.74716588e-03 9.99983483e-01 6.84862754e-05 1.14541993e-01] [ 1.26359034e-02 4.13989337e-06 9.99920164e-01 -2.07778448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.11592000000002 meters Centerline goodness : 0.991148 Centerline is valid? [True, True] Translation: X:177.20, Y:0.12, Z:-2.06 [[ 9.99888617e-01 7.94299564e-03 -1.26357504e-02 1.77204515e+02] [-7.94284665e-03 9.99968453e-01 6.19758363e-05 1.17211337e-01] [ 1.26358440e-02 3.83948943e-05 9.99920164e-01 -2.05908157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.14592000000002 meters Centerline goodness : 0.992142 Centerline is valid? [True, True] Translation: X:177.23, Y:0.12, Z:-2.06 [[ 9.99861166e-01 1.08620496e-02 -1.26358410e-02 1.77234513e+02] [-1.08623809e-02 9.99941002e-01 4.24063321e-05 1.20813287e-01] [ 1.26355562e-02 9.48548741e-05 9.99920164e-01 -2.06027160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.17592000000002 meters Centerline goodness : 0.840880 Centerline is valid? [True, False] Translation: X:177.22, Y:0.12, Z:-2.06 [[ 9.99992285e-01 1.65994118e-03 3.56009677e-03 1.77216184e+02] [-1.66729348e-03 9.99996482e-01 2.06322402e-03 1.23118689e-01] [-3.55665941e-03 -2.06914383e-03 9.99991534e-01 -2.06123346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.20592000000002 meters Centerline goodness : 0.729940 Centerline is valid? [False, False] Translation: X:177.22, Y:0.14, Z:-2.06 [[ 9.99972149e-01 -6.30630935e-03 3.99150882e-03 1.77215207e+02] [ 6.34372416e-03 9.99935401e-01 -9.43139884e-03 1.37649799e-01] [-3.93177366e-03 9.45645719e-03 9.99947557e-01 -2.05975841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.23592 meters Centerline goodness : 0.991448 Centerline is valid? [False, True] Translation: X:177.22, Y:0.16, Z:-2.06 [[ 9.99993249e-01 -1.20623423e-03 -3.47096103e-03 1.77216221e+02] [ 1.11773625e-03 9.99677083e-01 -2.53866307e-02 1.57919352e-01] [ 3.50046241e-03 2.53825797e-02 9.99671682e-01 -2.05588166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.26592 meters Centerline goodness : 0.993887 Centerline is valid? [True, True] Translation: X:177.25, Y:0.14, Z:-2.06 [[ 9.99990975e-01 -1.80304777e-03 -3.84689389e-03 1.77245461e+02] [ 1.80355336e-03 9.99998365e-01 1.27963669e-04 1.41262530e-01] [ 3.84665687e-03 -1.34900592e-04 9.99992592e-01 -2.06284830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.29592 meters Centerline goodness : 0.993732 Centerline is valid? [True, True] Translation: X:177.28, Y:0.15, Z:-2.07 [[ 9.99992550e-01 3.50364851e-04 -3.84399882e-03 1.77277496e+02] [-3.50620630e-04 9.99999936e-01 -6.58661864e-05 1.45239271e-01] [ 3.84397550e-03 6.72134811e-05 9.99992610e-01 -2.06573551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.32592 meters Centerline goodness : 0.993736 Centerline is valid? [True, True] Translation: X:177.31, Y:0.15, Z:-2.06 [[ 9.99989655e-01 2.43122543e-03 -3.84436651e-03 1.77307807e+02] [-2.43140116e-03 9.99997043e-01 -4.10388549e-05 1.54245544e-01] [ 3.84425537e-03 5.03856276e-05 9.99992610e-01 -2.06488651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.35592 meters Centerline goodness : 0.894480 Centerline is valid? [True, False] Translation: X:177.31, Y:0.16, Z:-2.06 [[ 9.99991841e-01 -1.61706652e-03 -3.70173275e-03 1.77307428e+02] [ 1.59353055e-03 9.99978555e-01 -6.35223774e-03 1.63921531e-01] [ 3.71192535e-03 6.34628709e-03 9.99972973e-01 -2.06416897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.38592 meters Centerline goodness : 0.894480 Centerline is valid? [False, False] Translation: X:177.31, Y:0.16, Z:-2.06 [[ 9.99991841e-01 -1.61706652e-03 -3.70173275e-03 1.77307428e+02] [ 1.59353055e-03 9.99978555e-01 -6.35223774e-03 1.63921531e-01] [ 3.71192535e-03 6.34628709e-03 9.99972973e-01 -2.06416897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.41592 meters Centerline goodness : 0.996965 Centerline is valid? [False, True] Translation: X:177.31, Y:0.18, Z:-2.06 [[ 9.99977775e-01 -5.69791077e-03 -3.46160789e-03 1.77306811e+02] [ 5.65161458e-03 9.99896377e-01 -1.32399067e-02 1.75978948e-01] [ 3.53668899e-03 1.32200487e-02 9.99906357e-01 -2.06290821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.44592 meters Centerline goodness : 0.993339 Centerline is valid? [True, True] Translation: X:177.34, Y:0.17, Z:-2.05 [[ 9.99963639e-01 -7.65929085e-03 -3.74917005e-03 1.77338302e+02] [ 7.65903781e-03 9.99970666e-01 -8.18434584e-05 1.65812996e-01] [ 3.74968693e-03 5.31254473e-05 9.99992968e-01 -2.05096782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.47592 meters Centerline goodness : 0.992396 Centerline is valid? [True, True] Translation: X:177.37, Y:0.17, Z:-2.05 [[ 9.99951023e-01 -9.15926646e-03 -3.74946624e-03 1.77368547e+02] [ 9.15907493e-03 9.99958052e-01 -6.82494096e-05 1.69184043e-01] [ 3.74993407e-03 3.39044247e-05 9.99992968e-01 -2.05015384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.50592 meters Centerline goodness : 0.996569 Centerline is valid? [True, True] Translation: X:177.40, Y:0.18, Z:-2.07 [[ 9.99884866e-01 -1.47036184e-02 -3.74950384e-03 1.77397665e+02] [ 1.47034723e-02 9.99891896e-01 -6.65419758e-05 1.75889617e-01] [ 3.75007691e-03 1.14035889e-05 9.99992968e-01 -2.06728881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.53592 meters Centerline goodness : 0.997361 Centerline is valid? [True, True] Translation: X:177.43, Y:0.18, Z:-2.07 [[ 9.99842202e-01 -1.73641776e-02 -3.74914688e-03 1.77427162e+02] [ 1.73639895e-02 9.99849231e-01 -8.27206830e-05 1.78611481e-01] [ 3.75001800e-03 1.76074830e-05 9.99992969e-01 -2.06766311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.56592 meters Centerline goodness : 0.993570 Centerline is valid? [True, True] Translation: X:177.46, Y:0.18, Z:-2.05 [[ 9.99798135e-01 -1.97391140e-02 -3.74914158e-03 1.77457729e+02] [ 1.97389417e-02 9.99805165e-01 -8.29601940e-05 1.83789534e-01] [ 3.75004867e-03 8.93936025e-06 9.99992969e-01 -2.05324407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.59592 meters Centerline goodness : 0.992647 Centerline is valid? [True, True] Translation: X:177.49, Y:0.19, Z:-2.05 [[ 9.99802506e-01 -1.95164539e-02 -3.74916838e-03 1.77488420e+02] [ 1.95162846e-02 9.99809536e-01 -8.17486031e-05 1.92301704e-01] [ 3.75004974e-03 8.56262125e-06 9.99992969e-01 -2.04988675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.62592 meters Centerline goodness : 0.994080 Centerline is valid? [True, True] Translation: X:177.52, Y:0.20, Z:-2.05 [[ 9.99797084e-01 -1.97922025e-02 -3.74957192e-03 1.77518857e+02] [ 1.97921033e-02 9.99804115e-01 -6.35576962e-05 1.95208977e-01] [ 3.75009538e-03 -1.06671155e-05 9.99992968e-01 -2.05215697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.65592 meters Centerline goodness : 0.993391 Centerline is valid? [True, True] Translation: X:177.55, Y:0.20, Z:-2.05 [[ 9.99777640e-01 -2.07511901e-02 -3.74940474e-03 1.77549167e+02] [ 2.07510693e-02 9.99784671e-01 -7.11171538e-05 1.97313998e-01] [ 3.75007315e-03 -6.70281731e-06 9.99992968e-01 -2.05062333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.68592 meters Centerline goodness : 0.993589 Centerline is valid? [True, True] Translation: X:177.58, Y:0.20, Z:-2.05 [[ 9.99786820e-01 -2.03041456e-02 -3.74914375e-03 1.77580407e+02] [ 2.03039775e-02 9.99793850e-01 -8.29045862e-05 2.01246682e-01] [ 3.75005417e-03 6.76438213e-06 9.99992968e-01 -2.05216931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.71592 meters Centerline goodness : 0.997318 Centerline is valid? [True, True] Translation: X:177.61, Y:0.20, Z:-2.07 [[ 9.99760099e-01 -2.15798029e-02 -3.74932588e-03 1.77610996e+02] [ 2.15796748e-02 9.99767129e-01 -7.46180214e-05 2.04713323e-01] [ 3.75006301e-03 -6.30911276e-06 9.99992968e-01 -2.06696477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.74592 meters Centerline goodness : 0.994383 Centerline is valid? [True, True] Translation: X:177.64, Y:0.21, Z:-2.05 [[ 9.99707333e-01 -2.38996118e-02 -3.74917489e-03 1.77640672e+02] [ 2.38994740e-02 9.99714363e-01 -8.15586043e-05 2.09870733e-01] [ 3.75005321e-03 -8.06857307e-06 9.99992968e-01 -2.04892732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.77592 meters Centerline goodness : 0.994884 Centerline is valid? [True, True] Translation: X:177.67, Y:0.21, Z:-2.05 [[ 9.99683452e-01 -2.48785480e-02 -3.74894479e-03 1.77671957e+02] [ 2.48783774e-02 9.99690481e-01 -9.21337538e-05 2.13039261e-01] [ 3.75007658e-03 -1.16307453e-06 9.99992968e-01 -2.05155934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.80592000000001 meters Centerline goodness : 0.995235 Centerline is valid? [True, True] Translation: X:177.70, Y:0.22, Z:-2.05 [[ 9.99628723e-01 -2.69881716e-02 -3.74905321e-03 1.77703506e+02] [ 2.69880349e-02 9.99635753e-01 -8.70686367e-05 2.15512787e-01] [ 3.75003745e-03 -1.41432688e-05 9.99992968e-01 -2.05265184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.83592000000002 meters Centerline goodness : 0.997566 Centerline is valid? [True, True] Translation: X:177.73, Y:0.22, Z:-2.07 [[ 9.99561677e-01 -2.93666529e-02 -3.74888801e-03 1.77734462e+02] [ 2.93665034e-02 9.99568707e-01 -9.49137600e-05 2.17343375e-01] [ 3.75005844e-03 -1.52195756e-05 9.99992968e-01 -2.06635954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.86592000000002 meters Centerline goodness : 0.998012 Centerline is valid? [True, True] Translation: X:177.77, Y:0.22, Z:-2.07 [[ 9.99539782e-01 -3.01026135e-02 -3.74924336e-03 1.77766655e+02] [ 3.01025335e-02 9.99546813e-01 -7.77862074e-05 2.19443592e-01] [ 3.74988582e-03 -3.51113149e-05 9.99992969e-01 -2.06692530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.89592000000002 meters Centerline goodness : 0.989673 Centerline is valid? [True, True] Translation: X:177.82, Y:0.24, Z:-2.05 [[ 9.99990270e-01 2.32460419e-03 -3.74927612e-03 1.77818800e+02] [-2.32490612e-03 9.99997295e-01 -7.61738192e-05 2.38267333e-01] [ 3.74908890e-03 8.48897930e-05 9.99992969e-01 -2.04841147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.92592000000002 meters Centerline goodness : 0.997360 Centerline is valid? [True, True] Translation: X:177.82, Y:0.22, Z:-2.05 [[ 9.99428251e-01 -3.36014642e-02 -3.75659661e-03 1.77821258e+02] [ 3.36030175e-02 9.99435197e-01 3.51121222e-04 2.21782201e-01] [ 3.74267669e-03 -4.77153451e-04 9.99992882e-01 -2.04932959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.95592000000002 meters Centerline goodness : 0.998014 Centerline is valid? [True, True] Translation: X:177.85, Y:0.23, Z:-2.05 [[ 9.99516688e-01 -3.08602074e-02 -3.74680288e-03 1.77853840e+02] [ 3.08600306e-02 9.99523710e-01 -1.05020835e-04 2.25675585e-01] [ 3.74825928e-03 -1.06563741e-05 9.99992975e-01 -2.04867071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.98592 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:177.88, Y:0.23, Z:-2.06 [[ 9.99551786e-01 -2.97016072e-02 -3.74716308e-03 1.77884279e+02] [ 2.97014861e-02 9.99558810e-01 -8.79820209e-05 2.28086426e-01] [ 3.74812308e-03 -2.33537259e-05 9.99992975e-01 -2.06437439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.01592 meters Centerline goodness : 0.998263 Centerline is valid? [True, True] Translation: X:177.92, Y:0.23, Z:-2.05 [[ 9.99840654e-01 -1.74534507e-02 -3.74736033e-03 1.77916360e+02] [ 1.74532788e-02 9.99847677e-01 -7.85748303e-05 2.34478994e-01] [ 3.74816093e-03 1.31585850e-05 9.99992976e-01 -2.04951613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.04592 meters Centerline goodness : 0.998909 Centerline is valid? [True, True] Translation: X:177.95, Y:0.23, Z:-2.05 [[ 9.99574215e-01 -2.89368656e-02 -3.74788937e-03 1.77945228e+02] [ 2.89368702e-02 9.99581240e-01 -5.30252864e-05 2.33200799e-01] [ 3.74785429e-03 -5.54494790e-05 9.99992975e-01 -2.04739918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.07592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:177.98, Y:0.24, Z:-2.06 [[ 9.99446599e-01 -3.30523099e-02 -3.74711469e-03 1.77976000e+02] [ 3.30522031e-02 9.99453623e-01 -9.04226101e-05 2.35717266e-01] [ 3.74805603e-03 -3.34778258e-05 9.99992975e-01 -2.05642017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.10592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.01, Y:0.24, Z:-2.06 [[ 9.99430694e-01 -3.35298094e-02 -3.74690301e-03 1.78009604e+02] [ 3.35296675e-02 9.99437718e-01 -1.00703945e-04 2.38273764e-01] [ 3.74817277e-03 -2.49857980e-05 9.99992975e-01 -2.06212539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.13592 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:178.04, Y:0.24, Z:-2.05 [[ 9.99284486e-01 -3.76360519e-02 -3.74741693e-03 1.78039142e+02] [ 3.76360350e-02 9.99291511e-01 -7.50388798e-05 2.39583117e-01] [ 3.74758609e-03 -6.60527263e-05 9.99992976e-01 -2.05023982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.16592 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:178.07, Y:0.24, Z:-2.04 [[ 9.99262586e-01 -3.82131816e-02 -3.74659833e-03 1.78070608e+02] [ 3.82130120e-02 9.99269609e-01 -1.16889406e-04 2.40659421e-01] [ 3.74832857e-03 -2.63655971e-05 9.99992975e-01 -2.04465041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.19592 meters Centerline goodness : 0.999452 Centerline is valid? [True, True] Translation: X:178.11, Y:0.24, Z:-2.05 [[ 9.99364381e-01 -3.54513349e-02 -3.74663817e-03 1.78105560e+02] [ 3.54511536e-02 9.99371404e-01 -1.14809411e-04 2.42933723e-01] [ 3.74835320e-03 -1.80862094e-05 9.99992975e-01 -2.04722490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.22592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.13, Y:0.24, Z:-2.06 [[ 9.99242174e-01 -3.87431403e-02 -3.74793111e-03 1.78133910e+02] [ 3.87432450e-02 9.99249198e-01 -4.46913177e-05 2.43057092e-01] [ 3.74684864e-03 -1.00549564e-04 9.99992975e-01 -2.06167682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.25592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.17, Y:0.24, Z:-2.06 [[ 9.99202980e-01 -3.97411874e-02 -3.74746279e-03 1.78167120e+02] [ 3.97412049e-02 9.99210004e-01 -6.98254816e-05 2.41449430e-01] [ 3.74727726e-03 -7.91588574e-05 9.99992976e-01 -2.06023349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.28592 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:178.20, Y:0.24, Z:-2.04 [[ 9.99162885e-01 -4.07367717e-02 -3.74749558e-03 1.78197018e+02] [ 4.07368029e-02 9.99169910e-01 -6.80190258e-05 2.40148058e-01] [ 3.74715570e-03 -8.46989030e-05 9.99992976e-01 -2.04301220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.31592 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:178.23, Y:0.24, Z:-2.04 [[ 9.98990729e-01 -4.47602750e-02 -3.74721694e-03 1.78227738e+02] [ 4.47602765e-02 9.98997753e-01 -8.35103136e-05 2.37974629e-01] [ 3.74719924e-03 -8.43004372e-05 9.99992976e-01 -2.04304299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.34592 meters Centerline goodness : 0.996523 Centerline is valid? [True, True] Translation: X:178.26, Y:0.25, Z:-2.05 [[ 9.99913919e-01 -1.25744537e-02 -3.74679290e-03 1.78264407e+02] [ 1.25741374e-02 9.99920937e-01 -1.07952099e-04 2.50743935e-01] [ 3.74785411e-03 6.08301177e-05 9.99992975e-01 -2.04648169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.37592 meters Centerline goodness : 0.974382 Centerline is valid? [True, True] Translation: X:178.34, Y:0.25, Z:-2.07 [[ 9.98854671e-01 -4.77000434e-02 -3.74855934e-03 1.78342377e+02] [ 4.77003881e-02 9.98861689e-01 2.55490288e-06 2.46869853e-01] [ 3.74417045e-03 -1.81359712e-04 9.99992974e-01 -2.06844090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.40592 meters Centerline goodness : 0.998909 Centerline is valid? [True, True] Translation: X:178.31, Y:0.22, Z:-2.06 [[ 9.98690828e-01 -5.10148245e-02 -3.75741630e-03 1.78311083e+02] [ 5.10178480e-02 9.98697487e-01 7.13213298e-04 2.23571231e-01] [ 3.71613777e-03 -9.03974873e-04 9.99992687e-01 -2.05845062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.43592 meters Centerline goodness : 0.998907 Centerline is valid? [True, True] Translation: X:178.34, Y:0.22, Z:-2.06 [[ 9.98696106e-01 -5.09126001e-02 -3.74097071e-03 1.78344037e+02] [ 5.09126656e-02 9.98703106e-01 -7.77839148e-05 2.22970363e-01] [ 3.74007925e-03 -1.12780298e-04 9.99993000e-01 -2.05840224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.46592 meters Centerline goodness : 0.998709 Centerline is valid? [True, True] Translation: X:178.38, Y:0.22, Z:-2.06 [[ 9.98702516e-01 -5.07867077e-02 -3.74100619e-03 1.78376144e+02] [ 5.07867789e-02 9.98709516e-01 -7.60383050e-05 2.19687336e-01] [ 3.74004022e-03 -1.14054008e-04 9.99993000e-01 -2.05783862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.49592 meters Centerline goodness : 0.998507 Centerline is valid? [True, True] Translation: X:178.41, Y:0.22, Z:-2.06 [[ 9.98771053e-01 -4.94205333e-02 -3.74101728e-03 1.78408277e+02] [ 4.94205969e-02 9.98778053e-01 -7.54888630e-05 2.19311325e-01] [ 3.74017665e-03 -1.09487216e-04 9.99993000e-01 -2.05786185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.52592 meters Centerline goodness : 0.998210 Centerline is valid? [True, True] Translation: X:178.44, Y:0.22, Z:-2.04 [[ 9.98705690e-01 -5.07242470e-02 -3.74104802e-03 1.78436040e+02] [ 5.07243256e-02 9.98712690e-01 -7.39335552e-05 2.18179817e-01] [ 3.73998235e-03 -1.15924275e-04 9.99993000e-01 -2.04205255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.55592000000001 meters Centerline goodness : 0.997514 Centerline is valid? [True, True] Translation: X:178.47, Y:0.22, Z:-2.04 [[ 9.98774156e-01 -4.93578562e-02 -3.74003152e-03 1.78466080e+02] [ 4.93577335e-02 9.98781156e-01 -1.25132953e-04 2.16298414e-01] [ 3.74164930e-03 -5.96199195e-05 9.99992998e-01 -2.04022654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.58592000000002 meters Centerline goodness : 0.998460 Centerline is valid? [True, True] Translation: X:178.50, Y:0.22, Z:-2.06 [[ 9.99177345e-01 -4.03813002e-02 -3.73961465e-03 1.78502171e+02] [ 4.03810344e-02 9.99184343e-01 -1.46601988e-04 2.17011753e-01] [ 3.74248439e-03 -4.52812264e-06 9.99992997e-01 -2.05711539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.61592000000002 meters Centerline goodness : 0.998558 Centerline is valid? [True, True] Translation: X:178.53, Y:0.22, Z:-2.06 [[ 9.99274262e-01 -3.79071819e-02 -3.74104643e-03 1.78534176e+02] [ 3.79071883e-02 9.99281262e-01 -6.92091971e-05 2.18507323e-01] [ 3.74098112e-03 -7.26535822e-05 9.99993000e-01 -2.05785396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.64592000000002 meters Centerline goodness : 0.997518 Centerline is valid? [True, True] Translation: X:178.56, Y:0.22, Z:-2.04 [[ 9.99361107e-01 -3.55441015e-02 -3.74107470e-03 1.78562454e+02] [ 3.55440973e-02 9.99368107e-01 -6.76456084e-05 2.21031942e-01] [ 3.74111514e-03 -6.53707329e-05 9.99993000e-01 -2.04196350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.67592000000002 meters Centerline goodness : 0.997264 Centerline is valid? [True, True] Translation: X:178.60, Y:0.22, Z:-2.04 [[ 9.99444490e-01 -3.31167925e-02 -3.74017802e-03 1.78595086e+02] [ 3.31165869e-02 9.99451489e-01 -1.16885621e-04 2.23212102e-01] [ 3.74199736e-03 -7.04124090e-06 9.99992999e-01 -2.03981389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.70592000000002 meters Centerline goodness : 0.997562 Centerline is valid? [True, True] Translation: X:178.63, Y:0.22, Z:-2.04 [[ 9.99506912e-01 -3.11759974e-02 -3.74028847e-03 1.78625568e+02] [ 3.11758020e-02 9.99513910e-01 -1.10545892e-04 2.24864457e-01] [ 3.74191673e-03 -6.11510998e-06 9.99992999e-01 -2.04076225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.73592 meters Centerline goodness : 0.998312 Centerline is valid? [True, True] Translation: X:178.66, Y:0.23, Z:-2.06 [[ 9.99546363e-01 -2.98843996e-02 -3.74041303e-03 1.78658040e+02] [ 2.98842220e-02 9.99553362e-01 -1.03388001e-04 2.26280292e-01] [ 3.74183210e-03 -8.43823242e-06 9.99992999e-01 -2.05557252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.76592 meters Centerline goodness : 0.997120 Centerline is valid? [True, True] Translation: X:178.69, Y:0.23, Z:-2.04 [[ 9.99403213e-01 -3.43398074e-02 -3.74109021e-03 1.78685138e+02] [ 3.43398103e-02 9.99410213e-01 -6.34790416e-05 2.26023721e-01] [ 3.74106362e-03 -6.50271698e-05 9.99993000e-01 -2.03700123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.79592 meters Centerline goodness : 0.998362 Centerline is valid? [True, True] Translation: X:178.72, Y:0.23, Z:-2.06 [[ 9.99446652e-01 -3.30515397e-02 -3.73982142e-03 1.78720653e+02] [ 3.30512556e-02 9.99453649e-01 -1.37757938e-04 2.28904547e-01] [ 3.74233128e-03 1.40759160e-05 9.99992997e-01 -2.05657397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.82592 meters Centerline goodness : 0.998312 Centerline is valid? [True, True] Translation: X:178.75, Y:0.23, Z:-2.06 [[ 9.99377508e-01 -3.50799312e-02 -3.74107031e-03 1.78753689e+02] [ 3.50799509e-02 9.99384507e-01 -6.03825987e-05 2.31758211e-01] [ 3.74088592e-03 -7.08915516e-05 9.99993000e-01 -2.05547367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.85592 meters Centerline goodness : 0.705101 Centerline is valid? [True, False] Translation: X:178.75, Y:0.24, Z:-2.06 [[ 9.99787647e-01 -2.05576126e-02 -1.42990403e-03 1.78753075e+02] [ 2.05492041e-02 9.99772790e-01 -5.66562624e-03 2.40131643e-01] [ 1.54605089e-03 5.63503974e-03 9.99982928e-01 -2.05645933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.88592 meters Centerline goodness : 0.998460 Centerline is valid? [False, True] Translation: X:178.75, Y:0.25, Z:-2.06 [[ 9.99959360e-01 -7.06019440e-03 5.60637470e-03 1.78748708e+02] [ 7.12366443e-03 9.99909837e-01 -1.13829528e-02 2.47978244e-01] [-5.52550335e-03 1.14224282e-02 9.99919495e-01 -2.05643758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.91592 meters Centerline goodness : 0.997961 Centerline is valid? [True, True] Translation: X:178.78, Y:0.23, Z:-2.04 [[ 9.99915380e-01 -1.16627028e-02 5.76309741e-03 1.78775805e+02] [ 1.16633558e-02 9.99931978e-01 -7.97192791e-05 2.34344972e-01] [-5.76177564e-03 1.46929589e-04 9.99983390e-01 -2.04157954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.94592 meters Centerline goodness : 0.998063 Centerline is valid? [True, True] Translation: X:178.81, Y:0.23, Z:-2.04 [[ 9.99887718e-01 -1.38319842e-02 5.76432281e-03 1.78806923e+02] [ 1.38321471e-02 9.99904331e-01 1.16081222e-05 2.34010521e-01] [-5.76393191e-03 6.81261424e-05 9.99983386e-01 -2.04269446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.97592 meters Centerline goodness : 0.997756 Centerline is valid? [True, True] Translation: X:178.84, Y:0.23, Z:-2.04 [[ 9.99875549e-01 -1.46854826e-02 5.76403545e-03 1.78837444e+02] [ 1.46857764e-02 9.99892158e-01 -8.64424830e-06 2.33170165e-01] [-5.76328690e-03 9.32925084e-05 9.99983388e-01 -2.04059718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.00592 meters Centerline goodness : 0.998757 Centerline is valid? [True, True] Translation: X:178.87, Y:0.23, Z:-2.06 [[ 9.99859183e-01 -1.57602883e-02 5.76433719e-03 1.78871661e+02] [ 1.57604786e-02 9.99875796e-01 1.24092027e-05 2.30493947e-01] [-5.76381681e-03 7.84412577e-05 9.99983386e-01 -2.06076111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.03592 meters Centerline goodness : 0.997514 Centerline is valid? [True, True] Translation: X:178.90, Y:0.23, Z:-2.04 [[ 9.99764597e-01 -2.09174485e-02 5.76286470e-03 1.78898145e+02] [ 2.09182920e-02 9.99781185e-01 -8.61232339e-05 2.27861130e-01] [-5.75980222e-03 2.06652247e-04 9.99983391e-01 -2.04133840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.06592 meters Centerline goodness : 0.998507 Centerline is valid? [True, True] Translation: X:178.93, Y:0.23, Z:-2.06 [[ 9.99808138e-01 -1.87204711e-02 5.76456473e-03 1.78933451e+02] [ 1.87205977e-02 9.99824754e-01 3.19961000e-05 2.26526058e-01] [-5.76415349e-03 7.59261358e-05 9.99983384e-01 -2.06012163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.09592 meters Centerline goodness : 0.996918 Centerline is valid? [True, True] Translation: X:178.96, Y:0.22, Z:-2.04 [[ 9.99728588e-01 -2.25729967e-02 5.76275311e-03 1.78961658e+02] [ 2.25738751e-02 9.99745174e-01 -8.74236166e-05 2.23847829e-01] [-5.75931120e-03 2.17487558e-04 9.99983391e-01 -2.03749254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.12592 meters Centerline goodness : 0.998360 Centerline is valid? [True, True] Translation: X:178.99, Y:0.22, Z:-2.05 [[ 9.99623066e-01 -2.68422155e-02 5.76373067e-03 1.78990474e+02] [ 2.68427927e-02 9.99639667e-01 -2.27948910e-05 2.22786226e-01] [-5.76104195e-03 1.77500927e-04 9.99983389e-01 -2.04510270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.15592 meters Centerline goodness : 0.998260 Centerline is valid? [True, True] Translation: X:179.02, Y:0.21, Z:-2.04 [[ 9.99283885e-01 -3.73963239e-02 5.76466963e-03 1.79019328e+02] [ 3.73967354e-02 9.99300497e-01 3.64414919e-05 2.11902711e-01] [-5.76200000e-03 1.79164429e-04 9.99983383e-01 -2.03983258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.18592 meters Centerline goodness : 0.997907 Centerline is valid? [True, True] Translation: X:179.06, Y:0.21, Z:-2.04 [[ 9.99430415e-01 -3.32505007e-02 5.76623775e-03 1.79055136e+02] [ 3.32503032e-02 9.99447047e-01 1.30140538e-04 2.11368182e-01] [-5.76737653e-03 6.16627416e-05 9.99983367e-01 -2.04333367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.21592 meters Centerline goodness : 0.998009 Centerline is valid? [True, True] Translation: X:179.09, Y:0.21, Z:-2.04 [[ 9.99404423e-01 -3.40231541e-02 5.76411074e-03 1.79087510e+02] [ 3.40236606e-02 9.99421028e-01 1.01870366e-05 2.07833237e-01] [-5.76112008e-03 1.85935178e-04 9.99983387e-01 -2.04335610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.24592 meters Centerline goodness : 0.997858 Centerline is valid? [True, True] Translation: X:179.12, Y:0.20, Z:-2.04 [[ 9.99326821e-01 -3.62309716e-02 5.76372941e-03 1.79119685e+02] [ 3.62316334e-02 9.99343419e-01 -1.04235925e-05 2.02630012e-01] [-5.75956739e-03 2.19245907e-04 9.99983390e-01 -2.04407409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.27592 meters Centerline goodness : 0.893330 Centerline is valid? [True, False] Translation: X:179.12, Y:0.21, Z:-2.04 [[ 9.99733838e-01 -2.22992780e-02 5.91572860e-03 1.79119651e+02] [ 2.23335637e-02 9.99733783e-01 -5.79435164e-03 2.07174244e-01] [-5.78494387e-03 5.92492871e-03 9.99965714e-01 -2.04473923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.30592000000001 meters Centerline goodness : 0.998110 Centerline is valid? [False, True] Translation: X:179.12, Y:0.21, Z:-2.04 [[ 9.99953584e-01 -6.18108636e-03 7.39080521e-03 1.79117823e+02] [ 6.24657687e-03 9.99941140e-01 -8.87107449e-03 2.08959648e-01] [-7.33553732e-03 8.91682996e-03 9.99933338e-01 -2.04474202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.33592000000002 meters Centerline goodness : 0.998110 Centerline is valid? [True, True] Translation: X:179.15, Y:0.20, Z:-2.05 [[ 9.99953872e-01 -5.58801472e-03 7.81200548e-03 1.79149159e+02] [ 5.59150533e-03 9.99984277e-01 -4.25057142e-04 1.99480295e-01] [-7.80950743e-03 4.68718406e-04 9.99969395e-01 -2.04646370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.36592000000002 meters Centerline goodness : 0.997214 Centerline is valid? [True, True] Translation: X:179.21, Y:0.20, Z:-2.07 [[ 9.99958996e-01 -4.56557000e-03 7.82066038e-03 1.79214988e+02] [ 4.56767552e-03 9.99989537e-01 -2.51385116e-04 1.99691814e-01] [-7.81943084e-03 2.87097047e-04 9.99969387e-01 -2.07025271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.39592000000002 meters Centerline goodness : 0.998061 Centerline is valid? [True, True] Translation: X:179.20, Y:0.19, Z:-2.05 [[ 9.99928179e-01 -9.13415848e-03 7.75913189e-03 1.79201806e+02] [ 9.14565290e-03 9.99957130e-01 -1.44721677e-03 1.88168301e-01] [-7.74558015e-03 1.51807515e-03 9.99968850e-01 -2.04769624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.42592000000002 meters Centerline goodness : 0.998707 Centerline is valid? [True, True] Translation: X:179.24, Y:0.19, Z:-2.06 [[ 9.99964200e-01 -3.24335712e-03 7.81533405e-03 1.79236303e+02] [ 3.24518189e-03 9.99994710e-01 -2.20815153e-04 1.86065910e-01] [-7.81457653e-03 2.46169428e-04 9.99969435e-01 -2.06390207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.45592000000002 meters Centerline goodness : 0.998258 Centerline is valid? [True, True] Translation: X:179.26, Y:0.18, Z:-2.05 [[ 9.99961320e-01 -4.04770114e-03 7.80862275e-03 1.79263300e+02] [ 4.05067110e-03 9.99991730e-01 -3.64565988e-04 1.83596666e-01] [-7.80708251e-03 3.96182049e-04 9.99969446e-01 -2.04530467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.48592 meters Centerline goodness : 0.998206 Centerline is valid? [True, True] Translation: X:179.29, Y:0.18, Z:-2.05 [[ 9.99966435e-01 -2.46333292e-03 7.81415987e-03 1.79293788e+02] [ 2.46534878e-03 9.99996930e-01 -2.48352830e-04 1.81324325e-01] [-7.81352411e-03 2.67609124e-04 9.99969438e-01 -2.04843444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.51592 meters Centerline goodness : 0.998658 Centerline is valid? [True, True] Translation: X:179.33, Y:0.17, Z:-2.05 [[ 9.99968742e-01 -1.19471565e-03 7.81586844e-03 1.79325400e+02] [ 1.19641419e-03 9.99999262e-01 -2.12647480e-04 1.74089513e-01] [-7.81560861e-03 2.21991848e-04 9.99969433e-01 -2.05062743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.54592 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:179.36, Y:0.17, Z:-2.05 [[ 9.99969342e-01 5.00149732e-04 7.81445975e-03 1.79356114e+02] [-4.98275435e-04 9.99999847e-01 -2.41794984e-04 1.71675706e-01] [-7.81457949e-03 2.37893818e-04 9.99969437e-01 -2.04847749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.57592 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:179.39, Y:0.17, Z:-2.05 [[ 9.99966895e-01 2.26292068e-03 7.81583775e-03 1.79387780e+02] [-2.26131711e-03 9.99997420e-01 -2.14000354e-04 1.68401294e-01] [-7.81630185e-03 1.96319182e-04 9.99969433e-01 -2.04923373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.60592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:179.42, Y:0.17, Z:-2.05 [[ 9.99963770e-01 3.37444393e-03 7.81484074e-03 1.79419166e+02] [-3.37271854e-03 9.99994285e-01 -2.33952074e-04 1.65978704e-01] [-7.81558554e-03 2.07586339e-04 9.99969436e-01 -2.04758666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.63592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:179.44, Y:0.15, Z:-2.05 [[ 9.99920756e-01 -9.87041447e-03 7.81393497e-03 1.79441407e+02] [ 9.87268313e-03 9.99951232e-01 -2.51814346e-04 1.50264560e-01] [-7.81106839e-03 3.28938895e-04 9.99969439e-01 -2.04583520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.66592 meters Centerline goodness : 0.999501 Centerline is valid? [True, True] Translation: X:179.48, Y:0.16, Z:-2.05 [[ 9.99838889e-01 1.61522814e-02 7.82943825e-03 1.79482732e+02] [-1.61531365e-02 9.99869529e-01 4.59861783e-05 1.60512164e-01] [-7.82767395e-03 -1.72448754e-04 9.99969348e-01 -2.05020963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.69592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:179.51, Y:0.16, Z:-2.05 [[ 9.99848900e-01 1.55310692e-02 7.80790763e-03 1.79510711e+02] [-1.55287811e-02 9.99879359e-01 -3.53593221e-04 1.57079963e-01] [-7.81245735e-03 2.32292505e-04 9.99969455e-01 -2.04707641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.72592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:179.55, Y:0.16, Z:-2.05 [[ 9.99595748e-01 2.73362280e-02 7.81476773e-03 1.79545156e+02] [-2.73353014e-02 9.99626295e-01 -2.25368890e-04 1.60608443e-01] [-7.81800805e-03 1.16587525e-05 9.99969439e-01 -2.04974689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.75592 meters Centerline goodness : 0.942641 Centerline is valid? [True, False] Translation: X:179.57, Y:0.16, Z:-2.05 [[ 9.99914078e-01 1.18130265e-02 5.68240837e-03 1.79571297e+02] [-1.17884098e-02 9.99921069e-01 -4.34626644e-03 1.63276342e-01] [-5.73330241e-03 4.27890644e-03 9.99974410e-01 -2.04851721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.78592 meters Centerline goodness : 0.999603 Centerline is valid? [False, True] Translation: X:179.59, Y:0.16, Z:-2.04 [[ 9.99998670e-01 1.41877822e-03 -8.04994184e-04 1.79594302e+02] [-1.42427046e-03 9.99975431e-01 -6.86365365e-03 1.64263765e-01] [ 7.95236404e-04 6.86479105e-03 9.99976121e-01 -2.04471073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.81592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.63, Y:0.16, Z:-2.06 [[ 9.99986940e-01 5.06833512e-03 -6.57209239e-04 1.79626664e+02] [-5.06838953e-03 9.99987152e-01 -8.11521191e-05 1.58082990e-01] [ 6.56789490e-04 8.44820517e-05 9.99999781e-01 -2.06372957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.84592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:179.65, Y:0.16, Z:-2.05 [[ 9.99988866e-01 4.67317245e-03 -6.55098958e-04 1.79654876e+02] [-4.67316398e-03 9.99989081e-01 1.44590351e-05 1.59423357e-01] [ 6.55159374e-04 -1.13974892e-05 9.99999785e-01 -2.04551918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.87592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:179.69, Y:0.16, Z:-2.05 [[ 9.99984375e-01 5.55169348e-03 -6.55221446e-04 1.79685972e+02] [-5.55168887e-03 9.99984589e-01 8.84951833e-06 1.60246492e-01] [ 6.55260478e-04 -5.21179445e-06 9.99999785e-01 -2.04572328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.90592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:179.72, Y:0.16, Z:-2.04 [[ 9.99977841e-01 6.62478218e-03 -6.55178511e-04 1.79716427e+02] [-6.62477655e-03 9.99978056e-01 1.07765313e-05 1.61777321e-01] [ 6.55235525e-04 -6.43588123e-06 9.99999785e-01 -2.04438649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.93592 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:179.75, Y:0.16, Z:-2.05 [[ 9.99980569e-01 6.19940834e-03 -6.55153151e-04 1.79747370e+02] [-6.19940187e-03 9.99980783e-01 1.19059602e-05 1.61363489e-01] [ 6.55214371e-04 -7.84417115e-06 9.99999785e-01 -2.04546862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.96592 meters Centerline goodness : 0.999303 Centerline is valid? [True, True] Translation: X:179.78, Y:0.16, Z:-2.05 [[ 9.99991989e-01 3.94882383e-03 -6.55123062e-04 1.79776802e+02] [-3.94881600e-03 9.99992203e-01 1.32524357e-05 1.59689754e-01] [ 6.55170286e-04 -1.06653691e-05 9.99999785e-01 -2.04567860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.99592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:179.81, Y:0.16, Z:-2.05 [[ 9.99985409e-01 5.36214152e-03 -6.55226739e-04 1.79807893e+02] [-5.36213704e-03 9.99985624e-01 8.59423476e-06 1.58267408e-01] [ 6.55263402e-04 -5.08069380e-06 9.99999785e-01 -2.04786847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.02592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:179.84, Y:0.16, Z:-2.05 [[ 9.99992472e-01 3.82441451e-03 -6.55055093e-04 1.79836860e+02] [-3.82440470e-03 9.99992687e-01 1.62288654e-05 1.55437299e-01] [ 6.55112368e-04 -1.37235475e-05 9.99999785e-01 -2.04552489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.05592000000001 meters Centerline goodness : 0.999502 Centerline is valid? [True, True] Translation: X:179.87, Y:0.15, Z:-2.04 [[ 9.99998049e-01 1.86337660e-03 -6.55073437e-04 1.79865065e+02] [-1.86336691e-03 9.99998264e-01 1.54077430e-05 1.54257848e-01] [ 6.55101010e-04 -1.41870708e-05 9.99999785e-01 -2.04169596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.08592000000002 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:179.89, Y:0.15, Z:-2.04 [[ 9.99986141e-01 5.22376506e-03 -6.55202254e-04 1.79894084e+02] [-5.22375985e-03 9.99986356e-01 9.67478617e-06 1.53892938e-01] [ 6.55243853e-04 -6.25203287e-06 9.99999785e-01 -2.04319981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.11592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.92, Y:0.15, Z:-2.06 [[ 9.99976176e-01 6.87152499e-03 -6.55207469e-04 1.79924711e+02] [-6.87152028e-03 9.99976391e-01 9.44315569e-06 1.51453138e-01] [ 6.55256889e-04 -4.94065930e-06 9.99999785e-01 -2.05935472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.14592000000002 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:179.95, Y:0.15, Z:-2.04 [[ 9.99965018e-01 8.33863967e-03 -6.55083233e-04 1.79953728e+02] [-8.33863170e-03 9.99965233e-01 1.49038498e-05 1.50320239e-01] [ 6.55184735e-04 -9.44083060e-06 9.99999785e-01 -2.04217045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.17592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.98, Y:0.15, Z:-2.06 [[ 9.99900695e-01 1.40773141e-02 -6.55154124e-04 1.79983733e+02] [-1.40773094e-02 9.99900910e-01 1.17603331e-05 1.52251337e-01] [ 6.55254758e-04 -2.53635794e-06 9.99999785e-01 -2.05875777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.20592000000002 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:180.01, Y:0.15, Z:-2.04 [[ 9.99873071e-01 1.59189463e-02 -6.55087141e-04 1.80011542e+02] [-1.59189400e-02 9.99873286e-01 1.47377075e-05 1.52235854e-01] [ 6.55238741e-04 -4.30754394e-06 9.99999785e-01 -2.04009872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.23592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:180.04, Y:0.16, Z:-2.04 [[ 9.99765510e-01 2.16447544e-02 -6.55175713e-04 1.80040154e+02] [-2.16447520e-02 9.99765725e-01 1.07153467e-05 1.55117854e-01] [ 6.55254153e-04 3.46828172e-06 9.99999785e-01 -2.04304499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.26592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:180.07, Y:0.16, Z:-2.04 [[ 9.99720414e-01 2.36361016e-02 -6.55157235e-04 1.80067707e+02] [-2.36360991e-02 9.99720628e-01 1.15639903e-05 1.56658485e-01] [ 6.55247530e-04 3.92460414e-06 9.99999785e-01 -2.04068850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.29592 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:180.10, Y:0.16, Z:-2.04 [[ 9.99647415e-01 2.65446240e-02 -6.55189256e-04 1.80097722e+02] [-2.65446231e-02 9.99647629e-01 1.00915692e-05 1.61214643e-01] [ 6.55226264e-04 7.30374083e-06 9.99999785e-01 -2.04204288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.32592 meters Centerline goodness : 0.897715 Centerline is valid? [True, False] Translation: X:180.08, Y:0.16, Z:-2.04 [[ 9.99714592e-01 1.83195815e-02 1.53338386e-02 1.80083202e+02] [-1.83376877e-02 9.99831309e-01 1.04101692e-03 1.61758833e-01] [-1.53121809e-02 -1.32190695e-03 9.99881888e-01 -2.04255705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.35592 meters Centerline goodness : 0.999901 Centerline is valid? [False, True] Translation: X:180.08, Y:0.16, Z:-2.04 [[ 9.99711428e-01 1.84346295e-02 1.54021146e-02 1.80083117e+02] [-1.84427015e-02 9.99829846e-01 3.82205204e-04 1.64310483e-01] [-1.53924480e-02 -6.66151512e-04 9.99881307e-01 -2.04302936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.38592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:180.12, Y:0.17, Z:-2.05 [[ 9.99685347e-01 1.98027924e-02 1.53966447e-02 1.80115033e+02] [-1.98031730e-02 9.99803890e-01 -1.27754162e-04 1.68665777e-01] [-1.53961551e-02 -1.77188455e-04 9.99881456e-01 -2.04617151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.41592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:180.15, Y:0.17, Z:-2.05 [[ 9.99840309e-01 9.07092320e-03 1.53972290e-02 1.80147575e+02] [-9.07084279e-03 9.99958856e-01 -7.50606137e-05 1.69530746e-01] [-1.53972764e-02 -6.46172165e-05 9.99881453e-01 -2.05092000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.44592 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:180.18, Y:0.18, Z:-2.04 [[ 9.99637302e-01 2.20951313e-02 1.53970558e-02 1.80180593e+02] [-2.20963667e-02 9.99755841e-01 -8.99020984e-05 1.80303258e-01] [-1.53952829e-02 -2.50349500e-04 9.99881454e-01 -2.04450115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.47592 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:180.21, Y:0.19, Z:-2.05 [[ 9.99661839e-01 2.09556847e-02 1.53969539e-02 1.80212387e+02] [-2.09566538e-02 9.99780380e-01 -9.84192440e-05 1.87601754e-01] [-1.53956348e-02 -2.24282669e-04 9.99881455e-01 -2.04893285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.50592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:180.25, Y:0.19, Z:-2.05 [[ 9.99672665e-01 2.04326770e-02 1.53970612e-02 1.80246047e+02] [-2.04337178e-02 9.99791206e-01 -8.97328258e-05 1.90704944e-01] [-1.53956798e-02 -2.24915750e-04 9.99881454e-01 -2.05037749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.53592 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:180.28, Y:0.20, Z:-2.05 [[ 9.99758543e-01 1.56778967e-02 1.53967437e-02 1.80277243e+02] [-1.56780010e-02 9.99877086e-01 -1.13937548e-04 1.97228919e-01] [-1.53966375e-02 -1.27480126e-04 9.99881457e-01 -2.04949518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.56592 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:180.31, Y:0.20, Z:-2.05 [[ 9.99801670e-01 1.26310716e-02 1.53972923e-02 1.80309423e+02] [-1.26314398e-02 9.99920217e-01 -7.33404824e-05 1.99693891e-01] [-1.53969902e-02 -1.21164034e-04 9.99881452e-01 -2.04706843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.59592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:180.34, Y:0.20, Z:-2.05 [[ 9.99863470e-01 5.99701602e-03 1.53973188e-02 1.80340976e+02] [-5.99662695e-03 9.99982018e-01 -7.14378572e-05 2.02001316e-01] [-1.53974704e-02 -2.09038733e-05 9.99881452e-01 -2.04904808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.62592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.37, Y:0.20, Z:-2.07 [[ 9.99873342e-01 4.03022325e-03 1.53966660e-02 1.80374118e+02] [-4.02890054e-03 9.99991877e-01 -1.16925412e-04 2.03429185e-01] [-1.53970121e-02 5.48789671e-05 9.99881457e-01 -2.06682006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.65592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.41, Y:0.21, Z:-2.07 [[ 9.99878789e-01 -2.32419750e-03 1.53950125e-02 1.80406756e+02] [ 2.32798937e-03 9.99997264e-01 -2.28388753e-04 2.06600312e-01] [-1.53944395e-02 2.64200495e-04 9.99881464e-01 -2.06884392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.68592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.44, Y:0.21, Z:-2.07 [[ 9.99867009e-01 -5.38154081e-03 1.53949128e-02 1.80439007e+02] [ 5.38579546e-03 9.99985469e-01 -2.34920685e-04 2.07024311e-01] [-1.53934248e-02 3.17803294e-04 9.99881464e-01 -2.06936367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.71592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:180.47, Y:0.20, Z:-2.05 [[ 9.99781541e-01 -1.41375604e-02 1.53948124e-02 1.80467233e+02] [ 1.41429508e-02 9.99899954e-01 -2.41326470e-04 2.02987469e-01] [-1.53898604e-02 4.59001824e-04 9.99881464e-01 -2.05088887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.74592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:180.50, Y:0.20, Z:-2.05 [[ 9.99757660e-01 -1.57325749e-02 1.53982955e-02 1.80499375e+02] [ 1.57346789e-02 9.99876202e-01 -1.54929418e-05 2.01062410e-01] [-1.53961455e-02 2.57776423e-04 9.99881439e-01 -2.04930320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.77592 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:180.53, Y:0.20, Z:-2.05 [[ 9.99684680e-01 -1.98351086e-02 1.53983286e-02 1.80531297e+02] [ 1.98376672e-02 9.99803214e-01 -1.34203550e-05 1.99222234e-01] [-1.53950322e-02 3.18883042e-04 9.99881439e-01 -2.04933845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.80592000000001 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:180.56, Y:0.20, Z:-2.05 [[ 9.99697047e-01 -1.92011278e-02 1.53990801e-02 1.80564383e+02] [ 1.92029221e-02 9.99815606e-01 3.13464014e-05 1.97804984e-01] [-1.53968425e-02 2.64370431e-04 9.99881427e-01 -2.05000307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.83592000000002 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:180.60, Y:0.19, Z:-2.05 [[ 9.99648527e-01 -2.15817709e-02 1.53964051e-02 1.80595097e+02] [ 2.15862122e-02 9.99766983e-01 -1.22313294e-04 1.93399863e-01] [-1.53901777e-02 4.54620371e-04 9.99881461e-01 -2.05356489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.86592000000002 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:180.62, Y:0.19, Z:-2.05 [[ 9.99635288e-01 -2.21865387e-02 1.53963472e-02 1.80624953e+02] [ 2.21911013e-02 9.99753739e-01 -1.25542494e-04 1.92161558e-01] [-1.53897703e-02 4.67158606e-04 9.99881461e-01 -2.05268421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.89592000000002 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:180.66, Y:0.19, Z:-2.05 [[ 9.99632631e-01 -2.23045470e-02 1.53983648e-02 1.80656360e+02] [ 2.23074316e-02 9.99751158e-01 -1.55780382e-05 1.92669865e-01] [-1.53941856e-02 3.59070285e-04 9.99881438e-01 -2.05316217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.92592000000002 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:180.69, Y:0.19, Z:-2.05 [[ 9.99728283e-01 -1.75006607e-02 1.53976232e-02 1.80690599e+02] [ 1.75035722e-02 9.99846799e-01 -5.43357390e-05 1.91594455e-01] [-1.53943134e-02 3.23834385e-04 9.99881448e-01 -2.05087067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.95592000000002 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:180.72, Y:0.19, Z:-2.05 [[ 9.99746648e-01 -1.64212239e-02 1.53942887e-02 1.80721638e+02] [ 1.64266267e-02 9.99865049e-01 -2.24571618e-04 1.92083159e-01] [-1.53885235e-02 4.77390957e-04 9.99881476e-01 -2.05477792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.98592 meters Centerline goodness : 0.998957 Centerline is valid? [True, True] Translation: X:180.75, Y:0.19, Z:-2.05 [[ 9.99767210e-01 -1.51180966e-02 1.53937799e-02 1.80752239e+02] [ 1.51237365e-02 9.99885598e-01 -2.50019888e-04 1.93632038e-01] [-1.53882390e-02 4.82773158e-04 9.99881477e-01 -2.05182983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.01592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:180.78, Y:0.19, Z:-2.06 [[ 9.99675929e-01 -2.02739855e-02 1.53948573e-02 1.80778553e+02] [ 2.02794169e-02 9.99794332e-01 -1.96765584e-04 1.93307415e-01] [-1.53877018e-02 5.08900547e-04 9.99881473e-01 -2.05600509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.04592 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:180.80, Y:0.18, Z:-2.05 [[ 9.99355017e-01 -3.24403919e-02 1.54003557e-02 1.80799039e+02] [ 3.24431385e-02 9.99473580e-01 7.15199070e-05 1.82803285e-01] [-1.53945688e-02 4.28162097e-04 9.99881405e-01 -2.04973736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.07592 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:180.84, Y:0.19, Z:-2.06 [[ 9.99807094e-01 -1.21710613e-02 1.54156022e-02 1.80843896e+02] [ 1.21603559e-02 9.99925750e-01 7.88004426e-04 1.93825173e-01] [-1.54240485e-02 -6.00393206e-04 9.99880862e-01 -2.05548193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.10592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.88, Y:0.19, Z:-2.08 [[ 9.99839567e-01 -9.15711742e-03 1.53944260e-02 1.80879684e+02] [ 9.15967860e-03 9.99958045e-01 -9.58693786e-05 1.93789188e-01] [-1.53929022e-02 2.36861992e-04 9.99881494e-01 -2.07506133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.13592 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:180.91, Y:0.19, Z:-2.06 [[ 9.99824947e-01 -1.06444486e-02 1.53873974e-02 1.80908677e+02] [ 1.06515602e-02 9.99943198e-01 -3.80288524e-04 1.89926270e-01] [-1.53824754e-02 5.44121742e-04 9.99881535e-01 -2.05744806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.16592 meters Centerline goodness : 0.735815 Centerline is valid? [True, False] Translation: X:180.94, Y:0.19, Z:-2.06 [[ 9.99969470e-01 -5.96205433e-03 -5.05097029e-03 1.80935730e+02] [ 5.94999299e-03 9.99979420e-01 -2.39959555e-03 1.89385621e-01] [ 5.06517285e-03 2.36946905e-03 9.99984365e-01 -2.05699923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.19592 meters Centerline goodness : 0.735815 Centerline is valid? [False, False] Translation: X:180.94, Y:0.19, Z:-2.06 [[ 9.99969470e-01 -5.96205433e-03 -5.05097029e-03 1.80935730e+02] [ 5.94999299e-03 9.99979420e-01 -2.39959555e-03 1.89385621e-01] [ 5.06517285e-03 2.36946905e-03 9.99984365e-01 -2.05699923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.22592 meters Centerline goodness : 0.999901 Centerline is valid? [False, True] Translation: X:180.96, Y:0.19, Z:-2.05 [[ 9.99958555e-01 5.42985527e-04 -9.08814037e-03 1.80956907e+02] [-5.83137448e-04 9.99990079e-01 -4.41599026e-03 1.91086930e-01] [ 9.08565240e-03 4.42110687e-03 9.99948951e-01 -2.05296203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.25592 meters Centerline goodness : 0.998907 Centerline is valid? [True, True] Translation: X:180.99, Y:0.18, Z:-2.05 [[ 9.99944869e-01 5.53173846e-03 -8.92518223e-03 1.80985561e+02] [-5.53057101e-03 9.99984694e-01 1.55480746e-04 1.84899006e-01] [ 8.92590570e-03 -1.06110820e-04 9.99960158e-01 -2.05212310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.28592 meters Centerline goodness : 0.986587 Centerline is valid? [True, True] Translation: X:181.02, Y:0.20, Z:-2.05 [[ 9.98877704e-01 4.65153394e-02 -8.92499660e-03 1.81018835e+02] [-4.65157581e-02 9.98917543e-01 1.60768014e-04 2.02196655e-01] [ 8.92281386e-03 2.54565398e-04 9.99960159e-01 -2.05471251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.31592 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:181.04, Y:0.18, Z:-2.05 [[ 9.99944966e-01 5.52303025e-03 -8.91972165e-03 1.81044935e+02] [-5.52048677e-03 9.99984714e-01 3.09748415e-04 1.75324449e-01] [ 8.92129606e-03 -2.60490163e-04 9.99960171e-01 -2.05104346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.34592 meters Centerline goodness : 0.996723 Centerline is valid? [True, True] Translation: X:181.08, Y:0.18, Z:-2.05 [[ 9.99605949e-01 2.66139645e-02 -8.92430234e-03 1.81077009e+02] [-2.66134060e-02 9.99645784e-01 1.81348663e-04 1.79802724e-01] [ 8.92596762e-03 5.62288792e-05 9.99960161e-01 -2.05334626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.37592 meters Centerline goodness : 0.998957 Centerline is valid? [True, True] Translation: X:181.10, Y:0.17, Z:-2.05 [[ 9.99954655e-01 3.33353097e-03 -8.92051472e-03 1.81104290e+02] [-3.33110883e-03 9.99994411e-01 2.86369610e-04 1.67666885e-01] [ 8.92141948e-03 -2.56641419e-04 9.99960170e-01 -2.04925613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.40592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:181.14, Y:0.16, Z:-2.07 [[ 9.99924623e-01 8.43276755e-03 -8.92393167e-03 1.81136459e+02] [-8.43140372e-03 9.99964437e-01 1.90438455e-04 1.64669539e-01] [ 8.92522023e-03 -1.15182829e-04 9.99960163e-01 -2.06804875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.43592 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:181.16, Y:0.16, Z:-2.05 [[ 9.99916682e-01 9.33145381e-03 -8.91921232e-03 1.81164835e+02] [-9.32895785e-03 9.99956433e-01 3.21405483e-04 1.62644235e-01] [ 8.92182292e-03 -2.38171748e-04 9.99960171e-01 -2.05002229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.46592 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:181.19, Y:0.16, Z:-2.05 [[ 9.99838454e-01 1.56035031e-02 -8.92164191e-03 1.81194365e+02] [-1.56018625e-02 9.99878251e-01 2.53462110e-04 1.63197337e-01] [ 8.92451061e-03 -1.14226934e-04 9.99960169e-01 -2.04935610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.49592 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:181.22, Y:0.16, Z:-2.05 [[ 9.99781891e-01 1.88830535e-02 -8.92191085e-03 1.81224593e+02] [-1.88816104e-02 9.99821696e-01 2.45965141e-04 1.63648678e-01] [ 8.92496461e-03 -7.74514495e-05 9.99960169e-01 -2.04647105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.52592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.26, Y:0.16, Z:-2.07 [[ 9.99714662e-01 2.21588708e-02 -8.92070079e-03 1.81255296e+02] [-2.21572571e-02 9.99754459e-01 2.79706084e-04 1.63476620e-01] [ 8.92470836e-03 -8.19680127e-05 9.99960171e-01 -2.06514765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.55592000000001 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:181.28, Y:0.16, Z:-2.05 [[ 9.99697682e-01 2.29127432e-02 -8.91917094e-03 1.81283323e+02] [-2.29107815e-02 9.99737462e-01 3.22072566e-04 1.61241016e-01] [ 8.92420888e-03 -1.17630021e-04 9.99960172e-01 -2.04691941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.58592000000002 meters Centerline goodness : 0.998560 Centerline is valid? [True, True] Translation: X:181.31, Y:0.16, Z:-2.04 [[ 9.99670389e-01 2.40732556e-02 -8.92146621e-03 1.81311424e+02] [-2.40719134e-02 9.99710196e-01 2.57811966e-04 1.60528527e-01] [ 8.92508711e-03 -4.29702262e-05 9.99960170e-01 -2.04467489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.61592000000002 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:181.34, Y:0.16, Z:-2.04 [[ 9.99646719e-01 2.50366295e-02 -8.92213271e-03 1.81341626e+02] [-2.50354931e-02 9.99686534e-01 2.39048631e-04 1.59425133e-01] [ 8.92532090e-03 -1.55941876e-05 9.99960168e-01 -2.04433494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.64592000000002 meters Centerline goodness : 0.998709 Centerline is valid? [True, True] Translation: X:181.37, Y:0.16, Z:-2.04 [[ 9.99671356e-01 2.40330653e-02 -8.92140505e-03 1.81371761e+02] [-2.40317066e-02 9.99711163e-01 2.59485487e-04 1.59864484e-01] [ 8.92506445e-03 -4.50036200e-05 9.99960170e-01 -2.04434842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.67592000000002 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:181.40, Y:0.16, Z:-2.06 [[ 9.99703540e-01 2.26554040e-02 -8.91989023e-03 1.81402067e+02] [-2.26536115e-02 9.99743328e-01 3.01960574e-04 1.59499402e-01] [ 8.92444179e-03 -9.98033272e-05 9.99960171e-01 -2.06381737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.70592000000002 meters Centerline goodness : 0.997964 Centerline is valid? [True, True] Translation: X:181.43, Y:0.16, Z:-2.04 [[ 9.99773767e-01 1.93095950e-02 -8.91931055e-03 1.81429354e+02] [-1.93075244e-02 9.99813542e-01 3.18208897e-04 1.57337108e-01] [ 8.92379195e-03 -1.45927101e-04 9.99960172e-01 -2.04485879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.73592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:181.46, Y:0.16, Z:-2.07 [[ 9.99784328e-01 1.87533537e-02 -8.92237911e-03 1.81460456e+02] [-1.87520422e-02 9.99824138e-01 2.30637156e-04 1.55275209e-01] [ 8.92513523e-03 -6.32745844e-05 9.99960168e-01 -2.06534088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.76592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:181.49, Y:0.15, Z:-2.06 [[ 9.99801931e-01 1.77916718e-02 -8.91938661e-03 1.81487969e+02] [-1.77895668e-02 9.99841703e-01 3.15293529e-04 1.53427267e-01] [ 8.92358430e-03 -1.56559055e-04 9.99960172e-01 -2.06393261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.79592 meters Centerline goodness : 0.998157 Centerline is valid? [True, True] Translation: X:181.51, Y:0.15, Z:-2.04 [[ 9.99856920e-01 1.43729582e-02 -8.91953676e-03 1.81514864e+02] [-1.43707556e-02 9.99896687e-01 3.10986907e-04 1.51077798e-01] [ 8.92308506e-03 -1.82761929e-04 9.99960172e-01 -2.04439906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.82592 meters Centerline goodness : 0.998013 Centerline is valid? [True, True] Translation: X:181.54, Y:0.15, Z:-2.04 [[ 9.99859104e-01 1.42178715e-02 -8.92329060e-03 1.81544236e+02] [-1.42166397e-02 9.99898918e-01 2.01453237e-04 1.49266735e-01] [ 8.92525285e-03 -7.45656450e-05 9.99960166e-01 -2.04497740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.85592 meters Centerline goodness : 0.998211 Centerline is valid? [True, True] Translation: X:181.57, Y:0.15, Z:-2.05 [[ 9.99883969e-01 1.23471151e-02 -8.92169029e-03 1.81572562e+02] [-1.23453933e-02 9.99923762e-01 2.48038673e-04 1.47992984e-01] [ 8.92407268e-03 -1.37868117e-04 9.99960170e-01 -2.04618440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.88592 meters Centerline goodness : 0.998460 Centerline is valid? [True, True] Translation: X:181.60, Y:0.15, Z:-2.05 [[ 9.99884117e-01 1.23346773e-02 -8.92231208e-03 1.81602449e+02] [-1.23331162e-02 9.99923918e-01 2.29965978e-04 1.47309366e-01] [ 8.92446980e-03 -1.19899418e-04 9.99960169e-01 -2.04618376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.91592 meters Centerline goodness : 0.998360 Centerline is valid? [True, True] Translation: X:181.63, Y:0.14, Z:-2.05 [[ 9.99892502e-01 1.16355766e-02 -8.92171571e-03 1.81631950e+02] [-1.16338329e-02 9.99932294e-01 2.47322084e-04 1.44833528e-01] [ 8.92398939e-03 -1.43501748e-04 9.99960170e-01 -2.04524377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.94592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.66, Y:0.14, Z:-2.06 [[ 9.99883383e-01 1.23941121e-02 -8.92222535e-03 1.81663382e+02] [-1.23925315e-02 9.99923183e-01 2.32416489e-04 1.42218038e-01] [ 8.92442056e-03 -1.21820427e-04 9.99960169e-01 -2.06245079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.97592 meters Centerline goodness : 0.998509 Centerline is valid? [True, True] Translation: X:181.69, Y:0.14, Z:-2.04 [[ 9.99922807e-01 8.64987915e-03 -8.91964603e-03 1.81691390e+02] [-8.64748195e-03 9.99962563e-01 3.07287324e-04 1.38913515e-01] [ 8.92197010e-03 -2.30131126e-04 9.99960172e-01 -2.04376066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.00592 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:181.71, Y:0.13, Z:-2.04 [[ 9.99939153e-01 -6.48606355e-03 -8.92304816e-03 1.81709781e+02] [ 6.48817718e-03 9.99978930e-01 2.07945659e-04 1.28638766e-01] [ 8.92151140e-03 -2.65827324e-04 9.99960167e-01 -2.03979930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.03592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:181.75, Y:0.14, Z:-2.06 [[ 9.99922106e-01 8.71263807e-03 -8.93705821e-03 1.81752643e+02] [-8.71501325e-03 9.99961998e-01 -2.26856814e-04 1.36790265e-01] [ 8.93474206e-03 3.04725725e-04 9.99960038e-01 -2.06152922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.06592 meters Centerline goodness : 0.968174 Centerline is valid? [True, True] Translation: X:181.83, Y:0.14, Z:-2.06 [[ 9.99960147e-01 4.00944483e-04 -8.91876124e-03 1.81832660e+02] [-3.98229637e-04 9.99999874e-01 3.06171020e-04 1.41643726e-01] [ 8.91888287e-03 -3.02607103e-04 9.99960180e-01 -2.06465220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.09592 meters Centerline goodness : 0.991095 Centerline is valid? [True, True] Translation: X:181.85, Y:0.13, Z:-2.06 [[ 9.99961457e-01 1.08123244e-03 -8.71297889e-03 1.81851398e+02] [-1.05865034e-03 9.99996070e-01 2.59597342e-03 1.34858226e-01] [ 8.71575150e-03 -2.58664937e-03 9.99958672e-01 -2.05908502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.12592 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:181.83, Y:0.12, Z:-2.04 [[ 9.99961409e-01 7.17876010e-04 -8.75584817e-03 1.81830191e+02] [-7.05102862e-04 9.99998683e-01 1.46181305e-03 1.21647951e-01] [ 8.75688604e-03 -1.45558286e-03 9.99960598e-01 -2.04273226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.15592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.86, Y:0.12, Z:-2.06 [[ 9.99955013e-01 3.55111391e-03 -8.79557365e-03 1.81862923e+02] [-3.54966156e-03 9.99993684e-01 1.80727932e-04 1.18273118e-01] [ 8.79615988e-03 -1.49498491e-04 9.99961302e-01 -2.06067548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.18592 meters Centerline goodness : 0.926097 Centerline is valid? [True, False] Translation: X:181.86, Y:0.12, Z:-2.06 [[ 9.99961211e-01 -6.15407884e-04 -8.78619326e-03 1.81862893e+02] [ 5.76426109e-04 9.99989983e-01 -4.43855134e-03 1.20234212e-01] [ 8.78883677e-03 4.43331459e-03 9.99951550e-01 -2.06014738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.21592 meters Centerline goodness : 0.999006 Centerline is valid? [False, True] Translation: X:181.88, Y:0.12, Z:-2.06 [[ 9.99941093e-01 3.73013825e-03 -1.01929785e-02 1.81884583e+02] [-3.83218581e-03 9.99942551e-01 -1.00104310e-02 1.23492715e-01] [ 1.01550526e-02 1.00489027e-02 9.99897942e-01 -2.05754841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.24592 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:181.91, Y:0.11, Z:-2.06 [[ 9.99926429e-01 7.01399349e-03 -9.89648409e-03 1.81913851e+02] [-7.01296825e-03 9.99975399e-01 1.38295079e-04 1.14134470e-01] [ 9.89721063e-03 -6.88811753e-05 9.99951019e-01 -2.05821772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.27592 meters Centerline goodness : 0.879972 Centerline is valid? [True, False] Translation: X:181.91, Y:0.12, Z:-2.06 [[ 9.99946593e-01 2.90269084e-03 -9.91896257e-03 1.81913882e+02] [-2.95167080e-03 9.99983506e-01 -4.92694643e-03 1.18226111e-01] [ 9.90449756e-03 4.95596080e-03 9.99938668e-01 -2.05741580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.30592000000001 meters Centerline goodness : 0.998908 Centerline is valid? [False, True] Translation: X:181.94, Y:0.12, Z:-2.05 [[ 9.99903074e-01 7.18826370e-03 -1.19236083e-02 1.81936168e+02] [-7.31905494e-03 9.99913130e-01 -1.09619737e-02 1.23411133e-01] [ 1.18437749e-02 1.10481807e-02 9.99868823e-01 -2.05473076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.33592000000002 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:181.97, Y:0.11, Z:-2.06 [[ 9.99877600e-01 1.04330057e-02 -1.16592314e-02 1.81968300e+02] [-1.04330927e-02 9.99945572e-01 5.33608117e-05 1.12467832e-01] [ 1.16591535e-02 6.82875616e-05 9.99932027e-01 -2.05538029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.36592000000002 meters Centerline goodness : 0.998858 Centerline is valid? [True, True] Translation: X:182.00, Y:0.11, Z:-2.06 [[ 9.99885986e-01 9.60235430e-03 -1.16537224e-02 1.81996821e+02] [-9.59974423e-03 9.99953882e-01 2.79887791e-04 1.12410587e-01] [ 1.16558725e-02 -1.67983126e-04 9.99932054e-01 -2.05652868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.39592000000002 meters Centerline goodness : 0.998858 Centerline is valid? [True, True] Translation: X:182.03, Y:0.11, Z:-2.05 [[ 9.99874377e-01 1.07418118e-02 -1.16552349e-02 1.82025981e+02] [-1.07400043e-02 9.99942301e-01 2.17667097e-04 1.14067186e-01] [ 1.16569005e-02 -9.24624805e-05 9.99932052e-01 -2.05489189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.42592000000002 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:182.05, Y:0.12, Z:-2.06 [[ 9.99823651e-01 1.47250794e-02 -1.16550235e-02 1.82053918e+02] [-1.47234409e-02 9.99891579e-01 2.26381393e-04 1.15236310e-01] [ 1.16570934e-02 -5.47394205e-05 9.99932052e-01 -2.05731470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.45592000000002 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:182.08, Y:0.11, Z:-2.05 [[ 9.99851575e-01 1.26862111e-02 -1.16571333e-02 1.82083541e+02] [-1.26854585e-02 9.99919527e-01 1.38501212e-04 1.14983707e-01] [ 1.16579522e-02 9.39542567e-06 9.99932044e-01 -2.05431341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.48592 meters Centerline goodness : 0.998809 Centerline is valid? [True, True] Translation: X:182.12, Y:0.12, Z:-2.05 [[ 9.99786991e-01 1.70332076e-02 -1.16551807e-02 1.82115556e+02] [-1.70318087e-02 9.99854924e-01 2.19281946e-04 1.15875572e-01] [ 1.16572249e-02 -2.07264288e-05 9.99932052e-01 -2.05345986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.51592 meters Centerline goodness : 0.998956 Centerline is valid? [True, True] Translation: X:182.14, Y:0.12, Z:-2.06 [[ 9.99828273e-01 1.44104536e-02 -1.16517913e-02 1.82143139e+02] [-1.44072574e-02 9.99896146e-01 3.58204932e-04 1.15335122e-01] [ 1.16557431e-02 -1.90273062e-04 9.99932051e-01 -2.05623548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.54592 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:182.17, Y:0.12, Z:-2.06 [[ 9.99805560e-01 1.59060505e-02 -1.16550033e-02 1.82172302e+02] [-1.59045075e-02 9.99873490e-01 2.25068419e-04 1.15063017e-01] [ 1.16571087e-02 -3.96575695e-05 9.99932053e-01 -2.05682534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.57592 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:182.20, Y:0.12, Z:-2.06 [[ 9.99756349e-01 1.87462481e-02 -1.16542370e-02 1.82202678e+02] [-1.87445222e-02 9.99824273e-01 2.57316070e-04 1.15427599e-01] [ 1.16570127e-02 -3.88002711e-05 9.99932054e-01 -2.05541288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.60592 meters Centerline goodness : 0.978502 Centerline is valid? [True, True] Translation: X:182.23, Y:0.15, Z:-2.07 [[ 9.96128852e-01 8.71293780e-02 -1.16525395e-02 1.82229534e+02] [-8.71314738e-02 9.96196767e-01 3.28654287e-04 1.48783537e-01] [ 1.16368576e-02 6.87920919e-04 9.99932053e-01 -2.06687099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.63592 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:182.26, Y:0.12, Z:-2.05 [[ 9.99703823e-01 2.13627145e-02 -1.16576597e-02 1.82260598e+02] [-2.13629081e-02 9.99771781e-01 1.07930309e-04 1.18286730e-01] [ 1.16573049e-02 1.41143171e-04 9.99932041e-01 -2.05464189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.66592 meters Centerline goodness : 0.997073 Centerline is valid? [True, True] Translation: X:182.29, Y:0.13, Z:-2.06 [[ 9.98478067e-01 5.39045848e-02 -1.16552943e-02 1.82292639e+02] [-5.39058287e-02 9.98546002e-01 2.07630324e-04 1.33897013e-01] [ 1.16495397e-02 4.20973973e-04 9.99932053e-01 -2.06161596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.69592 meters Centerline goodness : 0.998759 Centerline is valid? [True, True] Translation: X:182.32, Y:0.13, Z:-2.06 [[ 9.99551350e-01 2.75918629e-02 -1.16528220e-02 1.82321329e+02] [-2.75901133e-02 9.99619272e-01 3.10908158e-04 1.26493076e-01] [ 1.16569640e-02 1.07340102e-05 9.99932055e-01 -2.05564414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.72592 meters Centerline goodness : 0.998809 Centerline is valid? [True, True] Translation: X:182.35, Y:0.13, Z:-2.05 [[ 9.99528509e-01 2.84066117e-02 -1.16543801e-02 1.82350128e+02] [-2.84056822e-02 9.99596447e-01 2.45315028e-04 1.27522242e-01] [ 1.16566455e-02 8.58512523e-05 9.99932055e-01 -2.05440938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.75592 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:182.38, Y:0.13, Z:-2.05 [[ 9.99549029e-01 2.76753468e-02 -1.16539565e-02 1.82378281e+02] [-2.76741573e-02 9.99616962e-01 2.63350063e-04 1.27305038e-01] [ 1.16567809e-02 5.92821263e-05 9.99932056e-01 -2.05391273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.78592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:182.41, Y:0.13, Z:-2.07 [[ 9.99541271e-01 2.79537322e-02 -1.16548891e-02 1.82409291e+02] [-2.79530328e-02 9.99609213e-01 2.22940576e-04 1.31411827e-01] [ 1.16565665e-02 1.02951190e-04 9.99932055e-01 -2.06880618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.81592 meters Centerline goodness : 0.996017 Centerline is valid? [True, True] Translation: X:182.46, Y:0.15, Z:-2.06 [[ 9.97837592e-01 6.46863822e-02 -1.16538304e-02 1.82455824e+02] [-6.46876463e-02 9.97905525e-01 2.68834965e-04 1.49757227e-01] [ 1.16468117e-02 4.85605225e-04 9.99932056e-01 -2.05802349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.84592 meters Centerline goodness : 0.979361 Centerline is valid? [True, True] Translation: X:182.48, Y:0.17, Z:-2.07 [[ 9.95166806e-01 9.75077502e-02 -1.16304282e-02 1.82484079e+02] [-9.75007182e-02 9.95234765e-01 1.17145366e-03 1.67306765e-01] [ 1.16892323e-02 -3.18166987e-05 9.99931678e-01 -2.06654185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.87592 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:182.49, Y:0.13, Z:-2.05 [[ 9.99763866e-01 1.83540335e-02 -1.16336236e-02 1.82494977e+02] [-1.83433633e-02 9.99831223e-01 1.02322957e-03 1.32750474e-01] [ 1.16504405e-02 -8.09588167e-04 9.99931804e-01 -2.05138987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.90592 meters Centerline goodness : 0.981551 Centerline is valid? [True, True] Translation: X:182.56, Y:0.17, Z:-2.06 [[ 9.95502804e-01 9.40131122e-02 -1.16490823e-02 1.82559859e+02] [-9.40173925e-02 9.95570539e-01 1.80866205e-04 1.70266951e-01] [ 1.16144869e-02 9.15163529e-04 9.99932131e-01 -2.06151444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.93592 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] Translation: X:182.55, Y:0.13, Z:-2.05 [[ 9.99815249e-01 1.53215296e-02 -1.16067989e-02 1.82550943e+02] [-1.52978833e-02 9.99880726e-01 2.12333361e-03 1.32036606e-01] [ 1.16379472e-02 -1.94538186e-03 9.99930384e-01 -2.05084183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.96592 meters Centerline goodness : 0.998612 Centerline is valid? [True, True] Translation: X:182.58, Y:0.13, Z:-2.05 [[ 9.99808602e-01 1.57266393e-02 -1.16375378e-02 1.82580935e+02] [-1.57261928e-02 9.99876327e-01 1.29878232e-04 1.34907279e-01] [ 1.16381411e-02 5.31607906e-05 9.99932273e-01 -2.04940468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.99592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:182.61, Y:0.14, Z:-2.06 [[ 9.99834630e-01 1.39745322e-02 -1.16372607e-02 1.82611430e+02] [-1.39737546e-02 9.99902351e-01 1.48126164e-04 1.37263163e-01] [ 1.16381943e-02 1.45145561e-05 9.99932274e-01 -2.05829739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.02592 meters Centerline goodness : 0.963515 Centerline is valid? [True, True] Translation: X:182.63, Y:0.16, Z:-2.08 [[ 9.95860757e-01 9.01439857e-02 -1.16367419e-02 1.82628250e+02] [-9.01479764e-02 9.95928365e-01 1.82211388e-04 1.57605606e-01] [ 1.16057866e-02 8.67571565e-04 9.99932274e-01 -2.07707213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.05592000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.67, Y:0.14, Z:-2.07 [[ 9.99906375e-01 7.18784694e-03 -1.16436919e-02 1.82668690e+02] [-7.19187142e-03 9.99974092e-01 -3.03801462e-04 1.39658362e-01] [ 1.16412066e-02 3.87512954e-04 9.99932164e-01 -2.06650980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.08592000000002 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:182.69, Y:0.15, Z:-2.06 [[ 9.99706416e-01 2.12528827e-02 -1.16360157e-02 1.82692902e+02] [-2.12521879e-02 9.99774130e-01 1.83376182e-04 1.46091859e-01] [ 1.16372847e-02 6.39684461e-05 9.99932282e-01 -2.05738201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.11592000000002 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:182.73, Y:0.14, Z:-2.05 [[ 9.99931384e-01 -1.31591314e-03 -1.16402859e-02 1.82726781e+02] [ 1.31481267e-03 9.99999130e-01 -1.02192103e-04 1.37013831e-01] [ 1.16404103e-02 8.68802959e-05 9.99932244e-01 -2.04933958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.14592000000002 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:182.76, Y:0.14, Z:-2.05 [[ 9.99931377e-01 -1.35322762e-03 -1.16365794e-02 1.82755091e+02] [ 1.35487918e-03 9.99999073e-01 1.34045891e-04 1.36329145e-01] [ 1.16363872e-02 -1.49802852e-04 9.99932284e-01 -2.04906236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.17592000000002 meters Centerline goodness : 0.981019 Centerline is valid? [True, True] Translation: X:182.85, Y:0.16, Z:-2.09 [[ 9.97675212e-01 6.71473091e-02 -1.16365919e-02 1.82851234e+02] [-6.71503082e-02 9.97742862e-01 1.33231385e-04 1.60669256e-01] [ 1.16192727e-02 6.48479085e-04 9.99932284e-01 -2.08583743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.20592000000002 meters Centerline goodness : 0.893460 Centerline is valid? [True, False] Translation: X:182.83, Y:0.16, Z:-2.09 [[ 9.98538860e-01 5.39051369e-02 3.79236347e-03 1.82834353e+02] [-5.38966286e-02 9.98543846e-01 -2.31112952e-03 1.61776998e-01] [-3.91142296e-03 2.10335703e-03 9.99990138e-01 -2.08700360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.23592 meters Centerline goodness : 0.999302 Centerline is valid? [False, True] Translation: X:182.82, Y:0.16, Z:-2.09 [[ 9.99088395e-01 3.92549816e-02 1.67757462e-02 1.82821121e+02] [-3.92026829e-02 9.99225374e-01 -3.43520778e-03 1.62498870e-01] [-1.68976003e-02 2.77442197e-03 9.99853376e-01 -2.08793880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.26592 meters Centerline goodness : 0.896738 Centerline is valid? [True, False] Translation: X:182.82, Y:0.16, Z:-2.09 [[ 9.99416139e-01 2.41305109e-02 2.41888158e-02 1.82817324e+02] [-2.41456527e-02 9.99708395e-01 3.34066449e-04 1.57854809e-01] [-2.41737010e-02 -9.17926146e-04 9.99707352e-01 -2.08977171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.29592 meters Centerline goodness : 0.999206 Centerline is valid? [False, True] Translation: X:182.82, Y:0.16, Z:-2.09 [[ 9.99496664e-01 2.03336745e-02 2.43507733e-02 1.82816524e+02] [-2.02373584e-02 9.99786402e-01 -4.19531025e-03 1.59034808e-01] [-2.44308781e-02 3.70040327e-03 9.99694673e-01 -2.08996906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.32592 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:182.85, Y:0.15, Z:-2.09 [[ 9.99482530e-01 2.08480030e-02 2.44955887e-02 1.82849414e+02] [-2.08332681e-02 9.99782597e-01 -8.56606502e-04 1.54018266e-01] [-2.45081218e-02 3.45840067e-04 9.99699571e-01 -2.09468927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.35592 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:182.88, Y:0.15, Z:-2.10 [[ 9.99457843e-01 2.19998387e-02 2.44954683e-02 1.82882128e+02] [-2.19853832e-02 9.99757923e-01 -8.59314646e-04 1.54363313e-01] [-2.45084433e-02 3.20306505e-04 9.99699572e-01 -2.09822511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.38592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:182.91, Y:0.15, Z:-2.10 [[ 9.99462601e-01 2.17844094e-02 2.44938632e-02 1.82914354e+02] [-2.17690141e-02 9.99762626e-01 -8.95035079e-04 1.53316512e-01] [-2.45075468e-02 3.61346834e-04 9.99699580e-01 -2.09740462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.41592 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:182.95, Y:0.15, Z:-2.10 [[ 9.99458468e-01 2.19726142e-02 2.44944030e-02 1.82947014e+02] [-2.19575673e-02 9.99758514e-01 -8.83121269e-04 1.51906179e-01] [-2.45078924e-02 3.44805529e-04 9.99699577e-01 -2.09800654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.44592 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:182.98, Y:0.15, Z:-2.09 [[ 9.99472090e-01 2.13435901e-02 2.44947311e-02 1.82977502e+02] [-2.13285295e-02 9.99772137e-01 -8.75971252e-04 1.53551600e-01] [-2.45078461e-02 3.53072222e-04 9.99699575e-01 -2.08847600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.47592 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:183.01, Y:0.15, Z:-2.10 [[ 9.99470464e-01 2.14145540e-02 2.44991516e-02 1.83009895e+02] [-2.14018554e-02 9.99770649e-01 -7.80443751e-04 1.53487662e-01] [-2.45102456e-02 2.55703177e-04 9.99699546e-01 -2.10141474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.50592 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:183.04, Y:0.15, Z:-2.11 [[ 9.99459573e-01 2.19236087e-02 2.44932105e-02 1.83041975e+02] [-2.19079497e-02 9.99759580e-01 -9.07507281e-04 1.52230274e-01] [-2.45072177e-02 3.70420816e-04 9.99699584e-01 -2.10597769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.53592 meters Centerline goodness : 0.999000 Centerline is valid? [True, True] Translation: X:183.07, Y:0.15, Z:-2.09 [[ 9.99509221e-01 1.95442068e-02 2.44814538e-02 1.83070750e+02] [-1.95217394e-02 9.99808764e-01 -1.15641475e-03 1.49646314e-01] [-2.44993733e-02 6.77926647e-04 9.99699615e-01 -2.09101710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.56592 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:183.10, Y:0.15, Z:-2.11 [[ 9.99502904e-01 1.98510046e-02 2.44925166e-02 1.83103696e+02] [-1.98343747e-02 9.99802855e-01 -9.21750572e-04 1.48801745e-01] [-2.45059857e-02 4.35498621e-04 9.99699588e-01 -2.10727431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.59592 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:183.13, Y:0.15, Z:-2.09 [[ 9.99555744e-01 1.69998921e-02 2.44809845e-02 1.83134206e+02] [-1.69764705e-02 9.99855211e-01 -1.16425369e-03 1.45174870e-01] [-2.44972321e-02 7.48135755e-04 9.99699618e-01 -2.09108683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.62592 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:183.17, Y:0.14, Z:-2.11 [[ 9.99569768e-01 1.61455511e-02 2.44867306e-02 1.83165053e+02] [-1.61248319e-02 9.99869442e-01 -1.04336935e-03 1.39467867e-01] [-2.45003794e-02 6.48076040e-04 9.99699611e-01 -2.10705548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.65592 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:183.19, Y:0.14, Z:-2.09 [[ 9.99608063e-01 1.35798903e-02 2.44807468e-02 1.83192167e+02] [-1.35553352e-02 9.99907439e-01 -1.16871453e-03 1.35691773e-01] [-2.44943518e-02 8.36411739e-04 9.99699618e-01 -2.09467149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.68592 meters Centerline goodness : 0.998858 Centerline is valid? [True, True] Translation: X:183.23, Y:0.13, Z:-2.09 [[ 9.99544271e-01 1.76330186e-02 2.45015545e-02 1.83225451e+02] [-1.76204196e-02 9.99844482e-01 -7.30031406e-04 1.33424511e-01] [-2.45106167e-02 2.97971040e-04 9.99699525e-01 -2.09297939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.71592 meters Centerline goodness : 0.991866 Centerline is valid? [True, True] Translation: X:183.27, Y:0.15, Z:-2.10 [[ 9.97203361e-01 7.06108974e-02 2.44858705e-02 1.83274518e+02] [-7.06062095e-02 9.97503707e-01 -1.05703700e-03 1.54169054e-01] [-2.44993849e-02 -6.74773658e-04 9.99699617e-01 -2.10063619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.74592 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:183.29, Y:0.13, Z:-2.11 [[ 9.99530488e-01 1.85474267e-02 2.43884603e-02 1.83286645e+02] [-1.84785753e-02 9.99824618e-01 -3.04547654e-03 1.26119498e-01] [-2.44406688e-02 2.59338265e-03 9.99697918e-01 -2.10903935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.77592 meters Centerline goodness : 0.998457 Centerline is valid? [True, True] Translation: X:183.32, Y:0.12, Z:-2.10 [[ 9.99292242e-01 2.85638626e-02 2.44769380e-02 1.83315226e+02] [-2.85447467e-02 9.99591877e-01 -1.13009047e-03 1.24639771e-01] [-2.44992282e-02 4.30602641e-04 9.99699756e-01 -2.09897248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.80592000000001 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:183.35, Y:0.12, Z:-2.11 [[ 9.99472263e-01 2.13399763e-02 2.44908178e-02 1.83347333e+02] [-2.13260747e-02 9.99772230e-01 -8.28699840e-04 1.19818497e-01] [-2.45029240e-02 3.05969493e-04 9.99699711e-01 -2.11218612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.83592000000002 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:183.38, Y:0.12, Z:-2.11 [[ 9.99411247e-01 2.40431633e-02 2.44762273e-02 1.83379324e+02] [-2.40224114e-02 9.99710768e-01 -1.14156184e-03 1.17806727e-01] [-2.44965947e-02 5.52911739e-04 9.99699760e-01 -2.11172515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.86592000000002 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:183.41, Y:0.12, Z:-2.11 [[ 9.99343573e-01 2.67088038e-02 2.44757468e-02 1.83411924e+02] [-2.66886010e-02 9.99643132e-01 -1.15177123e-03 1.15304456e-01] [-2.44977747e-02 4.97791740e-04 9.99699761e-01 -2.11275510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.89592000000002 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:183.45, Y:0.11, Z:-2.11 [[ 9.99336842e-01 2.69599093e-02 2.44752635e-02 1.83445179e+02] [-2.69395325e-02 9.99636390e-01 -1.16195342e-03 1.14036956e-01] [-2.44976902e-02 5.01830708e-04 9.99699761e-01 -2.11408883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.92592000000002 meters Centerline goodness : 0.998958 Centerline is valid? [True, True] Translation: X:183.48, Y:0.11, Z:-2.11 [[ 9.99271565e-01 2.92801744e-02 2.44746993e-02 1.83477168e+02] [-2.92602050e-02 9.99571139e-01 -1.17371778e-03 1.12459584e-01] [-2.44985697e-02 4.56728082e-04 9.99699761e-01 -2.11344293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.95592000000002 meters Centerline goodness : 0.921935 Centerline is valid? [True, False] Translation: X:183.48, Y:0.12, Z:-2.11 [[ 9.99359613e-01 2.56389479e-02 2.49601308e-02 1.83475528e+02] [-2.54895345e-02 9.99655325e-01 -6.28600430e-03 1.16162697e-01] [-2.51126942e-02 5.64575671e-03 9.99668684e-01 -2.11326499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.98592 meters Centerline goodness : 0.999404 Centerline is valid? [False, True] Translation: X:183.48, Y:0.11, Z:-2.11 [[ 9.99367648e-01 2.55314711e-02 2.47476797e-02 1.83476127e+02] [-2.53952067e-02 9.99660636e-01 -5.80493549e-03 1.13785259e-01] [-2.48874897e-02 5.17279229e-03 9.99676875e-01 -2.11413005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.01592 meters Centerline goodness : 0.998412 Centerline is valid? [True, True] Translation: X:183.51, Y:0.11, Z:-2.10 [[ 9.99307335e-01 2.76075742e-02 2.49534062e-02 1.83508494e+02] [-2.75890469e-02 9.99618759e-01 -1.08651098e-03 1.06274772e-01] [-2.49738889e-02 3.97317693e-04 9.99688025e-01 -2.10184586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.04592 meters Centerline goodness : 0.998610 Centerline is valid? [True, True] Translation: X:183.54, Y:0.10, Z:-2.10 [[ 9.99285662e-01 2.83878617e-02 2.49458528e-02 1.83540406e+02] [-2.83652821e-02 9.99596832e-01 -1.25860393e-03 1.04256612e-01] [-2.49715245e-02 5.50108714e-04 9.99688012e-01 -2.10125981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.07592 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:183.57, Y:0.10, Z:-2.12 [[ 9.99358069e-01 2.57126820e-02 2.49461046e-02 1.83570080e+02] [-2.56894125e-02 9.99669187e-01 -1.25287015e-03 1.02452275e-01] [-2.49700668e-02 6.11215121e-04 9.99688012e-01 -2.11849353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.10592 meters Centerline goodness : 0.998560 Centerline is valid? [True, True] Translation: X:183.60, Y:0.10, Z:-2.10 [[ 9.99289377e-01 2.82504077e-02 2.49530604e-02 1.83602341e+02] [-2.82318872e-02 9.99600802e-01 -1.09426240e-03 9.75456652e-02] [-2.49740125e-02 3.89012810e-04 9.99688025e-01 -2.10202802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.13592 meters Centerline goodness : 0.998411 Centerline is valid? [True, True] Translation: X:183.64, Y:0.09, Z:-2.10 [[ 9.99252916e-01 2.95159364e-02 2.49483495e-02 1.83635485e+02] [-2.94951373e-02 9.99564202e-01 -1.20134180e-03 9.44862831e-02] [-2.49729358e-02 4.64589306e-04 9.99688020e-01 -2.10312398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.16592 meters Centerline goodness : 0.998707 Centerline is valid? [True, True] Translation: X:183.67, Y:0.09, Z:-2.10 [[ 9.99240438e-01 2.99404680e-02 2.49422474e-02 1.83667784e+02] [-2.99163309e-02 9.99551508e-01 -1.34038861e-03 9.13455568e-02] [-2.49711929e-02 5.93189974e-04 9.99687995e-01 -2.10297614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.19592 meters Centerline goodness : 0.998661 Centerline is valid? [True, True] Translation: X:183.70, Y:0.09, Z:-2.10 [[ 9.99269355e-01 2.89589079e-02 2.49426986e-02 1.83695643e+02] [-2.89347222e-02 9.99580418e-01 -1.33009516e-03 8.77323818e-02] [-2.49707512e-02 6.07413276e-04 9.99687998e-01 -2.10460591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.22592 meters Centerline goodness : 0.998958 Centerline is valid? [True, True] Translation: X:183.71, Y:0.07, Z:-2.10 [[ 9.99670249e-01 6.03746930e-03 2.49588083e-02 1.83709256e+02] [-6.01534026e-03 9.99981445e-01 -9.61607569e-04 7.35562198e-02] [-2.49641509e-02 8.11154754e-04 9.99688018e-01 -2.09999207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.25592 meters Centerline goodness : 0.998611 Centerline is valid? [True, True] Translation: X:183.76, Y:0.09, Z:-2.11 [[ 9.99043820e-01 3.58423073e-02 2.50354868e-02 1.83757305e+02] [-3.58741255e-02 9.99355978e-01 8.22806736e-04 8.58076807e-02] [-2.49898721e-02 -1.72014618e-03 9.99686224e-01 -2.10564474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.28592 meters Centerline goodness : 0.998062 Centerline is valid? [True, True] Translation: X:183.79, Y:0.09, Z:-2.11 [[ 9.98838390e-01 4.12220987e-02 2.49521486e-02 1.83789870e+02] [-4.12102231e-02 9.99150007e-01 -9.90188818e-04 8.79393085e-02] [-2.49717571e-02 -3.92450049e-05 9.99688156e-01 -2.10519006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.31592 meters Centerline goodness : 0.998559 Centerline is valid? [True, True] Translation: X:183.82, Y:0.09, Z:-2.11 [[ 9.98855783e-01 4.08023470e-02 2.49457979e-02 1.83819295e+02] [-4.07869202e-02 9.99167232e-01 -1.12712375e-03 8.80767441e-02] [-2.49710131e-02 1.08371810e-04 9.99688170e-01 -2.10913966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.34592 meters Centerline goodness : 0.998759 Centerline is valid? [True, True] Translation: X:183.85, Y:0.09, Z:-2.11 [[ 9.98718685e-01 4.40244924e-02 2.49565899e-02 1.83851077e+02] [-4.40158672e-02 9.99030431e-01 -8.95097589e-04 8.78087008e-02] [-2.49717990e-02 -2.04535262e-04 9.99688135e-01 -2.10990593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.37592 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:183.88, Y:0.09, Z:-2.13 [[ 9.98581434e-01 4.70379417e-02 2.49509840e-02 1.83884009e+02] [-4.70272775e-02 9.98893091e-01 -1.01433850e-03 9.08133386e-02] [-2.49710779e-02 -1.60477253e-04 9.99688161e-01 -2.12757319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.40592 meters Centerline goodness : 0.998114 Centerline is valid? [True, True] Translation: X:183.91, Y:0.09, Z:-2.11 [[ 9.98581859e-01 4.70332772e-02 2.49427807e-02 1.83913785e+02] [-4.70183041e-02 9.98893323e-01 -1.18676091e-03 9.40268268e-02] [-2.49709943e-02 1.23106692e-05 9.99688176e-01 -2.11292834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.43592 meters Centerline goodness : 0.998661 Centerline is valid? [True, True] Translation: X:183.95, Y:0.10, Z:-2.11 [[ 9.98403100e-01 5.06825405e-02 2.49505578e-02 1.83946906e+02] [-5.06727847e-02 9.98714785e-01 -1.02351210e-03 9.54124263e-02] [-2.49703651e-02 -2.42436593e-04 9.99688162e-01 -2.11467857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.46592 meters Centerline goodness : 0.999405 Centerline is valid? [True, True] Translation: X:183.98, Y:0.10, Z:-2.13 [[ 9.98323092e-01 5.22395967e-02 2.49404857e-02 1.83977790e+02] [-5.22250854e-02 9.98634578e-01 -1.23328720e-03 9.88697757e-02] [-2.49708578e-02 -7.12999052e-05 9.99688177e-01 -2.13002066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.49592 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:184.01, Y:0.10, Z:-2.13 [[ 9.98310569e-01 5.24776545e-02 2.49419979e-02 1.84010222e+02] [-5.24640016e-02 9.98622093e-01 -1.20190442e-03 9.97819633e-02] [-2.49707033e-02 -1.08683131e-04 9.99688177e-01 -2.13143061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.52592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:184.04, Y:0.10, Z:-2.13 [[ 9.98331810e-01 5.20720804e-02 2.49418469e-02 1.84042494e+02] [-5.20582228e-02 9.98643324e-01 -1.20503024e-03 1.03414440e-01] [-2.49707574e-02 -9.54082094e-05 9.99688177e-01 -2.13267300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.55592000000001 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:184.08, Y:0.10, Z:-2.13 [[ 9.98338815e-01 5.19376730e-02 2.49416958e-02 1.84075555e+02] [-5.19236955e-02 9.98650324e-01 -1.20815084e-03 1.03737742e-01] [-2.49707811e-02 -8.89211348e-05 9.99688177e-01 -2.13330682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.58592000000002 meters Centerline goodness : 0.998512 Centerline is valid? [True, True] Translation: X:184.11, Y:0.11, Z:-2.11 [[ 9.98504102e-01 4.86567657e-02 2.49414664e-02 1.84105080e+02] [-4.86416469e-02 9.98815558e-01 -1.21286675e-03 1.05019734e-01] [-2.49709389e-02 -2.14158221e-06 9.99688177e-01 -2.11260853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.61592000000002 meters Centerline goodness : 0.998909 Centerline is valid? [True, True] Translation: X:184.14, Y:0.11, Z:-2.12 [[ 9.98506953e-01 4.85932348e-02 2.49511998e-02 1.84137306e+02] [-4.85830984e-02 9.98818631e-01 -1.01264627e-03 1.05308758e-01] [-2.49709310e-02 -2.01072259e-04 9.99688157e-01 -2.11596055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.64592000000002 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:184.17, Y:0.11, Z:-2.13 [[ 9.98506569e-01 4.86023162e-02 2.49488643e-02 1.84170148e+02] [-4.85909979e-02 9.98818197e-01 -1.06005908e-03 1.07306134e-01] [-2.49709010e-02 -1.53814258e-04 9.99688167e-01 -2.13485660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.67592000000002 meters Centerline goodness : 0.996037 Centerline is valid? [True, True] Translation: X:184.23, Y:0.11, Z:-2.13 [[ 9.98831699e-01 4.13913498e-02 2.49398041e-02 1.84233033e+02] [-4.13732381e-02 9.99142989e-01 -1.24200099e-03 1.12407876e-01] [-2.49698385e-02 2.08709508e-04 9.99688183e-01 -2.13027299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.70592000000002 meters Centerline goodness : 0.998858 Centerline is valid? [True, True] Translation: X:184.22, Y:0.11, Z:-2.12 [[ 9.98996871e-01 3.73009267e-02 2.47768560e-02 1.84221625e+02] [-3.71969121e-02 9.99297156e-01 -4.64591296e-03 1.06039518e-01] [-2.49327386e-02 3.71962998e-03 9.99682211e-01 -2.11849469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.73592 meters Centerline goodness : 0.927082 Centerline is valid? [True, False] Translation: X:184.23, Y:0.10, Z:-2.12 [[ 9.99580359e-01 2.07571948e-02 2.02050484e-02 1.84233449e+02] [-2.08157978e-02 9.99779697e-01 2.69440869e-03 1.00087474e-01] [-2.01446688e-02 -3.11386221e-03 9.99792227e-01 -2.11989354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.76592 meters Centerline goodness : 0.881550 Centerline is valid? [False, False] Translation: X:184.23, Y:0.11, Z:-2.12 [[ 9.99715203e-01 1.28656648e-02 2.00994445e-02 1.84233624e+02] [-1.27202544e-02 9.99892112e-01 -7.34572589e-03 1.07854975e-01] [-2.01917837e-02 7.08796380e-03 9.99771000e-01 -2.11871043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.79592 meters Centerline goodness : 0.999005 Centerline is valid? [False, True] Translation: X:184.26, Y:0.11, Z:-2.11 [[ 9.99884235e-01 1.61415188e-03 1.51298181e-02 1.84255243e+02] [-1.46575135e-03 9.99950763e-01 -9.81444310e-03 1.10485815e-01] [-1.51449152e-02 9.79113037e-03 9.99837369e-01 -2.11393731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.82592 meters Centerline goodness : 0.999505 Centerline is valid? [True, True] Translation: X:184.29, Y:0.10, Z:-2.12 [[ 9.99878989e-01 -3.18812997e-03 1.52264229e-02 1.84286428e+02] [ 3.19016099e-03 9.99994905e-01 -1.09100929e-04 1.02648588e-01] [-1.52259975e-02 1.57662467e-04 9.99884065e-01 -2.12105436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.85592 meters Centerline goodness : 0.904960 Centerline is valid? [True, False] Translation: X:184.29, Y:0.10, Z:-2.12 [[ 9.99881466e-01 -3.17114402e-03 1.50664416e-02 1.84286897e+02] [ 3.17542422e-03 9.99994924e-01 -2.60173957e-04 1.03249301e-01] [-1.50655400e-02 3.07985461e-04 9.99886461e-01 -2.12117792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.88592 meters Centerline goodness : 0.999851 Centerline is valid? [False, True] Translation: X:184.31, Y:0.11, Z:-2.12 [[ 9.99949698e-01 -3.63915025e-03 9.34656133e-03 1.84314144e+02] [ 3.75188111e-03 9.99920090e-01 -1.20721330e-02 1.14292737e-01] [-9.30188215e-03 1.21065929e-02 9.99883446e-01 -2.11828953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.91592 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:184.34, Y:0.10, Z:-2.11 [[ 9.99902750e-01 -1.02559772e-02 9.45013678e-03 1.84341507e+02] [ 1.02572015e-02 9.99947390e-01 -8.10922598e-05 1.04143356e-01] [-9.44880793e-03 1.78016331e-04 9.99955343e-01 -2.10821488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.94592 meters Centerline goodness : 0.824332 Centerline is valid? [True, False] Translation: X:184.36, Y:0.11, Z:-2.10 [[ 9.99956808e-01 -7.81205465e-03 5.03529443e-03 1.84363505e+02] [ 7.85049394e-03 9.99939846e-01 -7.65995717e-03 1.12942489e-01] [-4.97515153e-03 7.69915587e-03 9.99957985e-01 -2.10362611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.97592 meters Centerline goodness : 0.999603 Centerline is valid? [False, True] Translation: X:184.39, Y:0.12, Z:-2.10 [[ 9.99998206e-01 -7.63459586e-04 1.73357111e-03 1.84385170e+02] [ 7.80399934e-04 9.99951749e-01 -9.79237948e-03 1.16318091e-01] [-1.72601138e-03 9.79371479e-03 9.99950551e-01 -2.10039981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.00592 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:184.42, Y:0.11, Z:-2.10 [[ 9.99998099e-01 -1.44349422e-04 1.94433492e-03 1.84416947e+02] [ 1.44743847e-04 9.99999969e-01 -2.02719255e-04 1.06500630e-01] [-1.94430560e-03 2.03000300e-04 9.99998089e-01 -2.10282793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.03592 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:184.45, Y:0.11, Z:-2.10 [[ 9.99997554e-01 1.04680098e-03 1.94858222e-03 1.84449270e+02] [-1.04677784e-03 9.99999452e-01 -1.28967880e-05 1.06676484e-01] [-1.94859466e-03 1.08570237e-05 9.99998101e-01 -2.10209626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.06592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:184.48, Y:0.11, Z:-2.10 [[ 9.99997552e-01 1.04800985e-03 1.94853162e-03 1.84481260e+02] [-1.04798240e-03 9.99999451e-01 -1.51102645e-05 1.09513405e-01] [-1.94854638e-03 1.30682007e-05 9.99998101e-01 -2.10358951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.09592 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:184.51, Y:0.11, Z:-2.10 [[ 9.99997542e-01 1.05855070e-03 1.94836609e-03 1.84513713e+02] [-1.05850976e-03 9.99999440e-01 -2.20396817e-05 1.09807984e-01] [-1.94838833e-03 1.99772629e-05 9.99998102e-01 -2.10248467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.12592 meters Centerline goodness : 0.910231 Centerline is valid? [True, False] Translation: X:184.54, Y:0.12, Z:-2.10 [[ 9.99991208e-01 2.33794035e-03 -3.48105864e-03 1.84535031e+02] [-2.36505586e-03 9.99966737e-01 -7.80581012e-03 1.18517008e-01] [ 3.46269333e-03 7.81397439e-03 9.99963475e-01 -2.09765623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.15592 meters Centerline goodness : 0.999703 Centerline is valid? [False, True] Translation: X:184.57, Y:0.12, Z:-2.09 [[ 9.99996128e-01 -1.16567961e-03 -2.52685275e-03 1.84573009e+02] [ 1.14053796e-03 9.99950061e-01 -9.92849825e-03 1.19732100e-01] [ 2.53830001e-03 9.92557783e-03 9.99947519e-01 -2.09318025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.18592 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:184.60, Y:0.11, Z:-2.10 [[ 9.99997337e-01 -1.26381540e-04 -2.30433913e-03 1.84601387e+02] [ 1.26156631e-04 9.99999987e-01 -9.77472783e-05 1.10628757e-01] [ 2.30435146e-03 9.74563103e-05 9.99997340e-01 -2.09510304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.21592 meters Centerline goodness : 0.965922 Centerline is valid? [True, True] Translation: X:184.60, Y:0.14, Z:-2.10 [[ 9.99012467e-01 4.43711017e-02 -2.30133599e-03 1.84600108e+02] [-4.43711430e-02 9.99015115e-01 3.31424893e-05 1.35240447e-01] [ 2.30054000e-03 6.90031482e-05 9.99997351e-01 -2.10406307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.24592 meters Centerline goodness : 0.966146 Centerline is valid? [True, True] Translation: X:184.63, Y:0.14, Z:-2.10 [[ 9.98735847e-01 5.02133304e-02 -2.30869798e-03 1.84631846e+02] [-5.02140349e-02 9.98738449e-01 -2.48161349e-04 1.38669305e-01] [ 2.29332443e-03 3.63776676e-04 9.99997304e-01 -2.10425278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.27592 meters Centerline goodness : 0.757172 Centerline is valid? [True, False] Translation: X:184.66, Y:0.13, Z:-2.10 [[ 9.99299554e-01 3.72103704e-02 -3.97355663e-03 1.84659558e+02] [-3.72072418e-02 9.99307202e-01 8.58427565e-04 1.34816913e-01] [ 4.00274617e-03 -7.09981200e-04 9.99991737e-01 -2.10321793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.30592000000001 meters Centerline goodness : 0.892939 Centerline is valid? [False, False] Translation: X:184.64, Y:0.14, Z:-2.10 [[ 9.99558478e-01 2.67365455e-02 1.29617310e-02 1.84640746e+02] [-2.67276102e-02 9.99642382e-01 -8.62127471e-04 1.36428893e-01] [-1.29801460e-02 5.15310728e-04 9.99915622e-01 -2.10349413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.33592000000002 meters Centerline goodness : 0.978635 Centerline is valid? [False, True] Translation: X:184.67, Y:0.13, Z:-2.10 [[ 9.99846423e-01 1.42974194e-02 1.01348040e-02 1.84668556e+02] [-1.43020664e-02 9.99897646e-01 3.86185553e-04 1.34631554e-01] [-1.01282452e-02 -5.31074884e-04 9.99948567e-01 -2.10149644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.36592000000002 meters Centerline goodness : 0.883940 Centerline is valid? [True, False] Translation: X:184.69, Y:0.13, Z:-2.10 [[ 9.99988036e-01 3.04487153e-03 3.82847955e-03 1.84691759e+02] [-3.03814068e-03 9.99993831e-01 -1.76268784e-03 1.33776332e-01] [-3.83382309e-03 1.75103529e-03 9.99991118e-01 -2.09765227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.39592000000002 meters Centerline goodness : 0.999950 Centerline is valid? [False, True] Translation: X:184.69, Y:0.14, Z:-2.10 [[ 9.99993696e-01 -9.30997809e-04 3.42644798e-03 1.84692902e+02] [ 9.52982075e-04 9.99978937e-01 -6.42002104e-03 1.36257027e-01] [-3.42039878e-03 6.42324592e-03 9.99973521e-01 -2.09769120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.42592000000002 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:184.72, Y:0.13, Z:-2.10 [[ 9.99991627e-01 -2.03174101e-03 3.55210201e-03 1.84722470e+02] [ 2.03200337e-03 9.99997933e-01 -7.02515829e-05 1.29639586e-01] [-3.55195193e-03 7.74688780e-05 9.99993689e-01 -2.09825128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.45592000000002 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:184.75, Y:0.13, Z:-2.10 [[ 9.99993647e-01 2.90105881e-04 3.55272148e-03 1.84754427e+02] [-2.89968842e-04 9.99999957e-01 -3.90880022e-05 1.33811099e-01] [-3.55273267e-03 3.80575753e-05 9.99993688e-01 -2.09777038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.48592 meters Centerline goodness : 0.968372 Centerline is valid? [True, True] Translation: X:184.74, Y:0.15, Z:-2.11 [[ 9.99318484e-01 3.67415933e-02 3.55274606e-03 1.84735623e+02] [-3.67416906e-02 9.99324795e-01 -3.78884710e-05 1.48119722e-01] [-3.55173931e-03 -9.26712471e-05 9.99993688e-01 -2.11177487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.51592 meters Centerline goodness : 0.882915 Centerline is valid? [True, False] Translation: X:184.72, Y:0.15, Z:-2.11 [[ 9.99363885e-01 2.93142283e-02 2.03101164e-02 1.84718716e+02] [-2.93363227e-02 9.99569285e-01 7.90701605e-04 1.48697439e-01] [-2.02781897e-02 -1.38602276e-03 9.99793416e-01 -2.11288853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.54592 meters Centerline goodness : 0.999206 Centerline is valid? [False, True] Translation: X:184.75, Y:0.15, Z:-2.11 [[ 9.99743431e-01 1.57941653e-02 1.62362832e-02 1.84745386e+02] [-1.57801731e-02 9.99874996e-01 -9.89550457e-04 1.50379735e-01] [-1.62498828e-02 7.33085209e-04 9.99867693e-01 -2.11086317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.57592 meters Centerline goodness : 0.874237 Centerline is valid? [True, False] Translation: X:184.77, Y:0.15, Z:-2.11 [[ 9.99926536e-01 3.67591448e-03 1.15503536e-02 1.84767484e+02] [-3.63555511e-03 9.99987220e-01 -3.51326645e-03 1.51415617e-01] [-1.15631205e-02 3.47101641e-03 9.99927120e-01 -2.10666037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.60592 meters Centerline goodness : 0.999950 Centerline is valid? [False, True] Translation: X:184.77, Y:0.16, Z:-2.11 [[ 9.99936234e-01 -1.69000182e-04 1.12915532e-02 1.84768313e+02] [ 2.74555736e-04 9.99956275e-01 -9.34729130e-03 1.58950961e-01] [-1.12894797e-02 9.34979542e-03 9.99892559e-01 -2.10550144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.63592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:184.82, Y:0.15, Z:-2.10 [[ 9.99891988e-01 -9.24536580e-03 1.14252356e-02 1.84821107e+02] [ 9.24786294e-03 9.99957224e-01 -1.65750936e-04 1.51608177e-01] [-1.14232144e-02 2.71392046e-04 9.99934716e-01 -2.10167068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.66592 meters Centerline goodness : 0.907143 Centerline is valid? [True, False] Translation: X:184.85, Y:0.16, Z:-2.10 [[ 9.99958636e-01 -5.79454616e-03 7.01067179e-03 1.84845659e+02] [ 5.85036483e-03 9.99951142e-01 -7.96782274e-03 1.63016225e-01] [-6.96415935e-03 8.00850815e-03 9.99943681e-01 -2.09792805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.69592 meters Centerline goodness : 0.903759 Centerline is valid? [False, False] Translation: X:184.87, Y:0.17, Z:-2.09 [[ 9.99998401e-01 -1.15779291e-04 1.78436023e-03 1.84867389e+02] [ 1.35130980e-04 9.99941140e-01 -1.08488676e-02 1.69484876e-01] [-1.78299913e-03 1.08490914e-02 9.99939557e-01 -2.09421747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.72592 meters Centerline goodness : 0.999753 Centerline is valid? [False, True] Translation: X:184.87, Y:0.17, Z:-2.09 [[ 9.99998588e-01 1.80310450e-05 1.68035029e-03 1.84867756e+02] [ 9.61448401e-07 9.99936130e-01 -1.13020127e-02 1.71791320e-01] [-1.68044675e-03 1.13019984e-02 9.99934718e-01 -2.09418186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.75592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:184.90, Y:0.17, Z:-2.10 [[ 9.99989647e-01 4.15209161e-03 1.86194772e-03 1.84900926e+02] [-4.15170190e-03 9.99991359e-01 -2.13116827e-04 1.66537253e-01] [-1.86281652e-03 2.05384369e-04 9.99998244e-01 -2.10209782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.78592 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:184.93, Y:0.17, Z:-2.09 [[ 9.99996043e-01 2.10589961e-03 1.86500111e-03 1.84931709e+02] [-2.10584485e-03 9.99997782e-01 -3.13242401e-05 1.69226190e-01] [-1.86506294e-03 2.73967132e-05 9.99998260e-01 -2.09280578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.81592 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:184.96, Y:0.17, Z:-2.09 [[ 9.99997882e-01 -8.70445480e-04 1.86486097e-03 1.84961951e+02] [ 8.70520978e-04 9.99999620e-01 -3.96730970e-05 1.70087463e-01] [-1.86482572e-03 4.12964136e-05 9.99998260e-01 -2.08732409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.84592 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:184.99, Y:0.17, Z:-2.09 [[ 9.99976395e-01 -6.61294097e-03 1.86517341e-03 1.84994967e+02] [ 6.61299454e-03 9.99978134e-01 -2.25522495e-05 1.73513557e-01] [-1.86498349e-03 3.48860987e-05 9.99998260e-01 -2.08908222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.87592 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:185.02, Y:0.18, Z:-2.08 [[ 9.99976671e-01 -6.57124315e-03 1.86462527e-03 1.85019808e+02] [ 6.57135228e-03 9.99978407e-01 -5.24059234e-05 1.77028781e-01] [-1.86424064e-03 6.46578103e-05 9.99998260e-01 -2.08492957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.90592 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:185.05, Y:0.18, Z:-2.09 [[ 9.99986487e-01 -4.85234219e-03 1.86569239e-03 1.85053381e+02] [ 4.85233930e-03 9.99988227e-01 6.07722834e-06 1.78563939e-01] [-1.86569991e-03 2.97582627e-06 9.99998260e-01 -2.08601287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.93592 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:185.08, Y:0.18, Z:-2.09 [[ 9.99987209e-01 -4.70138674e-03 1.86516254e-03 1.85084976e+02] [ 4.70143543e-03 9.99988948e-01 -2.17201707e-05 1.81597133e-01] [-1.86503981e-03 3.04888341e-05 9.99998260e-01 -2.08728992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.96592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:185.12, Y:0.18, Z:-2.10 [[ 9.99998108e-01 5.51124825e-04 1.86540891e-03 1.85119537e+02] [-5.51108511e-04 9.99999848e-01 -9.25939168e-06 1.84531315e-01] [-1.86541373e-03 8.23133144e-06 9.99998260e-01 -2.10376379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.99592 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:185.15, Y:0.19, Z:-2.09 [[ 9.99997930e-01 8.13953959e-04 1.86483766e-03 1.85147028e+02] [-8.13885265e-04 9.99999668e-01 -3.75952210e-05 1.90406784e-01] [-1.86486764e-03 3.60773793e-05 9.99998260e-01 -2.08587541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.02592 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:185.18, Y:0.19, Z:-2.10 [[ 9.99988946e-01 4.31607961e-03 1.86532688e-03 1.85180112e+02] [-4.31606272e-03 9.99990686e-01 -1.30827359e-05 1.93968517e-01] [-1.86536597e-03 5.03172347e-06 9.99998260e-01 -2.10453812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.05592000000001 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:185.21, Y:0.20, Z:-2.11 [[ 9.99986930e-01 4.76049982e-03 1.86483289e-03 1.85210801e+02] [-4.76043800e-03 9.99988668e-01 -3.75895812e-05 1.97863610e-01] [-1.86499070e-03 2.87116686e-05 9.99998260e-01 -2.10520799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.08592000000002 meters Centerline goodness : 0.996540 Centerline is valid? [True, True] Translation: X:185.29, Y:0.21, Z:-2.10 [[ 9.99997746e-01 -1.01537740e-03 1.86483289e-03 1.85287800e+02] [ 1.01544926e-03 9.99999484e-01 -3.75895812e-05 2.08054493e-01] [-1.86479376e-03 3.94831396e-05 9.99998260e-01 -2.10472477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.11592000000002 meters Centerline goodness : 0.999358 Centerline is valid? [True, True] Translation: X:185.26, Y:0.20, Z:-2.08 [[ 9.99994929e-01 -2.58677989e-03 1.85759643e-03 1.85260882e+02] [ 2.58744713e-03 9.99996589e-01 -3.56877060e-04 1.95732065e-01] [-1.85666693e-03 3.61681683e-04 9.99998211e-01 -2.08392569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.14592000000002 meters Centerline goodness : 0.999753 Centerline is valid? [True, True] Translation: X:185.29, Y:0.20, Z:-2.10 [[ 9.99993410e-01 -3.11593179e-03 1.86306097e-03 1.85294663e+02] [ 3.11595434e-03 9.99995145e-01 -9.20174782e-06 1.99113003e-01] [-1.86302325e-03 1.50069001e-05 9.99998264e-01 -2.10325456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.17592000000002 meters Centerline goodness : 0.973506 Centerline is valid? [True, True] Translation: X:185.30, Y:0.23, Z:-2.10 [[ 9.98880674e-01 4.72644536e-02 1.86272246e-03 1.85301079e+02] [-4.72644796e-02 9.98882410e-01 -3.01294894e-05 2.28438191e-01] [-1.86206476e-03 -5.79448431e-05 9.99998265e-01 -2.10259977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.20592000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:185.35, Y:0.20, Z:-2.10 [[ 9.99973683e-01 -7.01106166e-03 1.86513177e-03 1.85353337e+02] [ 7.01077331e-03 9.99975411e-01 1.61093084e-04 2.02202762e-01] [-1.86621535e-03 -1.48012828e-04 9.99998248e-01 -2.10398703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.23592 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:185.39, Y:0.20, Z:-2.10 [[ 9.99972153e-01 -7.22683124e-03 1.86190873e-03 1.85385960e+02] [ 7.22690187e-03 9.99973885e-01 -3.12068963e-05 2.03740904e-01] [-1.86163458e-03 4.46618589e-05 9.99998266e-01 -2.10479901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.26592 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:185.42, Y:0.21, Z:-2.08 [[ 9.99949109e-01 -9.91528349e-03 1.86189577e-03 1.85415863e+02] [ 9.91536018e-03 9.99950841e-01 -3.19618350e-05 2.05531057e-01] [-1.86148733e-03 5.04215756e-05 9.99998266e-01 -2.08304923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.29592 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:185.45, Y:0.21, Z:-2.10 [[ 9.99928497e-01 -1.18124478e-02 1.86198175e-03 1.85445995e+02] [ 1.18125184e-02 9.99930229e-01 -2.69329831e-05 2.06200797e-01] [-1.86153369e-03 4.89257511e-05 9.99998266e-01 -2.10181260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.32592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:185.48, Y:0.21, Z:-2.10 [[ 9.99918138e-01 -1.26590401e-02 1.86189158e-03 1.85477993e+02] [ 1.26591219e-02 9.99919870e-01 -3.21541278e-05 2.07540363e-01] [-1.86133534e-03 5.57214081e-05 9.99998266e-01 -2.10132881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.35592 meters Centerline goodness : 0.999110 Centerline is valid? [True, True] Translation: X:185.50, Y:0.21, Z:-2.08 [[ 9.99783944e-01 -2.07026269e-02 1.86187845e-03 1.85503771e+02] [ 2.07027240e-02 9.99785675e-01 -3.28972767e-05 2.07627494e-01] [-1.86079834e-03 7.14361248e-05 9.99998266e-01 -2.08302932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.38592 meters Centerline goodness : 0.999407 Centerline is valid? [True, True] Translation: X:185.54, Y:0.21, Z:-2.08 [[ 9.99848982e-01 -1.72784042e-02 1.86260966e-03 1.85538773e+02] [ 1.72784177e-02 9.99850717e-01 8.84368756e-06 2.07449009e-01] [-1.86248441e-03 2.33405957e-05 9.99998265e-01 -2.08293571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.41592 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:185.57, Y:0.21, Z:-2.08 [[ 9.99756718e-01 -2.19781287e-02 1.86210394e-03 1.85570402e+02] [ 2.19782017e-02 9.99758450e-01 -1.87374619e-05 2.06761771e-01] [-1.86124234e-03 5.96585994e-05 9.99998266e-01 -2.08350535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.44592 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:185.60, Y:0.21, Z:-2.10 [[ 9.99787267e-01 -2.05414950e-02 1.86209063e-03 1.85603220e+02] [ 2.05415669e-02 9.99789000e-01 -1.94560075e-05 2.06092175e-01] [-1.86129808e-03 5.77021278e-05 9.99998266e-01 -2.10262067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.47592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.64, Y:0.21, Z:-2.10 [[ 9.99766715e-01 -2.15185749e-02 1.86179800e-03 1.85635994e+02] [ 2.15186773e-02 9.99768446e-01 -3.50156544e-05 2.05410472e-01] [-1.86061340e-03 7.50709160e-05 9.99998266e-01 -2.10232337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.50592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.67, Y:0.20, Z:-2.10 [[ 9.99756936e-01 -2.19681993e-02 1.86178415e-03 1.85668449e+02] [ 2.19683039e-02 9.99758667e-01 -3.57367757e-05 2.02274190e-01] [-1.86054977e-03 7.66283294e-05 9.99998266e-01 -2.10337805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.53592 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:185.70, Y:0.20, Z:-2.11 [[ 9.99763159e-01 -2.16831596e-02 1.86176998e-03 1.85701135e+02] [ 2.16832650e-02 9.99764890e-01 -3.64604347e-05 1.97451515e-01] [-1.86054168e-03 7.68210513e-05 9.99998266e-01 -2.10524544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.56592 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:185.73, Y:0.19, Z:-2.11 [[ 9.99750621e-01 -2.22537788e-02 1.86175329e-03 1.85733855e+02] [ 2.22538867e-02 9.99752351e-01 -3.72935455e-05 1.94938055e-01] [-1.86046231e-03 7.87154922e-05 9.99998266e-01 -2.10521834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.59592 meters Centerline goodness : 0.863927 Centerline is valid? [True, False] Translation: X:185.73, Y:0.20, Z:-2.10 [[ 9.99949617e-01 -1.00285013e-02 -4.39471649e-04 1.85733097e+02] [ 1.00246007e-02 9.99916743e-01 -8.12496943e-03 2.02994715e-01] [ 5.20916327e-04 8.12015454e-03 9.99966895e-01 -2.10266878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.62592 meters Centerline goodness : 0.998615 Centerline is valid? [False, True] Translation: X:185.75, Y:0.20, Z:-2.10 [[ 9.99999197e-01 -1.54209460e-04 -1.25762510e-03 1.85751858e+02] [ 1.46460111e-04 9.99981018e-01 -6.15965718e-03 1.98902939e-01] [ 1.25855110e-03 6.15946805e-03 9.99980238e-01 -2.09973476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.65592 meters Centerline goodness : 0.998172 Centerline is valid? [True, True] Translation: X:185.78, Y:0.19, Z:-2.10 [[ 9.99993545e-01 3.45272042e-03 -9.93879913e-04 1.85781431e+02] [-3.45283255e-03 9.99994033e-01 -1.11124659e-04 1.90582775e-01] [ 9.93490300e-04 1.14555643e-04 9.99999500e-01 -2.10155247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.68592 meters Centerline goodness : 0.998465 Centerline is valid? [True, True] Translation: X:185.81, Y:0.19, Z:-2.10 [[ 9.99961506e-01 8.71844156e-03 -9.87751781e-04 1.85812291e+02] [-8.71841826e-03 9.99961993e-01 2.78904143e-05 1.86057906e-01] [ 9.87957401e-04 -1.92777075e-05 9.99999512e-01 -2.10383263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.71592 meters Centerline goodness : 0.998661 Centerline is valid? [True, True] Translation: X:185.84, Y:0.18, Z:-2.10 [[ 9.99986441e-01 5.11313157e-03 -9.87087106e-04 1.85837996e+02] [-5.11309166e-03 9.99986927e-01 4.29508663e-05 1.83956930e-01] [ 9.87293815e-04 -3.79032170e-05 9.99999512e-01 -2.10352021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.74592 meters Centerline goodness : 0.997872 Centerline is valid? [True, True] Translation: X:185.87, Y:0.18, Z:-2.10 [[ 9.99925286e-01 1.21839049e-02 -9.87815041e-04 1.85867950e+02] [-1.21838844e-02 9.99925773e-01 2.67507969e-05 1.83554740e-01] [ 9.88067648e-04 -1.47133739e-05 9.99999512e-01 -2.10319553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.77592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:185.90, Y:0.18, Z:-2.13 [[ 9.99846156e-01 1.75125042e-02 -9.87772317e-04 1.85900829e+02] [-1.75124854e-02 9.99846644e-01 2.77060641e-05 1.82582961e-01] [ 9.88106039e-04 -1.04034535e-05 9.99999512e-01 -2.12550523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.80592000000001 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:185.93, Y:0.18, Z:-2.12 [[ 9.99805056e-01 1.97199322e-02 -9.87005990e-04 1.85929632e+02] [-1.97198977e-02 9.99805543e-01 4.46471274e-05 1.81104338e-01] [ 9.87694498e-04 -2.51747666e-05 9.99999512e-01 -2.12403191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.83592000000002 meters Centerline goodness : 0.996836 Centerline is valid? [True, True] Translation: X:185.96, Y:0.18, Z:-2.10 [[ 9.99756277e-01 2.20547470e-02 -9.87023855e-04 1.85956547e+02] [-2.20547141e-02 9.99756764e-01 4.42486251e-05 1.80028663e-01] [ 9.87759667e-04 -2.24693118e-05 9.99999512e-01 -2.10417240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.86592000000002 meters Centerline goodness : 0.995153 Centerline is valid? [True, True] Translation: X:185.99, Y:0.18, Z:-2.10 [[ 9.99579537e-01 2.89788565e-02 -9.87588940e-04 1.85988033e+02] [-2.89788394e-02 9.99580025e-01 3.16267796e-05 1.79951871e-01] [ 9.88090685e-04 -2.99430044e-06 9.99999512e-01 -2.10007439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.89592000000002 meters Centerline goodness : 0.995451 Centerline is valid? [True, True] Translation: X:186.02, Y:0.18, Z:-2.10 [[ 9.99576853e-01 2.90712906e-02 -9.87274864e-04 1.86018320e+02] [-2.90712667e-02 9.99577341e-01 3.85875953e-05 1.78597686e-01] [ 9.87979374e-04 -9.86993621e-06 9.99999512e-01 -2.10293846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.92592000000002 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:186.05, Y:0.18, Z:-2.13 [[ 9.99533655e-01 3.05204372e-02 -9.87328732e-04 1.86048798e+02] [-3.05204151e-02 9.99534143e-01 3.73948605e-05 1.78157482e-01] [ 9.88010086e-04 -7.24373889e-06 9.99999512e-01 -2.12577028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.95592000000002 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:186.08, Y:0.18, Z:-2.13 [[ 9.99547878e-01 3.00510390e-02 -9.86989343e-04 1.86077069e+02] [-3.00510093e-02 9.99548365e-01 4.48616698e-05 1.76538800e-01] [ 9.87891724e-04 -1.51813609e-05 9.99999512e-01 -2.12574478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.98592 meters Centerline goodness : 0.995297 Centerline is valid? [True, True] Translation: X:186.10, Y:0.18, Z:-2.10 [[ 9.99596853e-01 2.83753070e-02 -9.87010193e-04 1.86104811e+02] [-2.83752770e-02 9.99597340e-01 4.43981486e-05 1.75573765e-01] [ 9.87872575e-04 -1.63735620e-05 9.99999512e-01 -2.10081495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.01592 meters Centerline goodness : 0.995407 Centerline is valid? [True, True] Translation: X:186.14, Y:0.18, Z:-2.10 [[ 9.99559362e-01 2.96665809e-02 -9.87584256e-04 1.86136423e+02] [-2.96665643e-02 9.99559850e-01 3.15098932e-05 1.75357841e-01] [ 9.88084362e-04 -2.19777696e-06 9.99999512e-01 -2.10304728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.04592 meters Centerline goodness : 0.996297 Centerline is valid? [True, True] Translation: X:186.17, Y:0.17, Z:-2.10 [[ 9.99570303e-01 2.92956271e-02 -9.87408663e-04 1.86165749e+02] [-2.92956064e-02 9.99570791e-01 3.54248362e-05 1.74985678e-01] [ 9.88022651e-04 -6.48287873e-06 9.99999512e-01 -2.10371196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.07592 meters Centerline goodness : 0.979545 Centerline is valid? [True, True] Translation: X:186.20, Y:0.21, Z:-2.11 [[ 9.96084399e-01 8.84018943e-02 -9.87451723e-04 1.86204531e+02] [-8.84019034e-02 9.96084887e-01 3.44644032e-05 2.06988720e-01] [ 9.86632456e-04 5.29631574e-05 9.99999512e-01 -2.11214428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.10592 meters Centerline goodness : 0.995651 Centerline is valid? [True, True] Translation: X:186.22, Y:0.17, Z:-2.10 [[ 9.99668802e-01 2.57160377e-02 -9.85988988e-04 1.86223838e+02] [-2.57159844e-02 9.99669287e-01 6.67384999e-05 1.73275441e-01] [ 9.87379159e-04 -4.13607188e-05 9.99999512e-01 -2.10275015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.13592 meters Centerline goodness : 0.991037 Centerline is valid? [True, True] Translation: X:186.25, Y:0.19, Z:-2.10 [[ 9.98702597e-01 5.09131310e-02 -9.87716243e-04 1.86254710e+02] [-5.09131278e-02 9.98703085e-01 2.84321852e-05 1.87967525e-01] [ 9.87882831e-04 2.18924261e-05 9.99999512e-01 -2.10419378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.16592 meters Centerline goodness : 0.999259 Centerline is valid? [True, True] Translation: X:186.29, Y:0.17, Z:-2.13 [[ 9.99708198e-01 2.41359220e-02 -9.87668598e-04 1.86286560e+02] [-2.41359047e-02 9.99708686e-01 2.94943823e-05 1.71953360e-01] [ 9.88092750e-04 -5.64750065e-06 9.99999512e-01 -2.12599755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.19592 meters Centerline goodness : 0.999406 Centerline is valid? [True, True] Translation: X:186.31, Y:0.17, Z:-2.13 [[ 9.99822811e-01 1.87982185e-02 -9.86985991e-04 1.86314695e+02] [-1.87981836e-02 9.99823298e-01 4.46002115e-05 1.67966708e-01] [ 9.87649993e-04 -2.60387650e-05 9.99999512e-01 -2.12658291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.22592 meters Centerline goodness : 0.995384 Centerline is valid? [True, True] Translation: X:186.34, Y:0.16, Z:-2.10 [[ 9.99935549e-01 1.13103581e-02 -9.86992357e-04 1.86337104e+02] [-1.13103197e-02 9.99936035e-01 4.44588905e-05 1.64707211e-01] [ 9.87432070e-04 -3.32928259e-05 9.99999512e-01 -2.10388029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.25592 meters Centerline goodness : 0.995649 Centerline is valid? [True, True] Translation: X:186.37, Y:0.16, Z:-2.10 [[ 9.99932811e-01 1.15497264e-02 -9.88628086e-04 1.86365758e+02] [-1.15497240e-02 9.99933300e-01 8.15167040e-06 1.63222820e-01] [ 9.88656294e-04 3.26725886e-06 9.99999511e-01 -2.10431404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.28592 meters Centerline goodness : 0.995555 Centerline is valid? [True, True] Translation: X:186.40, Y:0.16, Z:-2.10 [[ 9.99986552e-01 5.09083471e-03 -9.89077320e-04 1.86395652e+02] [-5.09083862e-03 9.99987042e-01 -1.42700767e-06 1.58559693e-01] [ 9.89057238e-04 6.46222149e-06 9.99999511e-01 -2.10287075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.31592 meters Centerline goodness : 0.999506 Centerline is valid? [True, True] Translation: X:186.43, Y:0.16, Z:-2.12 [[ 9.99851305e-01 1.72160044e-02 -9.88855574e-04 1.86434270e+02] [-1.72160096e-02 9.99851794e-01 3.27677866e-06 1.58721999e-01] [ 9.88765432e-04 1.37478556e-05 9.99999511e-01 -2.12240268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.34592 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:186.46, Y:0.16, Z:-2.12 [[ 9.99816853e-01 1.91124643e-02 -9.86676884e-04 1.86462472e+02] [-1.91124262e-02 9.99817340e-01 4.80317958e-05 1.55837503e-01] [ 9.87414663e-04 -2.91652097e-05 9.99999512e-01 -2.12109901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.37592 meters Centerline goodness : 0.995544 Centerline is valid? [True, True] Translation: X:186.49, Y:0.15, Z:-2.10 [[ 9.99898442e-01 1.42173190e-02 -9.86696066e-04 1.86487421e+02] [-1.42172789e-02 9.99898928e-01 4.76344461e-05 1.53110200e-01] [ 9.87273574e-04 -3.36014753e-05 9.99999512e-01 -2.10177220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.40592 meters Centerline goodness : 0.995645 Centerline is valid? [True, True] Translation: X:186.52, Y:0.15, Z:-2.10 [[ 9.99912372e-01 1.32012210e-02 -9.87647667e-04 1.86515287e+02] [-1.32012001e-02 9.99912860e-01 2.77003369e-05 1.47919962e-01] [ 9.87927282e-04 -1.46597751e-05 9.99999512e-01 -2.10211765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.43592 meters Centerline goodness : 0.999110 Centerline is valid? [True, True] Translation: X:186.55, Y:0.15, Z:-2.12 [[ 9.99736520e-01 2.29328041e-02 -9.88279672e-04 1.86553142e+02] [-2.29328008e-02 9.99737009e-01 1.45827290e-05 1.46657379e-01] [ 9.88354186e-04 8.08513412e-06 9.99999512e-01 -2.11938675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.46592 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:186.58, Y:0.14, Z:-2.12 [[ 9.99730747e-01 2.31831828e-02 -9.86597290e-04 1.86580531e+02] [-2.31831460e-02 9.99731234e-01 4.86797410e-05 1.44079836e-01] [ 9.87460677e-04 -2.57942048e-05 9.99999512e-01 -2.11873929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.49592 meters Centerline goodness : 0.997921 Centerline is valid? [True, True] Translation: X:186.61, Y:0.14, Z:-2.12 [[ 9.99746284e-01 2.25031889e-02 -9.86619685e-04 1.86608988e+02] [-2.25031523e-02 9.99746771e-01 4.82215405e-05 1.40331374e-01] [ 9.87454982e-04 -2.60072530e-05 9.99999512e-01 -2.11755597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.52592 meters Centerline goodness : 0.997821 Centerline is valid? [True, True] Translation: X:186.64, Y:0.14, Z:-2.12 [[ 9.99744522e-01 2.25813339e-02 -9.86638958e-04 1.86636637e+02] [-2.25812977e-02 9.99745009e-01 4.78239248e-05 1.35087205e-01] [ 9.87467302e-04 -2.55321188e-05 9.99999512e-01 -2.11793321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.55592000000001 meters Centerline goodness : 0.997430 Centerline is valid? [True, True] Translation: X:186.66, Y:0.13, Z:-2.12 [[ 9.99756703e-01 2.20354495e-02 -9.86660803e-04 1.86664049e+02] [-2.20354134e-02 9.99757190e-01 4.73689168e-05 1.32355262e-01] [ 9.87465026e-04 -2.56159133e-05 9.99999512e-01 -2.11707644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.58592000000002 meters Centerline goodness : 0.997136 Centerline is valid? [True, True] Translation: X:186.69, Y:0.13, Z:-2.12 [[ 9.99751103e-01 2.22880986e-02 -9.86682550e-04 1.86692886e+02] [-2.22880631e-02 9.99751589e-01 4.69115158e-05 1.29160797e-01] [ 9.87483015e-04 -2.49085968e-05 9.99999512e-01 -2.11706122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.61592000000002 meters Centerline goodness : 0.996980 Centerline is valid? [True, True] Translation: X:186.72, Y:0.12, Z:-2.12 [[ 9.99741003e-01 2.27366227e-02 -9.86701377e-04 1.86720535e+02] [-2.27365879e-02 9.99741489e-01 4.65121183e-05 1.24724839e-01] [ 9.87503832e-04 -2.40658492e-05 9.99999512e-01 -2.11658274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.64592000000002 meters Centerline goodness : 0.996822 Centerline is valid? [True, True] Translation: X:186.75, Y:0.12, Z:-2.12 [[ 9.99741976e-01 2.26937694e-02 -9.86722821e-04 1.86748136e+02] [-2.26937350e-02 9.99742463e-01 4.60526647e-05 1.21630721e-01] [ 9.87513811e-04 -2.36483557e-05 9.99999512e-01 -2.11530326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.67592000000002 meters Centerline goodness : 0.996483 Centerline is valid? [True, True] Translation: X:186.78, Y:0.12, Z:-2.11 [[ 9.99746016e-01 2.25151073e-02 -9.86744016e-04 1.86776225e+02] [-2.25150733e-02 9.99746503e-01 4.55939473e-05 1.16621549e-01] [ 9.87520432e-04 -2.33657534e-05 9.99999512e-01 -2.11435978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.70592000000002 meters Centerline goodness : 0.996736 Centerline is valid? [True, True] Translation: X:186.80, Y:0.11, Z:-2.12 [[ 9.99770119e-01 2.14181297e-02 -9.86754277e-04 1.86804007e+02] [-2.14180954e-02 9.99770605e-01 4.53707978e-05 1.12245039e-01] [ 9.87499678e-04 -2.42259707e-05 9.99999512e-01 -2.11563134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.73592 meters Centerline goodness : 0.996680 Centerline is valid? [True, True] Translation: X:186.83, Y:0.11, Z:-2.12 [[ 9.99803162e-01 1.98157332e-02 -9.86775366e-04 1.86831736e+02] [-1.98156985e-02 9.99803649e-01 4.49073869e-05 1.06930973e-01] [ 9.87471484e-04 -2.53449043e-05 9.99999512e-01 -2.11619882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.76592 meters Centerline goodness : 0.996932 Centerline is valid? [True, True] Translation: X:186.86, Y:0.10, Z:-2.12 [[ 9.99852852e-01 1.71260300e-02 -9.86795947e-04 1.86859111e+02] [-1.71259945e-02 9.99853338e-01 4.44504883e-05 9.96340701e-02] [ 9.87412483e-04 -2.75440856e-05 9.99999512e-01 -2.11578038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.79592 meters Centerline goodness : 0.995993 Centerline is valid? [True, True] Translation: X:186.89, Y:0.10, Z:-2.11 [[ 9.99874507e-01 1.58112539e-02 -9.86816325e-04 1.86886887e+02] [-1.58112182e-02 9.99874994e-01 4.39933955e-05 9.57816202e-02] [ 9.87388558e-04 -2.83851065e-05 9.99999512e-01 -2.11486490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.82592 meters Centerline goodness : 0.993807 Centerline is valid? [True, True] Translation: X:186.91, Y:0.09, Z:-2.10 [[ 9.99932065e-01 1.16142428e-02 -9.86836387e-04 1.86911204e+02] [-1.16142054e-02 9.99932552e-01 4.35386728e-05 8.84163417e-02] [ 9.87275495e-04 -3.20743945e-05 9.99999512e-01 -2.09703422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.85592 meters Centerline goodness : 0.997326 Centerline is valid? [True, True] Translation: X:186.95, Y:0.08, Z:-2.11 [[ 9.99867488e-01 1.62490468e-02 -9.87775844e-04 1.86945889e+02] [-1.62490331e-02 9.99867976e-01 2.18337663e-05 8.33246350e-02] [ 9.88000211e-04 -5.78047062e-06 9.99999512e-01 -2.11409773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.88592 meters Centerline goodness : 0.997816 Centerline is valid? [True, True] Translation: X:186.97, Y:0.08, Z:-2.11 [[ 9.99870761e-01 1.60464164e-02 -9.86830370e-04 1.86973805e+02] [-1.60463814e-02 9.99871248e-01 4.33545285e-05 7.84443499e-02] [ 9.87398998e-04 -2.75138689e-05 9.99999512e-01 -2.11325035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.91592 meters Centerline goodness : 0.995685 Centerline is valid? [True, True] Translation: X:187.00, Y:0.07, Z:-2.10 [[ 9.99903827e-01 1.38334200e-02 -9.86850432e-04 1.86998891e+02] [-1.38333844e-02 9.99904313e-01 4.28929630e-05 7.28138081e-02] [ 9.87349360e-04 -2.92373565e-05 9.99999512e-01 -2.09545080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.94592 meters Centerline goodness : 0.998664 Centerline is valid? [True, True] Translation: X:187.03, Y:0.07, Z:-2.11 [[ 9.99795713e-01 2.01880401e-02 -9.87744793e-04 1.87033152e+02] [-2.01880281e-02 9.99796201e-01 2.21335533e-05 6.75917481e-02] [ 9.87990325e-04 -2.18841207e-06 9.99999512e-01 -2.11335021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.97592 meters Centerline goodness : 0.998561 Centerline is valid? [True, True] Translation: X:187.06, Y:0.06, Z:-2.11 [[ 9.99789633e-01 2.04869808e-02 -9.86821613e-04 1.87061129e+02] [-2.04869481e-02 9.99790120e-01 4.32146795e-05 6.32282420e-02] [ 9.87499837e-04 -2.29886254e-05 9.99999512e-01 -2.11391337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.00592 meters Centerline goodness : 0.995837 Centerline is valid? [True, True] Translation: X:187.09, Y:0.06, Z:-2.10 [[ 9.99778168e-01 2.10390281e-02 -9.86841690e-04 1.87087800e+02] [-2.10389961e-02 9.99778655e-01 4.27512375e-05 5.93344351e-02] [ 9.87522702e-04 -2.19795954e-05 9.99999512e-01 -2.09714572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.03592 meters Centerline goodness : 0.998218 Centerline is valid? [True, True] Translation: X:187.12, Y:0.06, Z:-2.11 [[ 9.99745152e-01 2.25534234e-02 -9.87308498e-04 1.87119946e+02] [-2.25534029e-02 9.99745639e-01 3.18637291e-05 5.50297412e-02] [ 9.87776001e-04 -9.58844238e-06 9.99999512e-01 -2.11156738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.06592 meters Centerline goodness : 0.998466 Centerline is valid? [True, True] Translation: X:187.15, Y:0.05, Z:-2.11 [[ 9.99740803e-01 2.27453830e-02 -9.86843033e-04 1.87148719e+02] [-2.27453519e-02 9.99741290e-01 4.26370114e-05 5.23245297e-02] [ 9.87557522e-04 -2.01798679e-05 9.99999512e-01 -2.11205868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.09592 meters Centerline goodness : 0.998212 Centerline is valid? [True, True] Translation: X:187.18, Y:0.05, Z:-2.11 [[ 9.99711046e-01 2.40177020e-02 -9.86860657e-04 1.87177380e+02] [-2.40176720e-02 9.99711533e-01 4.22251124e-05 4.81430256e-02] [ 9.87590131e-04 -1.85108157e-05 9.99999512e-01 -2.11166976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.12592 meters Centerline goodness : 0.997969 Centerline is valid? [True, True] Translation: X:187.20, Y:0.05, Z:-2.11 [[ 9.99716245e-01 2.38003296e-02 -9.86876779e-04 1.87204854e+02] [-2.38002999e-02 9.99716732e-01 4.18448853e-05 4.62048932e-02] [ 9.87593151e-04 -1.83450482e-05 9.99999512e-01 -2.11227767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.15592 meters Centerline goodness : 0.997621 Centerline is valid? [True, True] Translation: X:187.23, Y:0.04, Z:-2.11 [[ 9.99714905e-01 2.38565376e-02 -9.86896707e-04 1.87233321e+02] [-2.38565084e-02 9.99715392e-01 4.13694964e-05 4.42490286e-02] [ 9.87602762e-04 -1.78137926e-05 9.99999512e-01 -2.11237405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.18592 meters Centerline goodness : 0.997768 Centerline is valid? [True, True] Translation: X:187.26, Y:0.04, Z:-2.11 [[ 9.99729212e-01 2.32492661e-02 -9.86913828e-04 1.87260834e+02] [-2.32492370e-02 9.99729699e-01 4.09569536e-05 4.19999256e-02] [ 9.87599283e-04 -1.80008695e-05 9.99999512e-01 -2.11078114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.21592 meters Centerline goodness : 0.997521 Centerline is valid? [True, True] Translation: X:187.29, Y:0.04, Z:-2.11 [[ 9.99755087e-01 2.21086465e-02 -9.86933077e-04 1.87288219e+02] [-2.21086173e-02 9.99755574e-01 4.04877328e-05 3.94176920e-02] [ 9.87586974e-04 -1.86580911e-05 9.99999512e-01 -2.11021827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.24592 meters Centerline goodness : 0.997574 Centerline is valid? [True, True] Translation: X:187.32, Y:0.04, Z:-2.11 [[ 9.99777717e-01 2.10604606e-02 -9.86952275e-04 1.87316332e+02] [-2.10604314e-02 9.99778204e-01 4.00142030e-05 3.74849053e-02] [ 9.87576091e-04 -1.92196679e-05 9.99999512e-01 -2.11040522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.27592 meters Centerline goodness : 0.997574 Centerline is valid? [True, True] Translation: X:187.34, Y:0.04, Z:-2.11 [[ 9.99796671e-01 2.01405581e-02 -9.86971184e-04 1.87344667e+02] [-2.01405288e-02 9.99797158e-01 3.95422540e-05 3.64176380e-02] [ 9.87567388e-04 -1.96560923e-05 9.99999512e-01 -2.11030756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.30592000000001 meters Centerline goodness : 0.995635 Centerline is valid? [True, True] Translation: X:187.37, Y:0.04, Z:-2.09 [[ 9.99891598e-01 1.46907452e-02 -9.86988508e-04 1.87369633e+02] [-1.46907137e-02 9.99892085e-01 3.91049980e-05 3.61124729e-02] [ 9.87456479e-04 -2.46011933e-05 9.99999512e-01 -2.09419763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.33592000000002 meters Centerline goodness : 0.994894 Centerline is valid? [True, True] Translation: X:187.40, Y:0.04, Z:-2.09 [[ 9.99855492e-01 1.69711370e-02 -9.87809386e-04 1.87400160e+02] [-1.69711274e-02 9.99855980e-01 1.80656570e-05 3.64851801e-02] [ 9.87973717e-04 -1.29880740e-06 9.99999512e-01 -2.09280176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.36592000000002 meters Centerline goodness : 0.997474 Centerline is valid? [True, True] Translation: X:187.43, Y:0.04, Z:-2.11 [[ 9.99816961e-01 1.91068051e-02 -9.87605598e-04 1.87432862e+02] [-1.91067915e-02 9.99817448e-01 2.32613642e-05 3.61539425e-02] [ 9.87869760e-04 -4.38713226e-06 9.99999512e-01 -2.11133665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.39592000000002 meters Centerline goodness : 0.995838 Centerline is valid? [True, True] Translation: X:187.46, Y:0.03, Z:-2.09 [[ 9.99888033e-01 1.49314021e-02 -9.86983202e-04 1.87458462e+02] [-1.49313709e-02 9.99888520e-01 3.90089105e-05 3.41335050e-02] [ 9.87455631e-04 -2.42675305e-05 9.99999512e-01 -2.09437317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.42592000000002 meters Centerline goodness : 0.997427 Centerline is valid? [True, True] Translation: X:187.49, Y:0.03, Z:-2.11 [[ 9.99830477e-01 1.83858929e-02 -9.87579033e-04 1.87491220e+02] [-1.83858785e-02 9.99830965e-01 2.36457690e-05 3.42721433e-02] [ 9.87846847e-04 -5.48425238e-06 9.99999512e-01 -2.11070004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.45592 meters Centerline goodness : 0.994996 Centerline is valid? [True, True] Translation: X:187.52, Y:0.03, Z:-2.09 [[ 9.99862080e-01 1.65785143e-02 -9.86995043e-04 1.87517928e+02] [-1.65784843e-02 9.99862567e-01 3.85843525e-05 3.42035898e-02] [ 9.87499069e-04 -2.22161491e-05 9.99999512e-01 -2.09383808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.48592 meters Centerline goodness : 0.997670 Centerline is valid? [True, True] Translation: X:187.55, Y:0.03, Z:-2.11 [[ 9.99830597e-01 1.83794192e-02 -9.87394664e-04 1.87550239e+02] [-1.83794002e-02 9.99831084e-01 2.82496839e-05 3.38499030e-02] [ 9.87747090e-04 -1.00971766e-05 9.99999512e-01 -2.11161419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.51592 meters Centerline goodness : 0.995688 Centerline is valid? [True, True] Translation: X:187.58, Y:0.03, Z:-2.10 [[ 9.99820756e-01 1.89071794e-02 -9.86992108e-04 1.87581700e+02] [-1.89071505e-02 9.99821243e-01 3.85549627e-05 3.37360354e-02] [ 9.87544642e-04 -1.98868436e-05 9.99999512e-01 -2.09934456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.54592 meters Centerline goodness : 0.996732 Centerline is valid? [True, True] Translation: X:187.61, Y:0.03, Z:-2.10 [[ 9.99862459e-01 1.65556158e-02 -9.86779615e-04 1.87608984e+02] [-1.65555804e-02 9.99862946e-01 4.40099805e-05 3.16385728e-02] [ 9.87372985e-04 -2.76672181e-05 9.99999512e-01 -2.10337067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.57592 meters Centerline goodness : 0.995336 Centerline is valid? [True, True] Translation: X:187.64, Y:0.03, Z:-2.10 [[ 9.99887207e-01 1.49866372e-02 -9.87000547e-04 1.87637098e+02] [-1.49866067e-02 9.99887694e-01 3.82896890e-05 2.87063085e-02] [ 9.87463534e-04 -2.34935811e-05 9.99999512e-01 -2.09539955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.60592 meters Centerline goodness : 0.997624 Centerline is valid? [True, True] Translation: X:187.67, Y:0.02, Z:-2.11 [[ 9.99939657e-01 1.09411081e-02 -9.87050089e-04 1.87666097e+02] [-1.09410769e-02 9.99940144e-01 3.69948883e-05 2.44090940e-02] [ 9.87395773e-04 -2.61932650e-05 9.99999512e-01 -2.11445097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.63592 meters Centerline goodness : 0.996235 Centerline is valid? [True, True] Translation: X:187.69, Y:0.02, Z:-2.10 [[ 9.99999404e-01 4.67567055e-04 -9.87024575e-04 1.87689228e+02] [-4.67530108e-04 9.99999890e-01 3.76635162e-05 2.12362556e-02] [ 9.87042077e-04 -3.72020300e-05 9.99999512e-01 -2.10230327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.66592 meters Centerline goodness : 0.994793 Centerline is valid? [True, True] Translation: X:187.72, Y:0.02, Z:-2.10 [[ 9.99999035e-01 9.76582505e-04 -9.88286258e-04 1.87719643e+02] [-9.76579354e-04 9.99999523e-01 3.67098830e-06 1.78503593e-02] [ 9.88289372e-04 -2.70584480e-06 9.99999512e-01 -2.09742595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.69592 meters Centerline goodness : 0.997170 Centerline is valid? [True, True] Translation: X:187.75, Y:0.01, Z:-2.11 [[ 9.99980680e-01 6.13710986e-03 -9.87843369e-04 1.87754137e+02] [-6.13709741e-03 9.99981168e-01 1.56333407e-05 1.42613281e-02] [ 9.87920709e-04 -9.57054769e-06 9.99999512e-01 -2.11492850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.72592 meters Centerline goodness : 0.994604 Centerline is valid? [True, True] Translation: X:187.78, Y:0.01, Z:-2.10 [[ 9.99994604e-01 3.13336908e-03 -9.87028898e-04 1.87782012e+02] [-3.13333386e-03 9.99995090e-01 3.72276633e-05 6.75892095e-03] [ 9.87140701e-04 -3.41347713e-05 9.99999512e-01 -2.09593059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.75592 meters Centerline goodness : 0.995136 Centerline is valid? [True, True] Translation: X:187.80, Y:0.00, Z:-2.10 [[ 9.99979940e-01 -6.25659308e-03 -9.87378474e-04 1.87803580e+02] [ 6.25662362e-03 9.99980427e-01 2.78444268e-05 1.97245666e-03] [ 9.87184936e-04 -3.40215237e-05 9.99999512e-01 -2.09616299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.78592 meters Centerline goodness : 0.995096 Centerline is valid? [True, True] Translation: X:187.84, Y:-0.00, Z:-2.10 [[ 9.99993848e-01 3.36542775e-03 -9.88812621e-04 1.87841077e+02] [-3.36543920e-03 9.99994337e-01 -9.91693202e-06 -2.21384567e-04] [ 9.88773647e-04 1.32446598e-05 9.99999511e-01 -2.09641638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.81592 meters Centerline goodness : 0.995136 Centerline is valid? [True, True] Translation: X:187.87, Y:-0.01, Z:-2.10 [[ 9.99955769e-01 9.35333658e-03 -9.87481873e-04 1.87870518e+02] [-9.35331810e-03 9.99956256e-01 2.33319755e-05 -5.79990183e-03] [ 9.87656909e-04 -1.40947114e-05 9.99999512e-01 -2.09708146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.84592 meters Centerline goodness : 0.995136 Centerline is valid? [True, True] Translation: X:187.90, Y:-0.01, Z:-2.10 [[ 9.99954959e-01 9.43959068e-03 -9.87269229e-04 1.87898013e+02] [-9.43956703e-03 9.99955446e-01 2.86192204e-05 -6.84632741e-03] [ 9.87495396e-04 -1.92985372e-05 9.99999512e-01 -2.09705553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.87592 meters Centerline goodness : 0.998612 Centerline is valid? [True, True] Translation: X:187.93, Y:-0.01, Z:-2.11 [[ 9.99908600e-01 1.34839493e-02 -9.87275924e-04 1.87929480e+02] [-1.34839278e-02 9.99909087e-01 2.84524630e-05 -9.30988534e-03] [ 9.87569819e-04 -1.51375052e-05 9.99999512e-01 -2.11350897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.90592 meters Centerline goodness : 0.996770 Centerline is valid? [True, True] Translation: X:187.96, Y:-0.01, Z:-2.10 [[ 9.99882491e-01 1.52980598e-02 -9.86813393e-04 1.87956732e+02] [-1.52980278e-02 9.99882978e-01 3.98936543e-05 -1.41728744e-02] [ 9.87308210e-04 -2.47926677e-05 9.99999512e-01 -2.09773063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.93592 meters Centerline goodness : 0.997124 Centerline is valid? [True, True] Translation: X:187.99, Y:-0.02, Z:-2.10 [[ 9.99795681e-01 2.01896293e-02 -9.87243487e-04 1.87988195e+02] [-2.01896104e-02 9.99796169e-01 2.91543359e-05 -1.61917381e-02] [ 9.87630871e-04 -9.21631782e-06 9.99999512e-01 -2.09965656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.96592 meters Centerline goodness : 0.998809 Centerline is valid? [True, True] Translation: X:188.02, Y:-0.02, Z:-2.11 [[ 9.99790810e-01 2.04294613e-02 -9.86821270e-04 1.88017587e+02] [-2.04294321e-02 9.99791297e-01 3.96913388e-05 -1.84777474e-02] [ 9.87426190e-04 -1.95228376e-05 9.99999512e-01 -2.11459762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.99592 meters Centerline goodness : 0.998761 Centerline is valid? [True, True] Translation: X:188.05, Y:-0.02, Z:-2.11 [[ 9.99738085e-01 2.28645581e-02 -9.86840630e-04 1.88046491e+02] [-2.28645306e-02 9.99738572e-01 3.92040124e-05 -2.09593128e-02] [ 9.87479024e-04 -1.66300966e-05 9.99999512e-01 -2.11473834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.02592 meters Centerline goodness : 0.997621 Centerline is valid? [True, True] Translation: X:188.08, Y:-0.02, Z:-2.10 [[ 9.99726439e-01 2.33682113e-02 -9.86856791e-04 1.88075113e+02] [-2.33681843e-02 9.99726926e-01 3.87928966e-05 -2.21653542e-02] [ 9.87493826e-04 -1.57212329e-05 9.99999512e-01 -2.09792723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.05592000000001 meters Centerline goodness : 0.997918 Centerline is valid? [True, True] Translation: X:188.10, Y:-0.02, Z:-2.10 [[ 9.99698651e-01 2.45282172e-02 -9.87209265e-04 1.88103847e+02] [-2.45281998e-02 9.99699138e-01 2.97436901e-05 -2.32466192e-02] [ 9.87641811e-04 -5.52026073e-06 9.99999512e-01 -2.09684396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.08592000000002 meters Centerline goodness : 0.998062 Centerline is valid? [True, True] Translation: X:188.14, Y:-0.02, Z:-2.10 [[ 9.99620677e-01 2.75232219e-02 -9.87156171e-04 1.88135011e+02] [-2.75232046e-02 9.99621164e-01 3.11121206e-05 -2.44080759e-02] [ 9.87638507e-04 -3.93061776e-06 9.99999512e-01 -2.09621484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.11592000000002 meters Centerline goodness : 0.997770 Centerline is valid? [True, True] Translation: X:188.16, Y:-0.03, Z:-2.10 [[ 9.99651165e-01 2.63926909e-02 -9.86818117e-04 1.88162471e+02] [-2.63926644e-02 9.99651652e-01 3.97878963e-05 -2.56522051e-02] [ 9.87524470e-04 -1.37292575e-05 9.99999512e-01 -2.09793049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.14592000000002 meters Centerline goodness : 0.997621 Centerline is valid? [True, True] Translation: X:188.19, Y:-0.03, Z:-2.10 [[ 9.99709699e-01 2.40737328e-02 -9.86933718e-04 1.88188944e+02] [-2.40737082e-02 9.99710186e-01 3.67783124e-05 -2.73325702e-02] [ 9.87533082e-04 -1.30084813e-05 9.99999512e-01 -2.09717061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.17592000000002 meters Centerline goodness : 0.997670 Centerline is valid? [True, True] Translation: X:188.22, Y:-0.03, Z:-2.10 [[ 9.99746224e-01 2.25058495e-02 -9.87278731e-04 1.88217605e+02] [-2.25058331e-02 9.99746711e-01 2.77051502e-05 -2.72582922e-02] [ 9.87652192e-04 -5.47858887e-06 9.99999512e-01 -2.09854154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.20592 meters Centerline goodness : 0.998111 Centerline is valid? [True, True] Translation: X:188.25, Y:-0.03, Z:-2.10 [[ 9.99735197e-01 2.29904570e-02 -9.87284314e-04 1.88247046e+02] [-2.29904410e-02 9.99735685e-01 2.75581131e-05 -2.78033592e-02] [ 9.87656933e-04 -4.85271389e-06 9.99999512e-01 -2.09569080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.23592 meters Centerline goodness : 0.999405 Centerline is valid? [True, True] Translation: X:188.28, Y:-0.03, Z:-2.11 [[ 9.99707657e-01 2.41583672e-02 -9.87277851e-04 1.88277949e+02] [-2.41583516e-02 9.99708144e-01 2.77286105e-05 -2.77350863e-02] [ 9.87659586e-04 -3.86949886e-06 9.99999512e-01 -2.11383529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.26592 meters Centerline goodness : 0.997918 Centerline is valid? [True, True] Translation: X:188.31, Y:-0.03, Z:-2.10 [[ 9.99776771e-01 2.11053189e-02 -9.86891871e-04 1.88306350e+02] [-2.11052918e-02 9.99777258e-01 3.78046402e-05 -2.82483861e-02] [ 9.87469927e-04 -1.69675602e-05 9.99999512e-01 -2.09631101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.29592 meters Centerline goodness : 0.998761 Centerline is valid? [True, True] Translation: X:188.34, Y:-0.03, Z:-2.11 [[ 9.99786691e-01 2.06300311e-02 -9.87187423e-04 1.88336519e+02] [-2.06300115e-02 9.99787178e-01 3.00098740e-05 -2.87811981e-02] [ 9.87596433e-04 -9.63778470e-06 9.99999512e-01 -2.11245416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.32592 meters Centerline goodness : 0.947911 Centerline is valid? [True, False] Translation: X:188.34, Y:-0.04, Z:-2.11 [[ 9.99964964e-01 5.94317917e-03 5.89479562e-03 1.88335947e+02] [-5.96258989e-03 9.99976842e-01 3.28076741e-03 -3.58237376e-02] [-5.87516092e-03 -3.31580072e-03 9.99977244e-01 -2.11406437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.35592 meters Centerline goodness : 0.998058 Centerline is valid? [False, True] Translation: X:188.34, Y:-0.03, Z:-2.12 [[ 9.99987516e-01 -3.36126173e-04 4.98536706e-03 1.88340975e+02] [ 3.55562555e-04 9.99992338e-01 -3.89831249e-03 -3.13996409e-02] [-4.98401854e-03 3.90003644e-03 9.99979974e-01 -2.11782360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.38592 meters Centerline goodness : 0.997968 Centerline is valid? [True, True] Translation: X:188.37, Y:-0.04, Z:-2.12 [[ 9.99986076e-01 -1.48243841e-03 5.06450375e-03 1.88371216e+02] [ 1.48297669e-03 9.99998895e-01 -1.02529851e-04 -3.65222030e-02] [-5.06434616e-03 1.10038964e-04 9.99987170e-01 -2.11693577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.41592 meters Centerline goodness : 0.998910 Centerline is valid? [True, True] Translation: X:188.40, Y:-0.04, Z:-2.13 [[ 9.99985805e-01 -1.65236314e-03 5.06552213e-03 1.88404332e+02] [ 1.65266052e-03 9.99998633e-01 -5.45214262e-05 -3.57483181e-02] [-5.06542511e-03 6.28922407e-05 9.99987169e-01 -2.13444085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.44592 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] Translation: X:188.44, Y:-0.04, Z:-2.13 [[ 9.99986106e-01 -1.46305596e-03 5.06432067e-03 1.88436594e+02] [ 1.46363124e-03 9.99998923e-01 -1.09890740e-04 -3.61580338e-02] [-5.06415444e-03 1.17301511e-04 9.99987170e-01 -2.13396392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.47592 meters Centerline goodness : 0.998214 Centerline is valid? [True, True] Translation: X:188.47, Y:-0.04, Z:-2.12 [[ 9.99984282e-01 -2.40600474e-03 5.06427424e-03 1.88465965e+02] [ 2.40660273e-03 9.99997098e-01 -1.11990626e-04 -3.81775443e-02] [-5.06399009e-03 1.24176562e-04 9.99987170e-01 -2.11998113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.50592 meters Centerline goodness : 0.998164 Centerline is valid? [True, True] Translation: X:188.50, Y:-0.04, Z:-2.12 [[ 9.99983286e-01 -2.78812999e-03 5.06490404e-03 1.88496246e+02] [ 2.78858873e-03 9.99996108e-01 -8.35114758e-05 -3.93596632e-02] [-5.06465149e-03 9.76340143e-05 9.99987170e-01 -2.11845581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.53592 meters Centerline goodness : 0.998859 Centerline is valid? [True, True] Translation: X:188.53, Y:-0.04, Z:-2.14 [[ 9.99986783e-01 -8.80354122e-04 5.06554777e-03 1.88531007e+02] [ 8.80642320e-04 9.99999611e-01 -5.46636007e-05 -4.04766779e-02] [-5.06549767e-03 5.91238139e-05 9.99987169e-01 -2.13575033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.56592 meters Centerline goodness : 0.998957 Centerline is valid? [True, True] Translation: X:188.56, Y:-0.04, Z:-2.13 [[ 9.99986493e-01 -1.16940042e-03 5.06416990e-03 1.88564300e+02] [ 1.16999892e-03 9.99999309e-01 -1.15222964e-04 -4.16572824e-02] [-5.06403165e-03 1.21146481e-04 9.99987170e-01 -2.13489898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.59592 meters Centerline goodness : 0.997468 Centerline is valid? [True, True] Translation: X:188.59, Y:-0.04, Z:-2.12 [[ 9.99986339e-01 -1.29464359e-03 5.06411433e-03 1.88594194e+02] [ 1.29525581e-03 9.99999154e-01 -1.17615546e-04 -4.29883131e-02] [-5.06395777e-03 1.24173263e-04 9.99987170e-01 -2.11844333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.62592 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:188.63, Y:-0.04, Z:-2.14 [[ 9.99987148e-01 -2.27155549e-04 5.06487487e-03 1.88626339e+02] [ 2.27588020e-04 9.99999971e-01 -8.48102154e-05 -4.26084854e-02] [-5.06485546e-03 8.59618303e-05 9.99987170e-01 -2.13532638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.65592 meters Centerline goodness : 0.999406 Centerline is valid? [True, True] Translation: X:188.66, Y:-0.04, Z:-2.14 [[ 9.99987154e-01 2.17221159e-04 5.06404870e-03 1.88659686e+02] [-2.16617523e-04 9.99999969e-01 -1.19748396e-04 -4.34970421e-02] [-5.06407456e-03 1.18649896e-04 9.99987170e-01 -2.13554125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.68592 meters Centerline goodness : 0.997867 Centerline is valid? [True, True] Translation: X:188.69, Y:-0.04, Z:-2.12 [[ 9.99986008e-01 1.52937287e-03 5.06402722e-03 1.88689863e+02] [-1.52878149e-03 9.99998824e-01 -1.20649864e-04 -4.43875014e-02] [-5.06420579e-03 1.12906385e-04 9.99987170e-01 -2.11960159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.71592 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:188.72, Y:-0.04, Z:-2.14 [[ 9.99982890e-01 2.92774624e-03 5.06437283e-03 1.88722167e+02] [-2.92724613e-03 9.99995710e-01 -1.06160453e-04 -4.41599911e-02] [-5.06466191e-03 9.13339713e-05 9.99987170e-01 -2.13641218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.74592 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:188.75, Y:-0.04, Z:-2.14 [[ 9.99976090e-01 4.70914653e-03 5.06399660e-03 1.88754517e+02] [-4.70859007e-03 9.99988907e-01 -1.21802427e-04 -4.37954953e-02] [-5.06451401e-03 9.79552302e-05 9.99987170e-01 -2.13672253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.77592 meters Centerline goodness : 0.998760 Centerline is valid? [True, True] Translation: X:188.78, Y:-0.04, Z:-2.12 [[ 9.99972043e-01 5.50178064e-03 5.06397831e-03 1.88784012e+02] [-5.50123052e-03 9.99984861e-01 -1.22558046e-04 -4.45251758e-02] [-5.06457593e-03 9.46965073e-05 9.99987170e-01 -2.11977026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.80592000000001 meters Centerline goodness : 0.998711 Centerline is valid? [True, True] Translation: X:188.82, Y:-0.04, Z:-2.12 [[ 9.99937285e-01 9.98872743e-03 5.06474228e-03 1.88818125e+02] [-9.98839448e-03 9.99950111e-01 -9.10305088e-05 -4.49330971e-02] [-5.06539888e-03 4.04361560e-05 9.99987170e-01 -2.12372187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.83592000000002 meters Centerline goodness : 0.998910 Centerline is valid? [True, True] Translation: X:188.85, Y:-0.04, Z:-2.12 [[ 9.99932444e-01 1.04631337e-02 5.06271997e-03 1.88846626e+02] [-1.04623886e-02 9.99945253e-01 -1.73634196e-04 -4.43292417e-02] [-5.06425956e-03 1.20654322e-04 9.99987169e-01 -2.12152239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.86592000000002 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:188.88, Y:-0.04, Z:-2.12 [[ 9.99919227e-01 1.16573956e-02 5.06398301e-03 1.88877819e+02] [-1.16569318e-02 9.99932048e-01 -1.21100530e-04 -4.33085311e-02] [-5.06505062e-03 6.20602441e-05 9.99987171e-01 -2.11910634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.89592000000002 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:188.91, Y:-0.04, Z:-2.14 [[ 9.99866699e-01 1.55220370e-02 5.06470752e-03 1.88909880e+02] [-1.55217745e-02 9.99879526e-01 -9.11381348e-05 -4.06173670e-02] [-5.06551200e-03 1.25127379e-05 9.99987170e-01 -2.13775351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.92592000000002 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:188.94, Y:-0.04, Z:-2.12 [[ 9.99870712e-01 1.52615937e-02 5.06391306e-03 1.88937937e+02] [-1.52611630e-02 9.99883534e-01 -1.23669232e-04 -4.10464074e-02] [-5.06521068e-03 4.63720407e-05 9.99987171e-01 -2.12187168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.95592 meters Centerline goodness : 0.998216 Centerline is valid? [True, True] Translation: X:188.97, Y:-0.04, Z:-2.12 [[ 9.99876580e-01 1.48716846e-02 5.06542693e-03 1.88969601e+02] [-1.48715677e-02 9.99889410e-01 -6.07467823e-05 -3.86801793e-02] [-5.06577015e-03 -1.45915548e-05 9.99987169e-01 -2.11841336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.98592 meters Centerline goodness : 0.998559 Centerline is valid? [True, True] Translation: X:189.00, Y:-0.04, Z:-2.12 [[ 9.99872804e-01 1.51234484e-02 5.06537156e-03 1.89001150e+02] [-1.51233232e-02 9.99885634e-01 -6.30018728e-05 -3.80947111e-02] [-5.06574506e-03 -1.36113923e-05 9.99987169e-01 -2.11692572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.01592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:189.03, Y:-0.04, Z:-2.14 [[ 9.99854273e-01 1.63027221e-02 5.06504059e-03 1.89032911e+02] [-1.63025444e-02 9.99867102e-01 -7.63657523e-05 -3.76587629e-02] [-5.06561242e-03 -6.21842562e-06 9.99987170e-01 -2.13854491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.04592 meters Centerline goodness : 0.998166 Centerline is valid? [True, True] Translation: X:189.06, Y:-0.04, Z:-2.12 [[ 9.99947881e-01 8.86528661e-03 5.06379525e-03 1.89060555e+02] [-8.86476068e-03 9.99960699e-01 -1.26296971e-04 -3.90666554e-02] [-5.06471590e-03 8.14010559e-05 9.99987171e-01 -2.11827222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.07592 meters Centerline goodness : 0.998613 Centerline is valid? [True, True] Translation: X:189.09, Y:-0.04, Z:-2.12 [[ 9.99954220e-01 8.11763423e-03 5.06568161e-03 1.89092653e+02] [-8.11747962e-03 9.99967051e-01 -5.10808863e-05 -4.03882463e-02] [-5.06592936e-03 9.95798056e-06 9.99987168e-01 -2.11886630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.10592 meters Centerline goodness : 0.998360 Centerline is valid? [True, True] Translation: X:189.12, Y:-0.04, Z:-2.12 [[ 9.99980086e-01 3.76415398e-03 5.06544813e-03 1.89122759e+02] [-3.76389744e-03 9.99992915e-01 -6.01780339e-05 -4.29077851e-02] [-5.06563876e-03 4.11110082e-05 9.99987169e-01 -2.12100719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.13592 meters Centerline goodness : 0.998709 Centerline is valid? [True, True] Translation: X:189.16, Y:-0.04, Z:-2.12 [[ 9.99974631e-01 5.00808408e-03 5.06527744e-03 1.89157308e+02] [-5.00781020e-03 9.99987459e-01 -6.67521047e-05 -4.44316280e-02] [-5.06554822e-03 4.13844633e-05 9.99987169e-01 -2.12429988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.16592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:189.19, Y:-0.05, Z:-2.14 [[ 9.99986255e-01 -1.36243879e-03 5.06297343e-03 1.89187073e+02] [ 1.36323483e-03 9.99999059e-01 -1.53780546e-04 -4.84753360e-02] [-5.06275915e-03 1.60680454e-04 9.99987171e-01 -2.14143030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.19592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:189.22, Y:-0.05, Z:-2.14 [[ 9.99984157e-01 -2.45898404e-03 5.06349189e-03 1.89218903e+02] [ 2.45969518e-03 9.99996966e-01 -1.34221921e-04 -5.17448206e-02] [-5.06314648e-03 1.46674441e-04 9.99987171e-01 -2.14075202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.22592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:189.25, Y:-0.05, Z:-2.14 [[ 9.99977916e-01 -4.30456411e-03 5.06343632e-03 1.89250964e+02] [ 4.30530934e-03 9.99990723e-01 -1.36286410e-04 -5.49333401e-02] [-5.06280269e-03 1.58083060e-04 9.99987171e-01 -2.14150987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.25592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.28, Y:-0.06, Z:-2.14 [[ 9.99947397e-01 -8.91990878e-03 5.06338008e-03 1.89283206e+02] [ 8.92072351e-03 9.99960200e-01 -1.38344779e-04 -5.99882037e-02] [-5.06194454e-03 1.83506516e-04 9.99987171e-01 -2.14143751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.28592 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:189.32, Y:-0.06, Z:-2.14 [[ 9.99928971e-01 -1.07895739e-02 5.06332385e-03 1.89315841e+02] [ 1.07904228e-02 9.99941772e-01 -1.40373119e-04 -6.23313695e-02] [-5.06151446e-03 1.94998553e-04 9.99987171e-01 -2.14176243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.31592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:189.35, Y:-0.07, Z:-2.14 [[ 9.99874405e-01 -1.50178914e-02 5.06325823e-03 1.89347540e+02] [ 1.50188062e-02 9.99887201e-01 -1.42701310e-04 -6.89708008e-02] [-5.06054403e-03 2.18727482e-04 9.99987171e-01 -2.14083828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.34592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:189.38, Y:-0.07, Z:-2.14 [[ 9.99845679e-01 -1.68220446e-02 5.06320110e-03 1.89379302e+02] [ 1.68229926e-02 9.99858473e-01 -1.44700483e-04 -7.39513945e-02] [-5.06005036e-03 2.29856347e-04 9.99987171e-01 -2.14197084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.37592 meters Centerline goodness : 0.998858 Centerline is valid? [True, True] Translation: X:189.41, Y:-0.08, Z:-2.13 [[ 9.99788107e-01 -1.99526087e-02 5.06314303e-03 1.89408378e+02] [ 1.99536068e-02 9.99800896e-01 -1.46704666e-04 -7.86953273e-02] [-5.05920780e-03 2.47701546e-04 9.99987171e-01 -2.12587576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.40592 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:189.44, Y:-0.09, Z:-2.13 [[ 9.99716375e-01 -2.32706944e-02 5.06393918e-03 1.89439607e+02] [ 2.32715992e-02 9.99729172e-01 -1.19814904e-04 -8.62268929e-02] [-5.05977955e-03 2.37626885e-04 9.99987171e-01 -2.12785584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.43592 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:189.47, Y:-0.09, Z:-2.12 [[ 9.99743967e-01 -2.20534277e-02 5.06422773e-03 1.89470508e+02] [ 2.20542682e-02 9.99756769e-01 -1.10175359e-04 -9.02926771e-02] [-5.06056621e-03 2.21834987e-04 9.99987171e-01 -2.12441406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.46592 meters Centerline goodness : 0.998805 Centerline is valid? [True, True] Translation: X:189.50, Y:-0.10, Z:-2.13 [[ 9.99763905e-01 -2.11302845e-02 5.06415938e-03 1.89503585e+02] [ 2.11311248e-02 9.99776707e-01 -1.12467300e-04 -9.90827554e-02] [-5.06065212e-03 2.19452131e-04 9.99987171e-01 -2.12545860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.49592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:189.54, Y:-0.10, Z:-2.14 [[ 9.99772564e-01 -2.07166904e-02 5.06343369e-03 1.89535798e+02] [ 2.07176468e-02 9.99785357e-01 -1.36503931e-04 -1.03587550e-01] [-5.05951895e-03 2.41375315e-04 9.99987171e-01 -2.14191118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.52592 meters Centerline goodness : 0.999005 Centerline is valid? [True, True] Translation: X:189.56, Y:-0.11, Z:-2.12 [[ 9.99752602e-01 -2.16587788e-02 5.06287015e-03 1.89562650e+02] [ 2.16598403e-02 9.99765386e-01 -1.54920570e-04 -1.12215079e-01] [-5.05832694e-03 2.64543201e-04 9.99987172e-01 -2.12231042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.55592000000001 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:189.60, Y:-0.12, Z:-2.14 [[ 9.99816547e-01 -1.84718996e-02 5.06561808e-03 1.89597759e+02] [ 1.84724571e-02 9.99829368e-01 -6.32805129e-05 -1.15811563e-01] [-5.06358481e-03 1.56843317e-04 9.99987168e-01 -2.14215400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.58592000000002 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:189.63, Y:-0.12, Z:-2.14 [[ 9.99833087e-01 -1.75546443e-02 5.06277680e-03 1.89630673e+02] [ 1.75556571e-02 9.99845875e-01 -1.55680393e-04 -1.19973799e-01] [-5.05926359e-03 2.44534782e-04 9.99987172e-01 -2.14231727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.61592000000002 meters Centerline goodness : 0.998206 Centerline is valid? [True, True] Translation: X:189.66, Y:-0.13, Z:-2.12 [[ 9.99782036e-01 -2.02546391e-02 5.06270558e-03 1.89656771e+02] [ 2.02556980e-02 9.99794820e-01 -1.57963222e-04 -1.27484512e-01] [-5.05846732e-03 2.60477427e-04 9.99987172e-01 -2.12319292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.64592000000002 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:189.69, Y:-0.13, Z:-2.14 [[ 9.99906069e-01 -1.27354791e-02 5.06558878e-03 1.89691890e+02] [ 1.27359667e-02 9.99918892e-01 -6.40044103e-05 -1.33209710e-01] [-5.06436280e-03 1.28513568e-04 9.99987168e-01 -2.14145029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.67592000000002 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:189.72, Y:-0.14, Z:-2.14 [[ 9.99921256e-01 -1.14826405e-02 5.06261926e-03 1.89724557e+02] [ 1.14835910e-02 9.99934049e-01 -1.58721695e-04 -1.36410735e-01] [-5.06046283e-03 2.16846246e-04 9.99987172e-01 -2.14127062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.70592 meters Centerline goodness : 0.998311 Centerline is valid? [True, True] Translation: X:189.75, Y:-0.14, Z:-2.12 [[ 9.99920760e-01 -1.15258102e-02 5.06254572e-03 1.89753223e+02] [ 1.15267729e-02 9.99933552e-01 -1.61033405e-04 -1.39074255e-01] [-5.06035329e-03 2.19375460e-04 9.99987172e-01 -2.12310895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.73592 meters Centerline goodness : 0.998311 Centerline is valid? [True, True] Translation: X:189.78, Y:-0.14, Z:-2.12 [[ 9.99927560e-01 -1.09194147e-02 5.06371691e-03 1.89784997e+02] [ 1.09201843e-02 9.99940365e-01 -1.24372192e-04 -1.39764860e-01] [-5.06205687e-03 1.79659904e-04 9.99987172e-01 -2.12327560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.76592 meters Centerline goodness : 0.998558 Centerline is valid? [True, True] Translation: X:189.82, Y:-0.14, Z:-2.12 [[ 9.99946615e-01 -9.00709057e-03 5.06361035e-03 1.89816541e+02] [ 9.00785227e-03 9.99959420e-01 -1.27639544e-04 -1.44767047e-01] [-5.06225521e-03 1.73244984e-04 9.99987172e-01 -2.12202715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.79592 meters Centerline goodness : 0.998609 Centerline is valid? [True, True] Translation: X:189.85, Y:-0.15, Z:-2.12 [[ 9.99960498e-01 -7.30456573e-03 5.06421875e-03 1.89847843e+02] [ 7.30521279e-03 9.99973311e-01 -1.09285822e-04 -1.48446574e-01] [-5.06328530e-03 1.46276701e-04 9.99987171e-01 -2.12191494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.82592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:189.88, Y:-0.15, Z:-2.14 [[ 9.99985117e-01 -2.02821760e-03 5.06484210e-03 1.89882404e+02] [ 2.02870311e-03 9.99997938e-01 -9.07247491e-05 -1.54313726e-01] [-5.06464765e-03 1.00998460e-04 9.99987169e-01 -2.14143524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.85592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:189.91, Y:-0.16, Z:-2.14 [[ 9.99986771e-01 -9.13343333e-04 5.06202348e-03 1.89914255e+02] [ 9.14231444e-04 9.99999567e-01 -1.73134667e-04 -1.56658218e-01] [-5.06186316e-03 1.77760237e-04 9.99987173e-01 -2.14070714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.88592 meters Centerline goodness : 0.998162 Centerline is valid? [True, True] Translation: X:189.94, Y:-0.16, Z:-2.12 [[ 9.99987094e-01 -4.32604220e-04 5.06200304e-03 1.89942729e+02] [ 4.33489191e-04 9.99999891e-01 -1.73730269e-04 -1.58942480e-01] [-5.06192733e-03 1.75922351e-04 9.99987173e-01 -2.12293951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.91592 meters Centerline goodness : 0.970730 Centerline is valid? [True, True] Translation: X:190.02, Y:-0.13, Z:-2.14 [[ 9.96985803e-01 7.74187713e-02 5.06374545e-03 1.90021922e+02] [-7.74191467e-02 9.96998626e-01 -1.22134614e-04 -1.26240944e-01] [-5.05800277e-03 -2.70264376e-04 9.99987172e-01 -2.13541898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.94592 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:189.99, Y:-0.17, Z:-2.12 [[ 9.99987226e-01 6.06612131e-04 5.01787421e-03 1.89992547e+02] [-6.00065813e-04 9.99998967e-01 -1.30600258e-03 -1.68756951e-01] [-5.01866126e-03 1.30297484e-03 9.99986558e-01 -2.12269564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.97592 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:190.02, Y:-0.17, Z:-2.12 [[ 9.99973738e-01 5.19395748e-03 5.05426924e-03 1.90023092e+02] [-5.19342273e-03 9.99986507e-01 -1.18921650e-04 -1.71530928e-01] [-5.05481872e-03 9.26695704e-05 9.99987220e-01 -2.12291497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.00592 meters Centerline goodness : 0.998855 Centerline is valid? [True, True] Translation: X:190.05, Y:-0.17, Z:-2.12 [[ 9.99965026e-01 6.66262646e-03 5.05526165e-03 1.90054897e+02] [-6.66227284e-03 9.99977803e-01 -8.67882352e-05 -1.73212681e-01] [-5.05572767e-03 5.31056676e-05 9.99987218e-01 -2.12179680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.03592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:190.09, Y:-0.18, Z:-2.14 [[ 9.99951571e-01 8.44424249e-03 5.05470231e-03 1.90087715e+02] [-8.44382113e-03 9.99964345e-01 -1.04696913e-04 -1.75097610e-01] [-5.05540617e-03 6.20108401e-05 9.99987219e-01 -2.14017793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.06592 meters Centerline goodness : 0.998559 Centerline is valid? [True, True] Translation: X:190.12, Y:-0.18, Z:-2.13 [[ 9.99971091e-01 5.68196060e-03 5.05294541e-03 1.90115676e+02] [-5.68122391e-03 9.99983849e-01 -1.60134959e-04 -1.79926344e-01] [-5.05377368e-03 1.31423415e-04 9.99987221e-01 -2.12525218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.09592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:190.15, Y:-0.18, Z:-2.14 [[ 9.99959573e-01 7.43603049e-03 5.05556401e-03 1.90149733e+02] [-7.43573916e-03 9.99972352e-01 -7.64181775e-05 -1.81470230e-01] [-5.05599248e-03 3.88232327e-05 9.99987218e-01 -2.13838279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.12592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:190.18, Y:-0.18, Z:-2.14 [[ 9.99967255e-01 6.32115698e-03 5.05285619e-03 1.90181815e+02] [-6.32042276e-03 9.99980013e-01 -1.61262999e-04 -1.84300155e-01] [-5.05377457e-03 1.29321531e-04 9.99987221e-01 -2.13894092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.15592 meters Centerline goodness : 0.998857 Centerline is valid? [True, True] Translation: X:190.21, Y:-0.19, Z:-2.13 [[ 9.99985446e-01 1.89117055e-03 5.05283642e-03 1.90209219e+02] [-1.89037671e-03 9.99998200e-01 -1.61880255e-04 -1.88723571e-01] [-5.05313346e-03 1.52326135e-04 9.99987221e-01 -2.12536388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.18592 meters Centerline goodness : 0.998708 Centerline is valid? [True, True] Translation: X:190.24, Y:-0.19, Z:-2.12 [[ 9.99985575e-01 1.81439531e-03 5.05552569e-03 1.90240896e+02] [-1.81402146e-03 9.99998352e-01 -7.85345604e-05 -1.90200957e-01] [-5.05565985e-03 6.93625954e-05 9.99987218e-01 -2.12384099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.21592 meters Centerline goodness : 0.998410 Centerline is valid? [True, True] Translation: X:190.27, Y:-0.19, Z:-2.12 [[ 9.99983966e-01 2.55073472e-03 5.05582613e-03 1.90272601e+02] [-2.55041671e-03 9.99996745e-01 -6.93467768e-05 -1.91992056e-01] [-5.05598656e-03 5.64512014e-05 9.99987217e-01 -2.12398337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.24592 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:190.31, Y:-0.20, Z:-2.12 [[ 9.99984080e-01 2.50674951e-03 5.05538221e-03 1.90305115e+02] [-2.50636307e-03 9.99996856e-01 -8.27739039e-05 -1.96535473e-01] [-5.05557381e-03 7.01019627e-05 9.99987218e-01 -2.12457142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.27592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.34, Y:-0.20, Z:-2.14 [[ 9.99969273e-01 5.99105977e-03 5.05571252e-03 1.90339523e+02] [-5.99076790e-03 9.99982053e-01 -7.28736125e-05 -1.99311813e-01] [-5.05605837e-03 4.25837731e-05 9.99987217e-01 -2.14116944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.30592000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.37, Y:-0.20, Z:-2.14 [[ 9.99968005e-01 6.20187317e-03 5.05234050e-03 1.90371874e+02] [-6.20108348e-03 9.99980758e-01 -1.71951900e-04 -2.03952113e-01] [-5.05330971e-03 1.40616413e-04 9.99987222e-01 -2.14174859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.33592000000002 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:190.40, Y:-0.21, Z:-2.13 [[ 9.99984140e-01 2.48865036e-03 5.05231960e-03 1.90398576e+02] [-2.48781023e-03 9.99996891e-01 -1.72563819e-04 -2.07353595e-01] [-5.05273334e-03 1.59991870e-04 9.99987222e-01 -2.12555021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.36592000000002 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:190.43, Y:-0.21, Z:-2.13 [[ 9.99984651e-01 2.26683539e-03 5.05568118e-03 1.90430748e+02] [-2.26649196e-03 9.99997429e-01 -7.36572289e-05 -2.10878509e-01] [-5.05583515e-03 6.21974375e-05 9.99987217e-01 -2.12547074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.39592000000002 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:190.46, Y:-0.22, Z:-2.13 [[ 9.99983204e-01 2.83399413e-03 5.05565287e-03 1.90462910e+02] [-2.83365385e-03 9.99995982e-01 -7.44683637e-05 -2.15352363e-01] [-5.05584361e-03 6.01411427e-05 9.99987217e-01 -2.12631864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.42592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.50, Y:-0.22, Z:-2.14 [[ 9.99971424e-01 5.62094411e-03 5.05533993e-03 1.90497314e+02] [-5.62059479e-03 9.99984201e-01 -8.33036683e-05 -2.17036046e-01] [-5.05572830e-03 5.48872705e-05 9.99987218e-01 -2.14289969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.45592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:190.53, Y:-0.22, Z:-2.14 [[ 9.99969729e-01 5.91780785e-03 5.05175673e-03 1.90529344e+02] [-5.91696136e-03 9.99982478e-01 -1.82493751e-04 -2.20598602e-01] [-5.05274817e-03 1.52597177e-04 9.99987223e-01 -2.14284538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.48592 meters Centerline goodness : 0.998658 Centerline is valid? [True, True] Translation: X:190.56, Y:-0.22, Z:-2.13 [[ 9.99978509e-01 4.17862778e-03 5.05173479e-03 1.90556776e+02] [-4.17775605e-03 9.99991256e-01 -1.83099142e-04 -2.23572697e-01] [-5.05245572e-03 1.61990291e-04 9.99987223e-01 -2.12591919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.51592 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:190.59, Y:-0.23, Z:-2.14 [[ 9.99966426e-01 6.44950615e-03 5.05472083e-03 1.90591178e+02] [-6.44908587e-03 9.99979199e-01 -9.94416395e-05 -2.25660854e-01] [-5.05525704e-03 6.68399722e-05 9.99987220e-01 -2.14335901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.54592 meters Centerline goodness : 0.999447 Centerline is valid? [True, True] Translation: X:190.62, Y:-0.23, Z:-2.14 [[ 9.99971179e-01 5.66766051e-03 5.05164386e-03 1.90623480e+02] [-5.66680352e-03 9.99983927e-01 -1.83944556e-04 -2.27931323e-01] [-5.05260519e-03 1.55312581e-04 9.99987223e-01 -2.14381696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.57592 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:190.66, Y:-0.23, Z:-2.15 [[ 9.99971083e-01 5.68453750e-03 5.05162149e-03 1.90655854e+02] [-5.68367762e-03 9.99983831e-01 -1.84556823e-04 -2.29917000e-01] [-5.05258893e-03 1.55839698e-04 9.99987223e-01 -2.14634698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.60592 meters Centerline goodness : 0.998857 Centerline is valid? [True, True] Translation: X:190.69, Y:-0.23, Z:-2.15 [[ 9.99976359e-01 4.66500263e-03 5.05159902e-03 1.90689112e+02] [-4.66412667e-03 9.99989106e-01 -1.85169639e-04 -2.33886657e-01] [-5.05240781e-03 1.61603964e-04 9.99987223e-01 -2.14557947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.63592 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:190.72, Y:-0.24, Z:-2.15 [[ 9.99981437e-01 3.40698632e-03 5.05156534e-03 1.90720774e+02] [-3.40608971e-03 9.99994182e-01 -1.86084022e-04 -2.35978111e-01] [-5.05216994e-03 1.68874483e-04 9.99987223e-01 -2.14518302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.66592 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:190.75, Y:-0.24, Z:-2.15 [[ 9.99984292e-01 2.42867565e-03 5.05154292e-03 1.90752982e+02] [-2.42776351e-03 9.99997036e-01 -1.86690663e-04 -2.38855752e-01] [-5.05198136e-03 1.74423779e-04 9.99987223e-01 -2.14651162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.69592 meters Centerline goodness : 0.996953 Centerline is valid? [True, True] Translation: X:190.78, Y:-0.24, Z:-2.13 [[ 9.99982565e-01 3.05812866e-03 5.05152065e-03 1.90783234e+02] [-3.05722151e-03 9.99995309e-01 -1.87291369e-04 -2.41741331e-01] [-5.05206972e-03 1.71844486e-04 9.99987223e-01 -2.12849209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.72592 meters Centerline goodness : 0.996967 Centerline is valid? [True, True] Translation: X:190.82, Y:-0.24, Z:-2.13 [[ 9.99981596e-01 3.35897997e-03 5.05221154e-03 1.90815534e+02] [-3.35817040e-03 9.99994347e-01 -1.68713886e-04 -2.44395539e-01] [-5.05274968e-03 1.51744594e-04 9.99987223e-01 -2.12794919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.75592 meters Centerline goodness : 0.996715 Centerline is valid? [True, True] Translation: X:190.85, Y:-0.25, Z:-2.13 [[ 9.99984431e-01 2.36866318e-03 5.05236186e-03 1.90847898e+02] [-2.36786116e-03 9.99997183e-01 -1.64717392e-04 -2.48573049e-01] [-5.05273779e-03 1.52751536e-04 9.99987223e-01 -2.12790053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.78592 meters Centerline goodness : 0.996571 Centerline is valid? [True, True] Translation: X:190.88, Y:-0.25, Z:-2.13 [[ 9.99984918e-01 2.15419707e-03 5.05212698e-03 1.90878713e+02] [-2.15336100e-03 9.99997667e-01 -1.70923154e-04 -2.52754729e-01] [-5.05248339e-03 1.60041523e-04 9.99987223e-01 -2.12766894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.81592 meters Centerline goodness : 0.996817 Centerline is valid? [True, True] Translation: X:190.91, Y:-0.26, Z:-2.13 [[ 9.99986353e-01 1.32936609e-03 5.05228862e-03 1.90909727e+02] [-1.32854085e-03 9.99999104e-01 -1.66692940e-04 -2.55547944e-01] [-5.05250569e-03 1.59978493e-04 9.99987223e-01 -2.12945665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.84592 meters Centerline goodness : 0.996518 Centerline is valid? [True, True] Translation: X:190.94, Y:-0.26, Z:-2.13 [[ 9.99981953e-01 3.24945820e-03 5.05312826e-03 1.90941526e+02] [-3.24876789e-03 9.99994712e-01 -1.44814192e-04 -2.57831882e-01] [-5.05357211e-03 1.28395138e-04 9.99987222e-01 -2.12917522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.87592 meters Centerline goodness : 0.996122 Centerline is valid? [True, True] Translation: X:190.97, Y:-0.26, Z:-2.13 [[ 9.99975034e-01 4.94189391e-03 5.05065709e-03 1.90971677e+02] [-4.94090255e-03 9.99987772e-01 -2.08741463e-04 -2.61356884e-01] [-5.05162691e-03 1.83781447e-04 9.99987224e-01 -2.12676969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.90592 meters Centerline goodness : 0.996765 Centerline is valid? [True, True] Translation: X:191.00, Y:-0.26, Z:-2.13 [[ 9.99966859e-01 6.38491887e-03 5.05116592e-03 1.91003618e+02] [-6.38401251e-03 9.99979603e-01 -1.95540002e-04 -2.64464376e-01] [-5.05231140e-03 1.63286815e-04 9.99987224e-01 -2.12965670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.93592 meters Centerline goodness : 0.996715 Centerline is valid? [True, True] Translation: X:191.03, Y:-0.27, Z:-2.13 [[ 9.99960581e-01 7.30287042e-03 5.05026772e-03 1.91032375e+02] [-7.30185815e-03 9.99973317e-01 -2.18848046e-04 -2.69429357e-01] [-5.05173118e-03 1.81963081e-04 9.99987223e-01 -2.12870689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.96592 meters Centerline goodness : 0.996223 Centerline is valid? [True, True] Translation: X:191.06, Y:-0.27, Z:-2.13 [[ 9.99959698e-01 7.42167227e-03 5.05178993e-03 1.91062210e+02] [-7.42086071e-03 9.99972449e-01 -1.79373577e-04 -2.71827317e-01] [-5.05298200e-03 1.41877719e-04 9.99987224e-01 -2.12785812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.99592 meters Centerline goodness : 0.998311 Centerline is valid? [True, True] Translation: X:191.09, Y:-0.27, Z:-2.15 [[ 9.99938555e-01 9.86702696e-03 5.05249293e-03 1.91092957e+02] [-9.86633837e-03 9.99951314e-01 -1.61195533e-04 -2.74628209e-01] [-5.05383746e-03 1.11336023e-04 9.99987223e-01 -2.14684763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.02592 meters Centerline goodness : 0.996667 Centerline is valid? [True, True] Translation: X:191.12, Y:-0.28, Z:-2.13 [[ 9.99941787e-01 9.53466948e-03 5.05107996e-03 1.91122217e+02] [-9.53379409e-03 9.99954533e-01 -1.97358376e-04 -2.78219558e-01] [-5.05273205e-03 1.49190931e-04 9.99987224e-01 -2.12854177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.05592000000001 meters Centerline goodness : 0.996219 Centerline is valid? [True, True] Translation: X:191.15, Y:-0.28, Z:-2.13 [[ 9.99928905e-01 1.08007590e-02 5.05256342e-03 1.91154351e+02] [-1.08000923e-02 9.99941665e-01 -1.59216453e-04 -2.83727789e-01] [-5.05398834e-03 1.04636983e-04 9.99987223e-01 -2.12964090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.08592000000002 meters Centerline goodness : 0.998359 Centerline is valid? [True, True] Translation: X:191.18, Y:-0.29, Z:-2.15 [[ 9.99941408e-01 9.57431483e-03 5.05112193e-03 1.91184905e+02] [-9.57344618e-03 9.99954154e-01 -1.96122369e-04 -2.85760998e-01] [-5.05276809e-03 1.47754234e-04 9.99987224e-01 -2.14861242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.11592000000002 meters Centerline goodness : 0.998408 Centerline is valid? [True, True] Translation: X:191.22, Y:-0.29, Z:-2.15 [[ 9.99934524e-01 1.02681287e-02 5.05107328e-03 1.91216834e+02] [-1.02672626e-02 9.99947271e-01 -1.97367259e-04 -2.87890779e-01] [-5.05283354e-03 1.45493640e-04 9.99987224e-01 -2.14893711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.14592000000002 meters Centerline goodness : 0.997061 Centerline is valid? [True, True] Translation: X:191.25, Y:-0.29, Z:-2.13 [[ 9.99871955e-01 1.51842410e-02 5.05104906e-03 1.91246987e+02] [-1.51834344e-02 9.99884705e-01 -1.97985299e-04 -2.91158223e-01] [-5.05347296e-03 1.21267675e-04 9.99987224e-01 -2.13060774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.17592000000002 meters Centerline goodness : 0.998307 Centerline is valid? [True, True] Translation: X:191.28, Y:-0.30, Z:-2.15 [[ 9.99933047e-01 1.04107273e-02 5.05158005e-03 1.91277343e+02] [-1.04099284e-02 9.99945798e-01 -1.84414714e-04 -2.95286791e-01] [-5.05322614e-03 1.31815781e-04 9.99987224e-01 -2.14730621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.20592 meters Centerline goodness : 0.894954 Centerline is valid? [True, False] Translation: X:191.28, Y:-0.29, Z:-2.15 [[ 9.99966676e-01 6.33747682e-03 5.14615258e-03 1.91277052e+02] [-6.31345884e-03 9.99969165e-01 -4.67008049e-03 -2.93974990e-01] [-5.17559042e-03 4.63743484e-03 9.99975853e-01 -2.14726224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.23592 meters Centerline goodness : 0.998706 Centerline is valid? [False, True] Translation: X:191.28, Y:-0.30, Z:-2.15 [[ 9.99985629e-01 2.24494973e-03 4.86852041e-03 1.91277760e+02] [-2.20310856e-03 9.99960742e-01 -8.58262782e-03 -2.95169742e-01] [-4.88759685e-03 8.57177860e-03 9.99951317e-01 -2.14758311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.26592 meters Centerline goodness : 0.998309 Centerline is valid? [True, True] Translation: X:191.31, Y:-0.31, Z:-2.15 [[ 9.99981903e-01 3.14897367e-03 5.12611022e-03 1.91309904e+02] [-3.14821226e-03 9.99995032e-01 -1.56597970e-04 -3.06678335e-01] [-5.12657787e-03 1.40457053e-04 9.99986849e-01 -2.14803526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.29592 meters Centerline goodness : 0.996322 Centerline is valid? [True, True] Translation: X:191.34, Y:-0.31, Z:-2.13 [[ 9.99970084e-01 5.79255723e-03 5.12609085e-03 1.91340605e+02] [-5.79182730e-03 9.99983215e-01 -1.57229496e-04 -3.11535178e-01] [-5.12691557e-03 1.27535359e-04 9.99986849e-01 -2.13094318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.32592 meters Centerline goodness : 0.998059 Centerline is valid? [True, True] Translation: X:191.37, Y:-0.31, Z:-2.15 [[ 9.99980161e-01 3.66086083e-03 5.12590953e-03 1.91369998e+02] [-3.66007258e-03 9.99993289e-01 -1.63149095e-04 -3.12863556e-01] [-5.12647240e-03 1.44384657e-04 9.99986849e-01 -2.14633304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.35592 meters Centerline goodness : 0.997911 Centerline is valid? [True, True] Translation: X:191.40, Y:-0.32, Z:-2.15 [[ 9.99976537e-01 4.54411130e-03 5.12608287e-03 1.91403204e+02] [-4.54336354e-03 9.99989666e-01 -1.57507819e-04 -3.15265043e-01] [-5.12674563e-03 1.34214465e-04 9.99986849e-01 -2.14591071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.38592 meters Centerline goodness : 0.997862 Centerline is valid? [True, True] Translation: X:191.44, Y:-0.32, Z:-2.15 [[ 9.99971644e-01 5.51668245e-03 5.12605335e-03 1.91435321e+02] [-5.51594257e-03 9.99984775e-01 -1.58462757e-04 -3.21203176e-01] [-5.12684949e-03 1.30183248e-04 9.99986849e-01 -2.14594249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.41592 meters Centerline goodness : 0.997463 Centerline is valid? [True, True] Translation: X:191.47, Y:-0.33, Z:-2.15 [[ 9.99944823e-01 9.16918969e-03 5.12603363e-03 1.91467375e+02] [-9.16849452e-03 9.99957956e-01 -1.59098306e-04 -3.26129736e-01] [-5.12727691e-03 1.12091516e-04 9.99986849e-01 -2.14613211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.44592 meters Centerline goodness : 0.995079 Centerline is valid? [True, True] Translation: X:191.50, Y:-0.33, Z:-2.13 [[ 9.99913294e-01 1.21296617e-02 5.12601382e-03 1.91498474e+02] [-1.21290022e-02 9.99926428e-01 -1.59733978e-04 -3.27175837e-01] [-5.12757421e-03 9.75466949e-05 9.99986849e-01 -2.13223801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.47592 meters Centerline goodness : 0.997317 Centerline is valid? [True, True] Translation: X:191.53, Y:-0.33, Z:-2.15 [[ 9.99901785e-01 1.30441314e-02 5.12550192e-03 1.91527364e+02] [-1.30434001e-02 9.99914916e-01 -1.76074790e-04 -3.27882890e-01] [-5.12736256e-03 1.09203524e-04 9.99986849e-01 -2.14679949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.50592 meters Centerline goodness : 0.996866 Centerline is valid? [True, True] Translation: X:191.56, Y:-0.33, Z:-2.15 [[ 9.99831212e-01 1.76428790e-02 5.12600341e-03 1.91559614e+02] [-1.76422905e-02 9.99844350e-01 -1.60008993e-04 -3.30516010e-01] [-5.12802857e-03 6.95475446e-05 9.99986849e-01 -2.14730052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.53592 meters Centerline goodness : 0.994526 Centerline is valid? [True, True] Translation: X:191.59, Y:-0.33, Z:-2.13 [[ 9.99763953e-01 2.11131030e-02 5.12598301e-03 1.91590085e+02] [-2.11125567e-02 9.99777092e-01 -1.60659950e-04 -3.32153303e-01] [-5.12823242e-03 5.23994192e-05 9.99986849e-01 -2.13054739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.56592 meters Centerline goodness : 0.996519 Centerline is valid? [True, True] Translation: X:191.62, Y:-0.33, Z:-2.15 [[ 9.99669227e-01 2.52023765e-02 5.12602246e-03 1.91621153e+02] [-2.52018904e-02 9.99682369e-01 -1.59403507e-04 -3.30681618e-01] [-5.12841163e-03 3.01653244e-05 9.99986849e-01 -2.14803846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.59592 meters Centerline goodness : 0.996271 Centerline is valid? [True, True] Translation: X:191.65, Y:-0.33, Z:-2.15 [[ 9.99611388e-01 2.74006900e-02 5.12596882e-03 1.91653168e+02] [-2.74002241e-02 9.99624530e-01 -1.61110225e-04 -3.29413760e-01] [-5.12845871e-03 2.05949210e-05 9.99986849e-01 -2.14815771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.62592 meters Centerline goodness : 0.996622 Centerline is valid? [True, True] Translation: X:191.69, Y:-0.33, Z:-2.15 [[ 9.99570786e-01 2.88438723e-02 5.12594787e-03 1.91685854e+02] [-2.88434220e-02 9.99583929e-01 -1.61774195e-04 -3.29173001e-01] [-5.12848130e-03 1.38548814e-05 9.99986849e-01 -2.14831854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.65592 meters Centerline goodness : 0.996622 Centerline is valid? [True, True] Translation: X:191.72, Y:-0.33, Z:-2.15 [[ 9.99567023e-01 2.89739931e-02 5.12592667e-03 1.91718501e+02] [-2.89735411e-02 9.99580166e-01 -1.62442987e-04 -3.30171320e-01] [-5.12848125e-03 1.38564055e-05 9.99986849e-01 -2.14848603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.68592 meters Centerline goodness : 0.996470 Centerline is valid? [True, True] Translation: X:191.75, Y:-0.33, Z:-2.15 [[ 9.99488836e-01 3.15561768e-02 5.12590544e-03 1.91751042e+02] [-3.15557553e-02 9.99501980e-01 -1.63110252e-04 -3.30210405e-01] [-5.12849977e-03 1.27505860e-06 9.99986849e-01 -2.14924614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.71592 meters Centerline goodness : 0.996223 Centerline is valid? [True, True] Translation: X:191.78, Y:-0.33, Z:-2.15 [[ 9.99452568e-01 3.26847080e-02 5.12588410e-03 1.91783526e+02] [-3.26842978e-02 9.99465712e-01 -1.63778022e-04 -3.27989799e-01] [-5.12849844e-03 -3.84755761e-06 9.99986849e-01 -2.14809119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.74592 meters Centerline goodness : 0.996021 Centerline is valid? [True, True] Translation: X:191.82, Y:-0.33, Z:-2.15 [[ 9.99440191e-01 3.30610163e-02 5.12586270e-03 1.91815499e+02] [-3.30606077e-02 9.99453335e-01 -1.64445283e-04 -3.26731196e-01] [-5.12849730e-03 -5.11091100e-06 9.99986849e-01 -2.14901471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.77592 meters Centerline goodness : 0.996023 Centerline is valid? [True, True] Translation: X:191.85, Y:-0.33, Z:-2.15 [[ 9.99441202e-01 3.30304301e-02 5.12584113e-03 1.91847815e+02] [-3.30300177e-02 9.99454346e-01 -1.65114713e-04 -3.25694621e-01] [-5.12849801e-03 -4.28417625e-06 9.99986849e-01 -2.14916087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.80592000000001 meters Centerline goodness : 0.995777 Centerline is valid? [True, True] Translation: X:191.88, Y:-0.33, Z:-2.15 [[ 9.99444201e-01 3.29395617e-02 5.12581950e-03 1.91879959e+02] [-3.29391447e-02 9.99457345e-01 -1.65783491e-04 -3.25097011e-01] [-5.12849879e-03 -3.14876161e-06 9.99986849e-01 -2.15083834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.83592000000002 meters Centerline goodness : 0.996023 Centerline is valid? [True, True] Translation: X:191.91, Y:-0.33, Z:-2.15 [[ 9.99468068e-01 3.22072469e-02 5.12579784e-03 1.91911873e+02] [-3.22068168e-02 9.99481212e-01 -1.66450604e-04 -3.25293163e-01] [-5.12849955e-03 1.27643153e-06 9.99986849e-01 -2.15091932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.86592000000002 meters Centerline goodness : 0.991406 Centerline is valid? [True, True] Translation: X:191.98, Y:-0.32, Z:-2.15 [[ 9.99648330e-01 2.60181336e-02 5.12577600e-03 1.91975537e+02] [-2.60176187e-02 9.99661470e-01 -1.67120536e-04 -3.17030609e-01] [-5.12838893e-03 3.37012790e-05 9.99986849e-01 -2.14677162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.89592000000002 meters Centerline goodness : 0.996170 Centerline is valid? [True, True] Translation: X:191.97, Y:-0.33, Z:-2.15 [[ 9.99628719e-01 2.67667266e-02 5.09576392e-03 1.91968050e+02] [-2.67619163e-02 9.99641326e-01 -1.00984799e-03 -3.29286507e-01] [-5.12096653e-03 8.73100648e-04 9.99986507e-01 -2.15126683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.92592000000002 meters Centerline goodness : 0.994329 Centerline is valid? [True, True] Translation: X:192.00, Y:-0.33, Z:-2.14 [[ 9.99706573e-01 2.36758411e-02 5.12079553e-03 1.91997437e+02] [-2.36753891e-02 9.99719688e-01 -1.48867458e-04 -3.31751493e-01] [-5.12288467e-03 2.75869496e-05 9.99986878e-01 -2.13500360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.95592 meters Centerline goodness : 0.985625 Centerline is valid? [True, True] Translation: X:192.07, Y:-0.32, Z:-2.15 [[ 9.99728586e-01 2.27271056e-02 5.12177940e-03 1.92070382e+02] [-2.27268162e-02 9.99741706e-01 -1.14693836e-04 -3.20982770e-01] [-5.12306313e-03 -1.73903278e-06 9.99986877e-01 -2.15462892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.98592 meters Centerline goodness : 0.996259 Centerline is valid? [True, True] Translation: X:192.05, Y:-0.34, Z:-2.15 [[ 9.99841873e-01 1.70403001e-02 5.08506351e-03 1.92049651e+02] [-1.70341646e-02 9.99854130e-01 -1.24744820e-03 -3.37528895e-01] [-5.10557864e-03 1.16063114e-03 9.99986293e-01 -2.15334476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.01592 meters Centerline goodness : 0.996022 Centerline is valid? [True, True] Translation: X:192.08, Y:-0.34, Z:-2.15 [[ 9.99855039e-01 1.62410045e-02 5.11188881e-03 1.92082192e+02] [-1.62405940e-02 9.99868105e-01 -1.21807410e-04 -3.40645918e-01] [-5.11319286e-03 3.87696421e-05 9.99986927e-01 -2.15403849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.04592 meters Centerline goodness : 0.994231 Centerline is valid? [True, True] Translation: X:192.11, Y:-0.34, Z:-2.14 [[ 9.99894770e-01 1.35763729e-02 5.11187294e-03 1.92110451e+02] [-1.35759241e-02 9.99907835e-01 -1.22470058e-04 -3.42257273e-01] [-5.11306450e-03 5.30587709e-05 9.99986927e-01 -2.13641214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.07592 meters Centerline goodness : 0.966994 Centerline is valid? [True, True] Translation: X:192.19, Y:-0.33, Z:-2.16 [[ 9.99812782e-01 1.86615728e-02 5.11333537e-03 1.92190825e+02] [-1.86615122e-02 9.99825857e-01 -5.95679003e-05 -3.26854680e-01] [-5.11355655e-03 -3.58658221e-05 9.99986925e-01 -2.16051612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.10592 meters Centerline goodness : 0.993479 Centerline is valid? [True, True] Translation: X:192.16, Y:-0.35, Z:-2.13 [[ 9.99929356e-01 1.07491600e-02 5.07334455e-03 1.92158941e+02] [-1.07421749e-02 9.99941318e-01 -1.40207319e-03 -3.47686705e-01] [-5.08811795e-03 1.34747538e-03 9.99986148e-01 -2.13330390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.13592 meters Centerline goodness : 0.941027 Centerline is valid? [True, False] Translation: X:192.16, Y:-0.35, Z:-2.13 [[ 9.99929329e-01 1.07398197e-02 5.09826682e-03 1.92158851e+02] [-1.07348728e-02 9.99941883e-01 -9.96689427e-04 -3.49360141e-01] [-5.10867478e-03 9.41889745e-04 9.99986507e-01 -2.13299351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.16592 meters Centerline goodness : 0.996163 Centerline is valid? [False, True] Translation: X:192.16, Y:-0.35, Z:-2.13 [[ 9.99930012e-01 1.06970973e-02 5.05410011e-03 1.92159016e+02] [-1.06920731e-02 9.99942318e-01 -1.02004722e-03 -3.49434706e-01] [-5.06472012e-03 9.65937017e-04 9.99986708e-01 -2.13319981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.19592 meters Centerline goodness : 0.995429 Centerline is valid? [True, True] Translation: X:192.17, Y:-0.35, Z:-2.12 [[ 9.99908790e-01 1.25187901e-02 5.06874284e-03 1.92169607e+02] [-1.25185513e-02 9.99921637e-01 -7.88447473e-05 -3.52530393e-01] [-5.06933268e-03 1.53842386e-05 9.99987151e-01 -2.11833866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.22592 meters Centerline goodness : 0.996018 Centerline is valid? [True, True] Translation: X:192.22, Y:-0.35, Z:-2.13 [[ 9.99876028e-01 1.49054079e-02 5.07519013e-03 1.92217345e+02] [-1.49072066e-02 9.99888831e-01 3.16767289e-04 -3.47608648e-01] [-5.06990438e-03 -3.92384926e-04 9.99987071e-01 -2.13362216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.25592 meters Centerline goodness : 0.993735 Centerline is valid? [True, True] Translation: X:192.25, Y:-0.35, Z:-2.11 [[ 9.99894917e-01 1.35823274e-02 5.06712526e-03 1.92247000e+02] [-1.35820030e-02 9.99907755e-01 -9.84300805e-05 -3.46717998e-01] [-5.06799476e-03 2.95980268e-05 9.99987157e-01 -2.11491277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.28592 meters Centerline goodness : 0.994383 Centerline is valid? [True, True] Translation: X:192.28, Y:-0.35, Z:-2.11 [[ 9.99890163e-01 1.39276436e-02 5.06782385e-03 1.92279262e+02] [-1.39275034e-02 9.99903006e-01 -6.29511471e-05 -3.47102062e-01] [-5.06820906e-03 -7.63790119e-06 9.99987157e-01 -2.11472464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.31592 meters Centerline goodness : 0.993777 Centerline is valid? [True, True] Translation: X:192.31, Y:-0.35, Z:-2.12 [[ 9.99890912e-01 1.38737523e-02 5.06792970e-03 1.92311918e+02] [-1.38736384e-02 9.99903755e-01 -5.76187697e-05 -3.47312254e-01] [-5.06824133e-03 -1.26981401e-05 9.99987156e-01 -2.11551830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.34592 meters Centerline goodness : 0.994828 Centerline is valid? [True, True] Translation: X:192.35, Y:-0.35, Z:-2.12 [[ 9.99915640e-01 1.19595531e-02 5.06767208e-03 1.92345210e+02] [-1.19593505e-02 9.99928482e-01 -7.02862809e-05 -3.49145597e-01] [-5.06815024e-03 9.67428501e-06 9.99987157e-01 -2.12052411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.37592 meters Centerline goodness : 0.953976 Centerline is valid? [True, True] Translation: X:192.43, Y:-0.32, Z:-2.15 [[ 9.98767677e-01 4.93705908e-02 5.06673671e-03 1.92433304e+02] [-4.93706406e-02 9.98780520e-01 -1.15308408e-04 -3.24350152e-01] [-5.06625077e-03 -1.34981727e-04 9.99987157e-01 -2.15440147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.40592 meters Centerline goodness : 0.996172 Centerline is valid? [True, True] Translation: X:192.39, Y:-0.35, Z:-2.13 [[ 9.99938846e-01 9.85748361e-03 5.01336787e-03 1.92387896e+02] [-9.84918354e-03 9.99950088e-01 -1.67759129e-03 -3.54814916e-01] [-5.02965447e-03 1.62811111e-03 9.99986026e-01 -2.13430938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.43592 meters Centerline goodness : 0.996419 Centerline is valid? [True, True] Translation: X:192.42, Y:-0.36, Z:-2.13 [[ 9.99942974e-01 9.41073112e-03 5.04843279e-03 1.92420352e+02] [-9.41027986e-03 9.99955716e-01 -1.13132871e-04 -3.58214437e-01] [-5.04927388e-03 6.56192546e-05 9.99987250e-01 -2.13434845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.46592 meters Centerline goodness : 0.994866 Centerline is valid? [True, True] Translation: X:192.45, Y:-0.36, Z:-2.12 [[ 9.99961666e-01 7.15399939e-03 5.04841836e-03 1.92450423e+02] [-7.15351614e-03 9.99974407e-01 -1.13773029e-04 -3.61552825e-01] [-5.04910309e-03 7.76547256e-05 9.99987250e-01 -2.11794955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.49592 meters Centerline goodness : 0.994428 Centerline is valid? [True, True] Translation: X:192.48, Y:-0.36, Z:-2.12 [[ 9.99952864e-01 8.29310297e-03 5.04910227e-03 1.92481675e+02] [-8.29278682e-03 9.99965611e-01 -8.35467855e-05 -3.63174952e-01] [-5.04962150e-03 4.16717187e-05 9.99987250e-01 -2.11783750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.52592 meters Centerline goodness : 0.995676 Centerline is valid? [True, True] Translation: X:192.51, Y:-0.37, Z:-2.12 [[ 9.99952389e-01 8.35049129e-03 5.04873198e-03 1.92513429e+02] [-8.35009411e-03 9.99965132e-01 -9.97418347e-05 -3.65049236e-01] [-5.04938884e-03 5.75796987e-05 9.99987250e-01 -2.12130092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.55592000000001 meters Centerline goodness : 0.994632 Centerline is valid? [True, True] Translation: X:192.54, Y:-0.37, Z:-2.12 [[ 9.99945746e-01 9.11134808e-03 5.04855246e-03 1.92544870e+02] [-9.11092108e-03 9.99958489e-01 -1.07573001e-04 -3.67421621e-01] [-5.04932302e-03 6.15702019e-05 9.99987250e-01 -2.11727302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.58592000000002 meters Centerline goodness : 0.996568 Centerline is valid? [True, True] Translation: X:192.58, Y:-0.37, Z:-2.13 [[ 9.99948677e-01 8.78372564e-03 5.04877527e-03 1.92576748e+02] [-8.78334359e-03 9.99961421e-01 -9.78397352e-05 -3.69030877e-01] [-5.04943989e-03 5.34895858e-05 9.99987250e-01 -2.13434725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.61592000000002 meters Centerline goodness : 0.996320 Centerline is valid? [True, True] Translation: X:192.61, Y:-0.37, Z:-2.14 [[ 9.99933528e-01 1.03660269e-02 5.04834722e-03 1.92608472e+02] [-1.03655713e-02 9.99946269e-01 -1.16404182e-04 -3.71613921e-01] [-5.04928262e-03 6.40674411e-05 9.99987250e-01 -2.13547995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.64592000000002 meters Centerline goodness : 0.750957 Centerline is valid? [True, False] Translation: X:192.61, Y:-0.37, Z:-2.14 [[ 9.99967883e-01 6.23882107e-03 5.03093434e-03 1.92608470e+02] [-6.21438458e-03 9.99968888e-01 -4.85833900e-03 -3.69305637e-01] [-5.06108813e-03 4.82691881e-03 9.99975543e-01 -2.13543964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.67592000000002 meters Centerline goodness : 0.996473 Centerline is valid? [False, True] Translation: X:192.61, Y:-0.37, Z:-2.14 [[ 9.99982001e-01 4.25448915e-03 4.23051701e-03 1.92613292e+02] [-4.22631554e-03 9.99968981e-01 -6.64640038e-03 -3.70092571e-01] [-4.25866282e-03 6.62840126e-03 9.99968964e-01 -2.14001354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.70592 meters Centerline goodness : 0.995626 Centerline is valid? [True, True] Translation: X:192.64, Y:-0.38, Z:-2.14 [[ 9.99967157e-01 6.85640167e-03 4.32141159e-03 1.92644044e+02] [-6.85612821e-03 9.99976493e-01 -7.80916992e-05 -3.76349480e-01] [-4.32184544e-03 4.84609825e-05 9.99990660e-01 -2.13895322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.73592 meters Centerline goodness : 0.998209 Centerline is valid? [True, True] Translation: X:192.68, Y:-0.38, Z:-2.15 [[ 9.99942625e-01 9.80144014e-03 4.32195358e-03 1.92675275e+02] [-9.80136388e-03 9.99951965e-01 -3.88253310e-05 -3.75612527e-01] [-4.32212652e-03 -3.53793634e-06 9.99990660e-01 -2.15411581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.76592 meters Centerline goodness : 0.998858 Centerline is valid? [True, True] Translation: X:192.71, Y:-0.37, Z:-2.15 [[ 9.99886263e-01 1.44493993e-02 4.32163762e-03 1.92707423e+02] [-1.44492699e-02 9.99895602e-01 -6.11540581e-05 -3.74380576e-01] [-4.32207009e-03 -1.29740584e-06 9.99990660e-01 -2.15305929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.79592 meters Centerline goodness : 0.952599 Centerline is valid? [True, True] Translation: X:192.78, Y:-0.33, Z:-2.15 [[ 9.93936719e-01 1.09868657e-01 4.32162957e-03 1.92778044e+02] [-1.09869418e-01 9.93946028e-01 -6.17180271e-05 -3.31027833e-01] [-4.30224742e-03 -4.13471110e-04 9.99990660e-01 -2.15417274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.82592 meters Centerline goodness : 0.998608 Centerline is valid? [True, True] Translation: X:192.76, Y:-0.37, Z:-2.14 [[ 9.99832503e-01 1.77892744e-02 4.30194963e-03 1.92760532e+02] [-1.77852729e-02 9.99841362e-01 -9.66655986e-04 -3.73540571e-01] [-4.31846329e-03 8.89982726e-04 9.99990279e-01 -2.14117104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.85592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:192.79, Y:-0.37, Z:-2.16 [[ 9.99814057e-01 1.87945993e-02 4.31433545e-03 1.92792061e+02] [-1.87945478e-02 9.99823366e-01 -5.24773776e-05 -3.74360484e-01] [-4.31455968e-03 -2.86183642e-05 9.99990692e-01 -2.15568469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.88592 meters Centerline goodness : 0.998556 Centerline is valid? [True, True] Translation: X:192.82, Y:-0.37, Z:-2.14 [[ 9.99775317e-01 2.07533829e-02 4.31426089e-03 1.92822760e+02] [-2.07533257e-02 9.99784625e-01 -5.80217789e-05 -3.71323397e-01] [-4.31453585e-03 -3.15265190e-05 9.99990692e-01 -2.14086222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.91592 meters Centerline goodness : 0.997663 Centerline is valid? [True, True] Translation: X:192.85, Y:-0.37, Z:-2.14 [[ 9.99762883e-01 2.13439566e-02 4.31424777e-03 1.92854887e+02] [-2.13439008e-02 9.99772191e-01 -5.89952499e-05 -3.69338073e-01] [-4.31452414e-03 -3.31016152e-05 9.99990692e-01 -2.13881571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.94592 meters Centerline goodness : 0.800099 Centerline is valid? [True, False] Translation: X:192.86, Y:-0.37, Z:-2.14 [[ 9.99972008e-01 5.72032576e-03 4.82299843e-03 1.92856097e+02] [-5.73724295e-03 9.99977413e-01 3.50110050e-03 -3.69200176e-01] [-4.80286205e-03 -3.52867321e-03 9.99982240e-01 -2.14037729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.97592 meters Centerline goodness : 0.998409 Centerline is valid? [False, True] Translation: X:192.86, Y:-0.36, Z:-2.14 [[ 9.99986903e-01 1.63798975e-03 4.84885634e-03 1.92856096e+02] [-1.62788572e-03 9.99996497e-01 -2.08701000e-03 -3.63217901e-01] [-4.85225785e-03 2.07908929e-03 9.99986066e-01 -2.14063051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.00592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:192.89, Y:-0.36, Z:-2.15 [[ 9.99985894e-01 2.19828133e-03 4.83514682e-03 1.92888012e+02] [-2.19843837e-03 9.99997583e-01 2.71645449e-05 -3.60869727e-01] [-4.83507541e-03 -3.77939340e-05 9.99988310e-01 -2.14876115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.03592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:192.92, Y:-0.36, Z:-2.15 [[ 9.99987971e-01 8.23694768e-04 4.83515820e-03 1.92919643e+02] [-8.23827130e-04 9.99999660e-01 2.53832597e-05 -3.58228569e-01] [-4.83513565e-03 -2.93662888e-05 9.99988310e-01 -2.14757583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.06592 meters Centerline goodness : 0.998310 Centerline is valid? [True, True] Translation: X:192.95, Y:-0.36, Z:-2.14 [[ 9.99988267e-01 2.95610225e-04 4.83511534e-03 1.92950350e+02] [-2.95770483e-04 9.99999956e-01 3.24296130e-05 -3.55289800e-01] [-4.83510553e-03 -3.38593169e-05 9.99988310e-01 -2.13815626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.09592 meters Centerline goodness : 0.998956 Centerline is valid? [True, True] Translation: X:192.98, Y:-0.35, Z:-2.14 [[ 9.99985212e-01 -2.48950956e-03 4.83513455e-03 1.92983289e+02] [ 2.48939704e-03 9.99996901e-01 2.92887138e-05 -3.50371332e-01] [-4.83519248e-03 -1.72517110e-05 9.99988310e-01 -2.13830944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.12592 meters Centerline goodness : 0.999254 Centerline is valid? [True, True] Translation: X:193.02, Y:-0.35, Z:-2.14 [[ 9.99969023e-01 -6.21082304e-03 4.83517161e-03 1.93015465e+02] [ 6.21078548e-03 9.99980713e-01 2.27840325e-05 -3.47636581e-01] [-4.83521986e-03 7.24688685e-06 9.99988310e-01 -2.13893875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.15592 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:193.05, Y:-0.35, Z:-2.14 [[ 9.99964077e-01 -6.96181945e-03 4.83515028e-03 1.93047683e+02] [ 6.96177177e-03 9.99975766e-01 2.66928658e-05 -3.46200556e-01] [-4.83521894e-03 6.96930589e-06 9.99988310e-01 -2.13899834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.18592 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:193.08, Y:-0.35, Z:-2.14 [[ 9.99955667e-01 -8.07998122e-03 4.83517574e-03 1.93079815e+02] [ 8.07997090e-03 9.99967356e-01 2.16682423e-05 -3.45052705e-01] [-4.83519298e-03 1.74007976e-05 9.99988310e-01 -2.13876569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.21592 meters Centerline goodness : 0.998410 Centerline is valid? [True, True] Translation: X:193.11, Y:-0.34, Z:-2.14 [[ 9.99964760e-01 -6.86299237e-03 4.83518925e-03 1.93111616e+02] [ 6.86298181e-03 9.99976449e-01 1.87754690e-05 -3.42189499e-01] [-4.83520423e-03 1.44090086e-05 9.99988310e-01 -2.13641132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.24592 meters Centerline goodness : 0.998907 Centerline is valid? [True, True] Translation: X:193.14, Y:-0.34, Z:-2.14 [[ 9.99946817e-01 -9.10954453e-03 4.83529418e-03 1.93141597e+02] [ 9.10967288e-03 9.99958506e-01 -4.52029591e-06 -3.41714433e-01] [-4.83505236e-03 4.85680037e-05 9.99988310e-01 -2.13914555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.27592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:193.17, Y:-0.34, Z:-2.15 [[ 9.99940011e-01 -9.82833012e-03 4.83514884e-03 1.93173978e+02] [ 9.82831224e-03 9.99951701e-01 2.74585903e-05 -3.39870953e-01] [-4.83518518e-03 2.00644096e-05 9.99988310e-01 -2.15294026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.30592000000001 meters Centerline goodness : 0.997961 Centerline is valid? [True, True] Translation: X:193.20, Y:-0.34, Z:-2.13 [[ 9.99941232e-01 -9.70323004e-03 4.83517926e-03 1.93204867e+02] [ 9.70324596e-03 9.99952922e-01 2.01669895e-05 -3.38353110e-01] [-4.83514731e-03 2.67511293e-05 9.99988310e-01 -2.13436170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.33592000000002 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:193.24, Y:-0.34, Z:-2.15 [[ 9.99943551e-01 -9.46129215e-03 4.83514574e-03 1.93235724e+02] [ 9.46126448e-03 9.99955241e-01 2.85963723e-05 -3.36961570e-01] [-4.83519988e-03 1.71518346e-05 9.99988310e-01 -2.15327886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.36592000000002 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:193.27, Y:-0.34, Z:-2.15 [[ 9.99946019e-01 -9.19672505e-03 4.83518477e-03 1.93267431e+02] [ 9.19674423e-03 9.99957709e-01 1.82663879e-05 -3.35544039e-01] [-4.83514827e-03 2.62025558e-05 9.99988310e-01 -2.15230044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.39592000000002 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:193.30, Y:-0.33, Z:-2.15 [[ 9.99946985e-01 -9.09112849e-03 4.83519153e-03 1.93300820e+02] [ 9.09115617e-03 9.99958674e-01 1.62533146e-05 -3.31377728e-01] [-4.83513948e-03 2.77050284e-05 9.99988310e-01 -2.15292656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.42592000000002 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:193.33, Y:-0.33, Z:-2.15 [[ 9.99942873e-01 -9.53261564e-03 4.83519859e-03 1.93333506e+02] [ 9.53266047e-03 9.99954563e-01 1.37752761e-05 -3.29579295e-01] [-4.83511021e-03 3.23178173e-05 9.99988310e-01 -2.15250501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.45592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:193.37, Y:-0.33, Z:-2.15 [[ 9.99939147e-01 -9.91575165e-03 4.83520442e-03 1.93365693e+02] [ 9.91581303e-03 9.99950837e-01 1.12770965e-05 -3.28577468e-01] [-4.83507853e-03 3.66685728e-05 9.99988310e-01 -2.15367658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.48592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.40, Y:-0.33, Z:-2.15 [[ 9.99934120e-01 -1.04103604e-02 4.83520848e-03 1.93398978e+02] [ 1.04104380e-02 9.99945810e-01 9.12531959e-06 -3.26401211e-01] [-4.83504146e-03 4.12119196e-05 9.99988310e-01 -2.15386515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.51592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.43, Y:-0.33, Z:-2.15 [[ 9.99941560e-01 -9.66940663e-03 4.83521187e-03 1.93431579e+02] [ 9.66948743e-03 9.99953249e-01 6.66751434e-06 -3.25100309e-01] [-4.83505029e-03 4.00868957e-05 9.99988310e-01 -2.15416126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.54592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.47, Y:-0.32, Z:-2.15 [[ 9.99946377e-01 -9.15772592e-03 4.83521387e-03 1.93465132e+02] [ 9.15781108e-03 9.99958066e-01 4.52959136e-06 -3.24759639e-01] [-4.83505259e-03 3.97506267e-05 9.99988310e-01 -2.15432331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.57592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.50, Y:-0.32, Z:-2.15 [[ 9.99945653e-01 -9.23639557e-03 4.83521492e-03 1.93497776e+02] [ 9.23649360e-03 9.99957343e-01 2.05538744e-06 -3.22210555e-01] [-4.83502765e-03 4.26051560e-05 9.99988310e-01 -2.15475866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.60592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:193.53, Y:-0.32, Z:-2.16 [[ 9.99946613e-01 -9.13189870e-03 4.83521471e-03 1.93529760e+02] [ 9.13200747e-03 9.99958302e-01 -4.17712786e-07 -3.19800548e-01] [-4.83500928e-03 4.45729073e-05 9.99988310e-01 -2.15513266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.63592 meters Centerline goodness : 0.908101 Centerline is valid? [True, False] Translation: X:193.55, Y:-0.31, Z:-2.15 [[ 9.99976705e-01 -6.80691876e-03 -5.04432282e-04 1.93552434e+02] [ 6.80220240e-03 9.99937913e-01 -8.82614309e-03 -3.06956502e-01] [ 5.64479803e-04 8.82250624e-03 9.99960922e-01 -2.15075701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.66592 meters Centerline goodness : 0.999552 Centerline is valid? [False, True] Translation: X:193.57, Y:-0.30, Z:-2.15 [[ 9.99984421e-01 -5.36102282e-04 -5.55605228e-03 1.93573928e+02] [ 4.70106215e-04 9.99929406e-01 -1.18727366e-02 -3.01354327e-01] [ 5.56202506e-03 1.18699397e-02 9.99914081e-01 -2.14627518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.69592 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:193.60, Y:-0.31, Z:-2.15 [[ 9.99984961e-01 -5.20117942e-04 -5.45961507e-03 1.93603902e+02] [ 5.20202386e-04 9.99999865e-01 1.40469258e-05 -3.10395740e-01] [ 5.45960702e-03 -1.68868193e-05 9.99985096e-01 -2.15026172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.72592 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:193.63, Y:-0.31, Z:-2.15 [[ 9.99984569e-01 -1.02808268e-03 -5.45939626e-03 1.93634446e+02] [ 1.02832326e-03 9.99999470e-01 4.12602955e-05 -3.08904638e-01] [ 5.45935095e-03 -4.68736829e-05 9.99985097e-01 -2.14905454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.75592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.66, Y:-0.31, Z:-2.17 [[ 9.99981093e-01 -2.82996247e-03 -5.45946483e-03 1.93663569e+02] [ 2.83018212e-03 9.99995994e-01 3.25086321e-05 -3.06619706e-01] [ 5.45935097e-03 -4.79592972e-05 9.99985096e-01 -2.16549760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.78592 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:193.69, Y:-0.30, Z:-2.15 [[ 9.99974323e-01 -4.64206967e-03 -5.45938855e-03 1.93694013e+02] [ 4.64237002e-03 9.99989223e-01 4.23439744e-05 -3.04573061e-01] [ 5.45913315e-03 -6.76873888e-05 9.99985097e-01 -2.14665651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.81592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:193.72, Y:-0.31, Z:-2.17 [[ 9.99940737e-01 -9.41900677e-03 -5.45930191e-03 1.93722930e+02] [ 9.41943817e-03 9.99955635e-01 5.33146058e-05 -3.05357809e-01] [ 5.45855754e-03 -1.04735003e-04 9.99985096e-01 -2.16648954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.84592 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:193.75, Y:-0.31, Z:-2.15 [[ 9.99915908e-01 -1.17631542e-02 -5.45938545e-03 1.93752588e+02] [ 1.17635622e-02 9.99930806e-01 4.26126760e-05 -3.06012148e-01] [ 5.45850643e-03 -1.06830913e-04 9.99985097e-01 -2.14705545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.87592 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:193.78, Y:-0.31, Z:-2.15 [[ 9.99900277e-01 -1.30242101e-02 -5.45954425e-03 1.93781651e+02] [ 1.30245267e-02 9.99915177e-01 2.24367941e-05 -3.05572076e-01] [ 5.45878893e-03 -9.35425366e-05 9.99985096e-01 -2.14765170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.90592 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:193.81, Y:-0.31, Z:-2.15 [[ 9.99850929e-01 -1.63803288e-02 -5.45944489e-03 1.93809565e+02] [ 1.63807642e-02 9.99865826e-01 3.50441342e-05 -3.06371154e-01] [ 5.45813834e-03 -1.24468790e-04 9.99985097e-01 -2.14767939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.93592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:193.84, Y:-0.31, Z:-2.15 [[ 9.99843292e-01 -1.68400083e-02 -5.45944466e-03 1.93839544e+02] [ 1.68404507e-02 9.99858189e-01 3.50740157e-05 -3.07969735e-01] [ 5.45807980e-03 -1.27008028e-04 9.99985097e-01 -2.14702931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.96592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:193.87, Y:-0.31, Z:-2.15 [[ 9.99852127e-01 -1.63069997e-02 -5.45942204e-03 1.93869831e+02] [ 1.63074502e-02 9.99867024e-01 3.80047313e-05 -3.09441263e-01] [ 5.45807632e-03 -1.27028364e-04 9.99985097e-01 -2.14942625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.99592 meters Centerline goodness : 0.999254 Centerline is valid? [True, True] Translation: X:193.90, Y:-0.31, Z:-2.15 [[ 9.99822011e-01 -1.80595091e-02 -5.45899169e-03 1.93897637e+02] [ 1.80602840e-02 9.99836895e-01 9.26839190e-05 -3.10227815e-01] [ 5.45642748e-03 -1.91258363e-04 9.99985095e-01 -2.14592007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.02592 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:193.93, Y:-0.31, Z:-2.15 [[ 9.99845861e-01 -1.66868024e-02 -5.45935803e-03 1.93926938e+02] [ 1.66872887e-02 9.99860757e-01 4.35270492e-05 -3.10301336e-01] [ 5.45787152e-03 -1.34622224e-04 9.99985097e-01 -2.14591232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.05592000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.96, Y:-0.31, Z:-2.16 [[ 9.99859864e-01 -1.58254554e-02 -5.45955754e-03 1.93957490e+02] [ 1.58257783e-02 9.99874764e-01 1.59524703e-05 -3.09744202e-01] [ 5.45862135e-03 -1.02351982e-04 9.99985096e-01 -2.16312718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.08592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.99, Y:-0.31, Z:-2.16 [[ 9.99882017e-01 -1.43578206e-02 -5.45937068e-03 1.93986551e+02] [ 1.43582578e-02 9.99896914e-01 4.08970180e-05 -3.08984146e-01] [ 5.45822070e-03 -1.19279245e-04 9.99985097e-01 -2.16214589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.11592000000002 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:194.02, Y:-0.31, Z:-2.14 [[ 9.99927399e-01 -1.07420483e-02 -5.45937560e-03 1.94015653e+02] [ 1.07424280e-02 9.99942298e-01 4.02292606e-05 -3.06320519e-01] [ 5.45862843e-03 -9.88732893e-05 9.99985097e-01 -2.14419768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.14592000000002 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:194.04, Y:-0.30, Z:-2.14 [[ 9.99958348e-01 -7.31409607e-03 -5.45949111e-03 1.94044432e+02] [ 7.31433866e-03 9.99973250e-01 2.44681295e-05 -3.04873775e-01] [ 5.45916610e-03 -6.43996772e-05 9.99985097e-01 -2.14334663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.17592000000002 meters Centerline goodness : 0.998608 Centerline is valid? [True, True] Translation: X:194.07, Y:-0.30, Z:-2.14 [[ 9.99974849e-01 -4.52730238e-03 -5.45941769e-03 1.94074431e+02] [ 4.52755762e-03 9.99989750e-01 3.43934789e-05 -3.03444950e-01] [ 5.45920602e-03 -5.91104420e-05 9.99985097e-01 -2.14179714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.20592 meters Centerline goodness : 0.998857 Centerline is valid? [True, True] Translation: X:194.10, Y:-0.30, Z:-2.14 [[ 9.99981465e-01 -2.69532047e-03 -5.45935628e-03 1.94104414e+02] [ 2.69559492e-03 9.99996366e-01 4.29139419e-05 -3.01437065e-01] [ 5.45922077e-03 -5.76293596e-05 9.99985097e-01 -2.14417423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.23592 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:194.13, Y:-0.30, Z:-2.14 [[ 9.99984263e-01 -1.29181269e-03 -5.45935122e-03 1.94134169e+02] [ 1.29207012e-03 9.99999164e-01 4.36271240e-05 -2.97200044e-01] [ 5.45929030e-03 -5.06803021e-05 9.99985097e-01 -2.14055155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.26592 meters Centerline goodness : 0.998907 Centerline is valid? [True, True] Translation: X:194.16, Y:-0.30, Z:-2.14 [[ 9.99984140e-01 -1.38343286e-03 -5.45938319e-03 1.94163197e+02] [ 1.38366710e-03 9.99999042e-01 3.91296420e-05 -2.95267946e-01] [ 5.45932382e-03 -4.66829903e-05 9.99985097e-01 -2.14023241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.29592 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:194.19, Y:-0.29, Z:-2.15 [[ 9.99985035e-01 -3.52328070e-04 -5.45950084e-03 1.94193274e+02] [ 3.52454804e-04 9.99999938e-01 2.22513976e-05 -2.91938228e-01] [ 5.45949266e-03 -2.41752919e-05 9.99985097e-01 -2.14675827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.32592 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:194.22, Y:-0.29, Z:-2.15 [[ 9.99985083e-01 -1.67022903e-04 -5.45941638e-03 1.94222193e+02] [ 1.67215669e-04 9.99999985e-01 3.48525460e-05 -2.90344131e-01] [ 5.45941048e-03 -3.57649261e-05 9.99985097e-01 -2.14803818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.35592 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:194.25, Y:-0.29, Z:-2.15 [[ 9.99985097e-01 -2.67463745e-06 -5.45938458e-03 1.94251091e+02] [ 2.89191914e-06 9.99999999e-01 3.97917736e-05 -2.89567637e-01] [ 5.45938447e-03 -3.98069687e-05 9.99985097e-01 -2.14787973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.38592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:194.28, Y:-0.29, Z:-2.15 [[ 9.99983937e-01 -1.52318673e-03 -5.45942518e-03 1.94279274e+02] [ 1.52339010e-03 9.99998839e-01 3.30936870e-05 -2.88391001e-01] [ 5.45936844e-03 -4.14099897e-05 9.99985097e-01 -2.14933230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.41592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:194.31, Y:-0.29, Z:-2.15 [[ 9.99982227e-01 -2.39586761e-03 -5.45943145e-03 1.94307189e+02] [ 2.39607816e-03 9.99997129e-01 3.20255425e-05 -2.87214578e-01] [ 5.45933905e-03 -4.51061978e-05 9.99985097e-01 -2.14931671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.44592 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:194.34, Y:-0.28, Z:-2.15 [[ 9.99983873e-01 -1.56450385e-03 -5.45943738e-03 1.94335965e+02] [ 1.56469630e-03 9.99998775e-01 3.09806318e-05 -2.82521054e-01] [ 5.45938222e-03 -3.95224936e-05 9.99985097e-01 -2.15058769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.47592 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:194.37, Y:-0.28, Z:-2.14 [[ 9.99983781e-01 -1.62271999e-03 -5.45932035e-03 1.94365825e+02] [ 1.62303209e-03 9.99998681e-01 5.27386204e-05 -2.81782047e-01] [ 5.45922757e-03 -6.15984171e-05 9.99985096e-01 -2.14321333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.50592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:194.40, Y:-0.28, Z:-2.15 [[ 9.99979289e-01 -3.40841619e-03 -5.45931370e-03 1.94395226e+02] [ 3.40876198e-03 9.99994189e-01 5.40368968e-05 -2.79773537e-01] [ 5.45909779e-03 -7.26452787e-05 9.99985096e-01 -2.15229227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.53592 meters Centerline goodness : 0.998461 Centerline is valid? [True, True] Translation: X:194.43, Y:-0.28, Z:-2.14 [[ 9.99979264e-01 -3.41570644e-03 -5.45938019e-03 1.94425439e+02] [ 3.41597761e-03 9.99994165e-01 4.03470829e-05 -2.77998601e-01] [ 5.45921052e-03 -5.89953667e-05 9.99985097e-01 -2.14253850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.56592 meters Centerline goodness : 0.998257 Centerline is valid? [True, True] Translation: X:194.45, Y:-0.28, Z:-2.14 [[ 9.99962152e-01 -6.77408831e-03 -5.45943217e-03 1.94454556e+02] [ 6.77434996e-03 9.99977053e-01 2.94347019e-05 -2.75959832e-01] [ 5.45910750e-03 -6.64176919e-05 9.99985097e-01 -2.14338723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.59592 meters Centerline goodness : 0.997606 Centerline is valid? [True, True] Translation: X:194.48, Y:-0.28, Z:-2.14 [[ 9.99955053e-01 -7.75155495e-03 -5.45946395e-03 1.94484372e+02] [ 7.75179267e-03 9.99969954e-01 2.23828267e-05 -2.75341865e-01] [ 5.45912641e-03 -6.47024532e-05 9.99985097e-01 -2.14006531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.62592 meters Centerline goodness : 0.973410 Centerline is valid? [True, True] Translation: X:194.49, Y:-0.25, Z:-2.15 [[ 9.98850579e-01 4.76205264e-02 -5.45946042e-03 1.94485708e+02] [-4.76211097e-02 9.98865471e-01 2.31831624e-05 -2.50446008e-01] [ 5.45437050e-03 2.36829048e-04 9.99985097e-01 -2.15330127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.65592 meters Centerline goodness : 0.838986 Centerline is valid? [True, False] Translation: X:194.48, Y:-0.25, Z:-2.16 [[ 9.99352383e-01 3.52628520e-02 7.16560650e-03 1.94475447e+02] [-3.52722427e-02 9.99377034e-01 1.18836743e-03 -2.50455679e-01] [-7.11923735e-03 -1.44034483e-03 9.99973621e-01 -2.15524695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.68592 meters Centerline goodness : 0.995084 Centerline is valid? [False, True] Translation: X:194.47, Y:-0.26, Z:-2.16 [[ 9.99702387e-01 1.99614409e-02 1.40241776e-02 1.94472577e+02] [-2.00317875e-02 9.99787367e-01 4.89364532e-03 -2.55529794e-01] [-1.39235114e-02 -5.17311826e-03 9.99889681e-01 -2.15696943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.71592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:194.48, Y:-0.26, Z:-2.19 [[ 9.99904291e-01 -9.65848823e-05 1.38347000e-02 1.94477676e+02] [ 1.02304314e-04 9.99999910e-01 -4.12704917e-04 -2.55726357e-01] [-1.38346588e-02 4.14080767e-04 9.99904211e-01 -2.19221408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.74592 meters Centerline goodness : 0.997413 Centerline is valid? [True, True] Translation: X:194.53, Y:-0.25, Z:-2.17 [[ 9.99581154e-01 2.53929408e-02 1.38821842e-02 1.94531750e+02] [-2.54078340e-02 9.99676766e-01 8.97488468e-04 -2.52773187e-01] [-1.38549072e-02 -1.24982879e-03 9.99903235e-01 -2.17442842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.77592 meters Centerline goodness : 0.994240 Centerline is valid? [True, True] Translation: X:194.56, Y:-0.25, Z:-2.16 [[ 9.99602435e-01 2.45742143e-02 1.38231956e-02 1.94562377e+02] [-2.45688232e-02 9.99697984e-01 -5.59713350e-04 -2.51656255e-01] [-1.38327753e-02 2.19871180e-04 9.99904298e-01 -2.15985924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.80592000000001 meters Centerline goodness : 0.996172 Centerline is valid? [True, True] Translation: X:194.59, Y:-0.25, Z:-2.17 [[ 9.99563533e-01 2.61077937e-02 1.38248301e-02 1.94593047e+02] [-2.61031125e-02 9.99659121e-01 -5.18975657e-04 -2.51859538e-01] [-1.38336668e-02 1.57878047e-04 9.99904298e-01 -2.16654436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.83592000000002 meters Centerline goodness : 0.949598 Centerline is valid? [True, False] Translation: X:194.62, Y:-0.25, Z:-2.16 [[ 9.99895507e-01 1.11578431e-02 9.19113196e-03 1.94621865e+02] [-1.11301935e-02 9.99933394e-01 -3.05396170e-03 -2.53201083e-01] [-9.22459540e-03 2.95134351e-03 9.99953097e-01 -2.16426129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.86592000000002 meters Centerline goodness : 0.992457 Centerline is valid? [False, True] Translation: X:194.62, Y:-0.25, Z:-2.16 [[ 9.99956448e-01 3.26250065e-03 8.74403239e-03 1.94623052e+02] [-3.15060964e-03 9.99913373e-01 -1.27796430e-02 -2.46656838e-01] [-8.78496852e-03 1.27515374e-02 9.99880104e-01 -2.16384354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.89592000000002 meters Centerline goodness : 0.923150 Centerline is valid? [True, False] Translation: X:194.65, Y:-0.25, Z:-2.16 [[ 9.99997806e-01 -1.82227823e-03 1.03311396e-03 1.94646212e+02] [ 1.83238147e-03 9.99949668e-01 -9.86429737e-03 -2.51644275e-01] [-1.01508647e-03 9.86616879e-03 9.99950813e-01 -2.16184821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.92592000000002 meters Centerline goodness : 0.993048 Centerline is valid? [False, True] Translation: X:194.65, Y:-0.25, Z:-2.16 [[ 9.99998155e-01 -1.75144382e-03 7.88830144e-04 1.94646905e+02] [ 1.75905896e-03 9.99950835e-01 -9.75876250e-03 -2.52054115e-01] [-7.71699437e-04 9.76013209e-03 9.99952071e-01 -2.16209328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.95592 meters Centerline goodness : 0.893644 Centerline is valid? [True, False] Translation: X:194.67, Y:-0.25, Z:-2.16 [[ 9.99992132e-01 1.89372678e-03 -3.48557287e-03 1.94670567e+02] [-1.94901600e-03 9.99871244e-01 -1.59278578e-02 -2.46836804e-01] [ 3.45496107e-03 1.59345260e-02 9.99867068e-01 -2.15966173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.98592 meters Centerline goodness : 0.951756 Centerline is valid? [False, True] Translation: X:194.69, Y:-0.25, Z:-2.16 [[ 9.99938479e-01 -4.32417895e-03 -1.02147159e-02 1.94694054e+02] [ 4.19259907e-03 9.99908416e-01 -1.28678849e-02 -2.51779837e-01] [ 1.02694234e-02 1.28242670e-02 9.99865029e-01 -2.15621499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.01592 meters Centerline goodness : 0.985697 Centerline is valid? [True, True] Translation: X:194.82, Y:-0.28, Z:-2.16 [[ 9.96051417e-01 -8.81412384e-02 -1.06158711e-02 1.94819622e+02] [ 8.80970959e-02 9.96101467e-01 -4.55729994e-03 -2.79694834e-01] [ 1.09761708e-02 3.60407765e-03 9.99933265e-01 -2.15550153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.04592 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:194.77, Y:-0.29, Z:-2.15 [[ 9.99237592e-01 -3.74997545e-02 -1.08629157e-02 1.94766423e+02] [ 3.75305384e-02 9.99291984e-01 2.64393287e-03 -2.85758912e-01] [ 1.07560778e-02 -3.04960820e-03 9.99937501e-01 -2.15020991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.07592 meters Centerline goodness : 0.892360 Centerline is valid? [True, False] Translation: X:194.77, Y:-0.28, Z:-2.15 [[ 9.99675545e-01 -2.34198532e-02 -1.00157414e-02 1.94767030e+02] [ 2.33876517e-02 9.99720958e-01 -3.32024058e-03 -2.78067381e-01] [ 1.00907061e-02 3.08491864e-03 9.99944329e-01 -2.15127498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.10592 meters Centerline goodness : 0.998460 Centerline is valid? [False, True] Translation: X:194.76, Y:-0.27, Z:-2.15 [[ 9.99935077e-01 -1.11327602e-02 -2.42970014e-03 1.94762502e+02] [ 1.11086603e-02 9.99891086e-01 -9.71669391e-03 -2.70099285e-01] [ 2.53760914e-03 9.68907236e-03 9.99949840e-01 -2.15083047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.13592 meters Centerline goodness : 0.995276 Centerline is valid? [True, True] Translation: X:194.82, Y:-0.27, Z:-2.15 [[ 9.99969360e-01 -7.45339134e-03 -2.39290267e-03 1.94824206e+02] [ 7.44901393e-03 9.99970576e-01 -1.83306417e-03 -2.68948861e-01] [ 2.40649481e-03 1.81518324e-03 9.99995457e-01 -2.15285583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.16592 meters Centerline goodness : 0.995270 Centerline is valid? [True, True] Translation: X:194.85, Y:-0.27, Z:-2.15 [[ 9.99962459e-01 -8.33319079e-03 -2.37470193e-03 1.94853584e+02] [ 8.33326959e-03 9.99965277e-01 2.32881702e-05 -2.70491480e-01] [ 2.37442541e-03 -4.30763274e-05 9.99997180e-01 -2.15191912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.19592 meters Centerline goodness : 0.905164 Centerline is valid? [True, False] Translation: X:194.87, Y:-0.26, Z:-2.15 [[ 9.99971725e-01 -5.11442524e-03 -5.51294199e-03 1.94874899e+02] [ 5.07556076e-03 9.99962332e-01 -7.04076642e-03 -2.63867991e-01] [ 5.54874380e-03 7.01258607e-03 9.99960017e-01 -2.14752916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.22592 meters Centerline goodness : 0.995389 Centerline is valid? [False, True] Translation: X:194.90, Y:-0.26, Z:-2.14 [[ 9.99957969e-01 1.74867704e-03 -9.00010161e-03 1.94895624e+02] [-1.83350437e-03 9.99953898e-01 -9.42554691e-03 -2.60756020e-01] [ 8.98320444e-03 9.44165247e-03 9.99915075e-01 -2.14310267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.25592 meters Centerline goodness : 0.990512 Centerline is valid? [True, True] Translation: X:194.92, Y:-0.27, Z:-2.13 [[ 9.99956911e-01 2.89413214e-03 -8.82039510e-03 1.94924220e+02] [-2.89278364e-03 9.99995802e-01 1.65637866e-04 -2.69904897e-01] [ 8.82083745e-03 -1.40115234e-04 9.99961086e-01 -2.12647377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.28592 meters Centerline goodness : 0.921313 Centerline is valid? [True, False] Translation: X:194.95, Y:-0.26, Z:-2.12 [[ 9.99934831e-01 3.11590501e-03 -1.09829237e-02 1.94946679e+02] [-3.23674691e-03 9.99934236e-01 -1.10021592e-02 -2.60183487e-01] [ 1.09479197e-02 1.10369911e-02 9.99879157e-01 -2.12312387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.31592 meters Centerline goodness : 0.930714 Centerline is valid? [False, False] Translation: X:194.97, Y:-0.27, Z:-2.12 [[ 9.99934480e-01 -3.18787941e-03 -1.09942105e-02 1.94968000e+02] [ 3.12354161e-03 9.99977927e-01 -5.86418550e-03 -2.65296085e-01] [ 1.10126621e-02 5.82946040e-03 9.99922366e-01 -2.12296941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.34592 meters Centerline goodness : 0.912689 Centerline is valid? [False, False] Translation: X:194.99, Y:-0.26, Z:-2.12 [[ 9.99929696e-01 1.74718525e-03 -1.17282148e-02 1.94990190e+02] [-1.88204693e-03 9.99932128e-01 -1.14977386e-02 -2.59993634e-01] [ 1.17073301e-02 1.15190033e-02 9.99865116e-01 -2.12135094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.37592 meters Centerline goodness : 0.989278 Centerline is valid? [False, True] Translation: X:194.98, Y:-0.26, Z:-2.12 [[ 9.99994598e-01 1.75522549e-03 2.77889794e-03 1.94981829e+02] [-1.71952073e-03 9.99916608e-01 -1.27992031e-02 -2.59285690e-01] [-2.80113169e-03 1.27943556e-02 9.99914225e-01 -2.12173404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.40592 meters Centerline goodness : 0.894139 Centerline is valid? [True, False] Translation: X:194.99, Y:-0.26, Z:-2.13 [[ 9.99998722e-01 -2.89281791e-04 1.57221963e-03 1.94987753e+02] [ 3.13004529e-04 9.99885797e-01 -1.51094504e-02 -2.57948216e-01] [-1.56766919e-03 1.51099232e-02 9.99884610e-01 -2.12617015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.43592 meters Centerline goodness : 0.986889 Centerline is valid? [False, True] Translation: X:194.99, Y:-0.26, Z:-2.13 [[ 9.99998770e-01 1.47051422e-03 5.45102591e-04 1.94993182e+02] [-1.46342201e-03 9.99917127e-01 -1.27905134e-02 -2.60713107e-01] [-5.63866049e-04 1.27896999e-02 9.99918049e-01 -2.13082898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.46592 meters Centerline goodness : 0.986889 Centerline is valid? [True, True] Translation: X:195.02, Y:-0.27, Z:-2.13 [[ 9.99998322e-01 1.69089942e-03 7.05557821e-04 1.95023879e+02] [-1.69083321e-03 9.99998566e-01 -9.44260210e-05 -2.73118410e-01] [-7.05716475e-04 9.32328819e-05 9.99999747e-01 -2.13287460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.49592 meters Centerline goodness : 0.989460 Centerline is valid? [True, True] Translation: X:195.05, Y:-0.27, Z:-2.14 [[ 9.99999744e-01 1.10839943e-04 7.06707423e-04 1.95053995e+02] [-1.10836245e-04 9.99999994e-01 -5.27114060e-06 -2.73890728e-01] [-7.06708003e-04 5.19281045e-06 9.99999750e-01 -2.13683996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.52592 meters Centerline goodness : 0.995729 Centerline is valid? [True, True] Translation: X:195.09, Y:-0.27, Z:-2.16 [[ 9.99996258e-01 2.64276134e-03 7.06753458e-04 1.95086066e+02] [-2.64276078e-03 9.99996508e-01 -1.72794493e-06 -2.74088295e-01] [-7.06755557e-04 -1.39841855e-07 9.99999750e-01 -2.15758555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.55592000000001 meters Centerline goodness : 0.995272 Centerline is valid? [True, True] Translation: X:195.12, Y:-0.27, Z:-2.16 [[ 9.99995969e-01 2.74987107e-03 7.06650739e-04 1.95116427e+02] [-2.74986509e-03 9.99996219e-01 -9.42746211e-06 -2.74494681e-01] [-7.06673991e-04 7.48422992e-06 9.99999750e-01 -2.15703781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.58592000000002 meters Centerline goodness : 0.995880 Centerline is valid? [True, True] Translation: X:195.15, Y:-0.28, Z:-2.16 [[ 9.99995208e-01 3.01414667e-03 7.06650739e-04 1.95147094e+02] [-3.01414076e-03 9.99995457e-01 -9.42746211e-06 -2.75732444e-01] [-7.06675944e-04 7.29747214e-06 9.99999750e-01 -2.15756799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.61592000000002 meters Centerline goodness : 0.988743 Centerline is valid? [True, True] Translation: X:195.18, Y:-0.28, Z:-2.14 [[ 9.99998923e-01 1.28609904e-03 7.06650739e-04 1.95176073e+02] [-1.28609270e-03 9.99999173e-01 -9.42746211e-06 -2.77057216e-01] [-7.06662279e-04 8.51863361e-06 9.99999750e-01 -2.13649955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.64592000000002 meters Centerline goodness : 0.995731 Centerline is valid? [True, True] Translation: X:195.21, Y:-0.28, Z:-2.16 [[ 9.99988794e-01 4.68099648e-03 7.06761548e-04 1.95207048e+02] [-4.68099698e-03 9.99989044e-01 -9.43845326e-07 -2.76230043e-01] [-7.06758223e-04 -2.36451392e-06 9.99999750e-01 -2.15589123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.67592000000002 meters Centerline goodness : 0.989571 Centerline is valid? [True, True] Translation: X:195.24, Y:-0.28, Z:-2.14 [[ 9.99991404e-01 4.08560380e-03 7.06646128e-04 1.95236235e+02] [-4.08559809e-03 9.99991654e-01 -9.51536995e-06 -2.76497627e-01] [-7.06679106e-04 6.62821608e-06 9.99999750e-01 -2.13922277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.70592 meters Centerline goodness : 0.995286 Centerline is valid? [True, True] Translation: X:195.27, Y:-0.28, Z:-2.16 [[ 9.99987380e-01 4.97391393e-03 7.06702636e-04 1.95267922e+02] [-4.97391143e-03 9.99987630e-01 -5.29424426e-06 -2.76632504e-01] [-7.06720227e-04 1.77910113e-06 9.99999750e-01 -2.15640992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.73592 meters Centerline goodness : 0.987735 Centerline is valid? [True, True] Translation: X:195.30, Y:-0.28, Z:-2.14 [[ 9.99996074e-01 2.71148131e-03 7.06643517e-04 1.95297173e+02] [-2.71147518e-03 9.99996324e-01 -9.63165552e-06 -2.77916554e-01] [-7.06667035e-04 7.71557135e-06 9.99999750e-01 -2.13693217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.76592 meters Centerline goodness : 0.995282 Centerline is valid? [True, True] Translation: X:195.33, Y:-0.28, Z:-2.16 [[ 9.99994841e-01 3.13334305e-03 7.06731375e-04 1.95328159e+02] [-3.13334164e-03 9.99995091e-01 -3.09099531e-06 -2.78223316e-01] [-7.06737591e-04 8.76548513e-07 9.99999750e-01 -2.15500806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.79592 meters Centerline goodness : 0.990974 Centerline is valid? [True, True] Translation: X:195.36, Y:-0.28, Z:-2.14 [[ 9.99999750e-01 -3.60325833e-05 7.06642240e-04 1.95356892e+02] [ 3.60393980e-05 9.99999999e-01 -9.63096286e-06 -2.80321684e-01] [-7.06641893e-04 9.65642741e-06 9.99999750e-01 -2.14122701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.82592 meters Centerline goodness : 0.995834 Centerline is valid? [True, True] Translation: X:195.39, Y:-0.28, Z:-2.16 [[ 9.99999351e-01 -8.93958080e-04 7.06747970e-04 1.95388399e+02] [ 8.93959586e-04 9.99999600e-01 -1.81550767e-06 -2.79669826e-01] [-7.06746064e-04 2.44731061e-06 9.99999750e-01 -2.15679699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.85592 meters Centerline goodness : 0.996574 Centerline is valid? [True, True] Translation: X:195.42, Y:-0.28, Z:-2.16 [[ 9.99998990e-01 -1.23329325e-03 7.06637173e-04 1.95419384e+02] [ 1.23330048e-03 9.99999239e-01 -9.80255009e-06 -2.79727058e-01] [-7.06624546e-04 1.06740361e-05 9.99999750e-01 -2.15667149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.88592 meters Centerline goodness : 0.991859 Centerline is valid? [True, True] Translation: X:195.45, Y:-0.28, Z:-2.14 [[ 9.99999512e-01 -6.90885925e-04 7.06636568e-04 1.95448964e+02] [ 6.90893055e-04 9.99999761e-01 -9.84593826e-06 -2.80803404e-01] [-7.06629597e-04 1.03341437e-05 9.99999750e-01 -2.14098061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.91592 meters Centerline goodness : 0.981600 Centerline is valid? [True, True] Translation: X:195.49, Y:-0.26, Z:-2.15 [[ 9.98826350e-01 4.84295654e-02 7.06639870e-04 1.95488467e+02] [-4.84295707e-02 9.98826600e-01 -9.60901407e-06 -2.58923782e-01] [-7.06276059e-04 -2.46245291e-05 9.99999750e-01 -2.14693228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.94592 meters Centerline goodness : 0.993096 Centerline is valid? [True, True] Translation: X:195.51, Y:-0.28, Z:-2.14 [[ 9.99997135e-01 -2.28704082e-03 7.06136574e-04 1.95507644e+02] [ 2.28707252e-03 9.99997384e-01 -4.40831253e-05 -2.82198058e-01] [-7.06033906e-04 4.56979846e-05 9.99999750e-01 -2.13962915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.97592 meters Centerline goodness : 0.997568 Centerline is valid? [True, True] Translation: X:195.54, Y:-0.28, Z:-2.16 [[ 9.99999665e-01 -4.13868559e-04 7.06643022e-04 1.95538735e+02] [ 4.13872218e-04 9.99999914e-01 -5.03115072e-06 -2.81402906e-01] [-7.06640880e-04 5.32360894e-06 9.99999750e-01 -2.15646564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.00592 meters Centerline goodness : 0.997418 Centerline is valid? [True, True] Translation: X:195.57, Y:-0.28, Z:-2.16 [[ 9.99999592e-01 -5.62282300e-04 7.06587508e-04 1.95570132e+02] [ 5.62288987e-04 9.99999842e-01 -9.26491706e-06 -2.81517395e-01] [-7.06582187e-04 9.66221966e-06 9.99999750e-01 -2.15721616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.03592 meters Centerline goodness : 0.994888 Centerline is valid? [True, True] Translation: X:195.60, Y:-0.28, Z:-2.14 [[ 9.99999725e-01 2.26506745e-04 7.06586934e-04 1.95600482e+02] [-2.26500224e-04 9.99999974e-01 -9.30850667e-06 -2.81090202e-01] [-7.06589024e-04 9.14846201e-06 9.99999750e-01 -2.14279694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.06592 meters Centerline goodness : 0.995184 Centerline is valid? [True, True] Translation: X:195.63, Y:-0.28, Z:-2.14 [[ 9.99997896e-01 -1.92580039e-03 7.06571170e-04 1.95629872e+02] [ 1.92580831e-03 9.99998146e-01 -1.05267657e-05 -2.80955342e-01] [-7.06549587e-04 1.18874642e-05 9.99999750e-01 -2.14187325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.09592 meters Centerline goodness : 0.997515 Centerline is valid? [True, True] Translation: X:195.66, Y:-0.28, Z:-2.16 [[ 9.99994599e-01 -3.20985986e-03 7.06656200e-04 1.95662054e+02] [ 3.20986345e-03 9.99994848e-01 -3.94852061e-06 -2.78261406e-01] [-7.06639885e-04 6.21676920e-06 9.99999750e-01 -2.15568590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.12592 meters Centerline goodness : 0.781445 Centerline is valid? [True, False] Translation: X:195.68, Y:-0.27, Z:-2.15 [[ 9.99993973e-01 -7.63660906e-04 -3.38690186e-03 1.95683054e+02] [ 7.37966162e-04 9.99970989e-01 -7.58127587e-03 -2.70757700e-01] [ 3.39259313e-03 7.57873075e-03 9.99965526e-01 -2.15062250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.15592 meters Centerline goodness : 0.994982 Centerline is valid? [False, True] Translation: X:195.68, Y:-0.27, Z:-2.15 [[ 9.99993419e-01 -7.96958509e-04 -3.53936976e-03 1.95683490e+02] [ 7.70655150e-04 9.99972124e-01 -7.42680678e-03 -2.71595174e-01] [ 3.54518996e-03 7.42403027e-03 9.99966157e-01 -2.15071627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.18592 meters Centerline goodness : 0.998263 Centerline is valid? [True, True] Translation: X:195.71, Y:-0.28, Z:-2.17 [[ 9.99994159e-01 -3.92347628e-04 -3.39538013e-03 1.95714341e+02] [ 3.92176333e-04 9.99999922e-01 -5.11149218e-05 -2.78804718e-01] [ 3.39539992e-03 4.97830355e-05 9.99994234e-01 -2.16762375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.21592 meters Centerline goodness : 0.995771 Centerline is valid? [True, True] Translation: X:195.74, Y:-0.28, Z:-2.15 [[ 9.99994023e-01 -6.64455759e-04 -3.39300622e-03 1.95742697e+02] [ 6.64689490e-04 9.99999777e-01 6.77590080e-05 -2.80328875e-01] [ 3.39296044e-03 -7.00138986e-05 9.99994241e-01 -2.15292347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.24592 meters Centerline goodness : 0.997567 Centerline is valid? [True, True] Translation: X:195.77, Y:-0.28, Z:-2.17 [[ 9.99992893e-01 -1.64257011e-03 -3.39340131e-03 1.95773135e+02] [ 1.64274172e-03 9.99998650e-01 4.77836466e-05 -2.80202548e-01] [ 3.39331823e-03 -5.33577889e-05 9.99994241e-01 -2.16689044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.27592 meters Centerline goodness : 0.996257 Centerline is valid? [True, True] Translation: X:195.80, Y:-0.28, Z:-2.15 [[ 9.99991093e-01 -2.51045986e-03 -3.39300726e-03 1.95800729e+02] [ 2.51070357e-03 9.99996846e-01 6.75705421e-05 -2.82761047e-01] [ 3.39282692e-03 -7.60887757e-05 9.99994241e-01 -2.15220886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.30592000000001 meters Centerline goodness : 0.998313 Centerline is valid? [True, True] Translation: X:195.83, Y:-0.29, Z:-2.17 [[ 9.99984773e-01 -4.35173164e-03 -3.39365552e-03 1.95833510e+02] [ 4.35187316e-03 9.99990530e-01 3.43191979e-05 -2.85155829e-01] [ 3.39347403e-03 -4.90874336e-05 9.99994241e-01 -2.16776486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.33592000000002 meters Centerline goodness : 0.996328 Centerline is valid? [True, True] Translation: X:195.86, Y:-0.29, Z:-2.15 [[ 9.99979574e-01 -5.41648588e-03 -3.39301410e-03 1.95862333e+02] [ 5.41674392e-03 9.99985327e-01 6.68668561e-05 -2.87743702e-01] [ 3.39260213e-03 -8.52445788e-05 9.99994241e-01 -2.15313268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.36592000000002 meters Centerline goodness : 0.998311 Centerline is valid? [True, True] Translation: X:195.89, Y:-0.29, Z:-2.17 [[ 9.99968307e-01 -7.20204337e-03 -3.39341398e-03 1.95893702e+02] [ 7.20224213e-03 9.99974062e-01 4.63549466e-05 -2.88621182e-01] [ 3.39299211e-03 -7.07936666e-05 9.99994241e-01 -2.16714243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.39592000000002 meters Centerline goodness : 0.997565 Centerline is valid? [True, True] Translation: X:195.92, Y:-0.29, Z:-2.15 [[ 9.99929114e-01 -1.14128860e-02 -3.39301276e-03 1.95921615e+02] [ 1.14131782e-02 9.99934865e-01 6.67497598e-05 -2.93156105e-01] [ 3.39202995e-03 -1.05470087e-04 9.99994241e-01 -2.15183799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.42592000000002 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:195.95, Y:-0.30, Z:-2.17 [[ 9.99916075e-01 -1.25030532e-02 -3.39361423e-03 1.95952245e+02] [ 1.25032466e-02 9.99921831e-01 3.57646346e-05 -2.95676412e-01] [ 3.39290179e-03 -7.81928286e-05 9.99994241e-01 -2.16603580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.45592 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:195.98, Y:-0.30, Z:-2.16 [[ 9.99908904e-01 -1.30641593e-02 -3.39298609e-03 1.95981907e+02] [ 1.30644631e-02 9.99914654e-01 6.73905440e-05 -2.96879441e-01] [ 3.39181611e-03 -1.11711947e-04 9.99994242e-01 -2.16495369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.48592 meters Centerline goodness : 0.997271 Centerline is valid? [True, True] Translation: X:196.01, Y:-0.30, Z:-2.15 [[ 9.99899679e-01 -1.37520824e-02 -3.39299005e-03 1.96010360e+02] [ 1.37523894e-02 9.99905429e-01 6.71907042e-05 -2.98744629e-01] [ 3.39174516e-03 -1.13845684e-04 9.99994242e-01 -2.15054404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.51592 meters Centerline goodness : 0.997362 Centerline is valid? [True, True] Translation: X:196.04, Y:-0.30, Z:-2.15 [[ 9.99903756e-01 -1.34522429e-02 -3.39361878e-03 1.96039925e+02] [ 1.34524407e-02 9.99909511e-01 3.54867062e-05 -3.01793365e-01] [ 3.39283432e-03 -8.11357463e-05 9.99994241e-01 -2.14829800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.54592 meters Centerline goodness : 0.997666 Centerline is valid? [True, True] Translation: X:196.07, Y:-0.30, Z:-2.15 [[ 9.99914669e-01 -1.26149697e-02 -3.39369445e-03 1.96070492e+02] [ 1.26151500e-02 9.99920425e-01 3.17381072e-05 -3.02115002e-01] [ 3.39302402e-03 -7.45473637e-05 9.99994241e-01 -2.14835271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.57592 meters Centerline goodness : 0.998508 Centerline is valid? [True, True] Translation: X:196.10, Y:-0.31, Z:-2.15 [[ 9.99899862e-01 -1.37386920e-02 -3.39328034e-03 1.96100305e+02] [ 1.37389478e-02 9.99905615e-01 5.21012971e-05 -3.05791961e-01] [ 3.39224426e-03 -9.87161813e-05 9.99994241e-01 -2.14764822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.60592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:196.13, Y:-0.31, Z:-2.17 [[ 9.99900766e-01 -1.36727829e-02 -3.39319490e-03 1.96131592e+02] [ 1.36730524e-02 9.99906518e-01 5.62444252e-05 -3.05887298e-01] [ 3.39210868e-03 -1.02634175e-04 9.99994242e-01 -2.16573554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.63592 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:196.16, Y:-0.31, Z:-2.16 [[ 9.99862085e-01 -1.62573073e-02 -3.39288826e-03 1.96157495e+02] [ 1.62576415e-02 9.99867833e-01 7.09155251e-05 -3.07774664e-01] [ 3.39128694e-03 -1.26066106e-04 9.99994242e-01 -2.15722352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.66592 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:196.19, Y:-0.31, Z:-2.15 [[ 9.99872788e-01 -1.55847705e-02 -3.39438587e-03 1.96189781e+02] [ 1.55848504e-02 9.99878549e-01 -2.91407930e-06 -3.09992512e-01] [ 3.39401903e-03 -4.99872875e-05 9.99994239e-01 -2.14716326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.69592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.22, Y:-0.31, Z:-2.17 [[ 9.99836514e-01 -1.77603697e-02 -3.39317876e-03 1.96220839e+02] [ 1.77606604e-02 9.99842265e-01 5.55463273e-05 -3.12741436e-01] [ 3.39165701e-03 -1.15802342e-04 9.99994242e-01 -2.16614040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.72592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:196.25, Y:-0.32, Z:-2.15 [[ 9.99782194e-01 -2.05925555e-02 -3.39285824e-03 1.96249677e+02] [ 2.05929144e-02 9.99787941e-01 7.08873036e-05 -3.19441753e-01] [ 3.39067900e-03 -1.40740703e-04 9.99994242e-01 -2.14978085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.75592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:196.28, Y:-0.32, Z:-2.15 [[ 9.99756632e-01 -2.17981805e-02 -3.39340932e-03 1.96278719e+02] [ 2.17984556e-02 9.99762384e-01 4.41083097e-05 -3.22558563e-01] [ 3.39164151e-03 -1.18068657e-04 9.99994241e-01 -2.14857991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.78592 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:196.31, Y:-0.33, Z:-2.15 [[ 9.99741167e-01 -2.24962785e-02 -3.39359073e-03 1.96308836e+02] [ 2.24965283e-02 9.99746920e-01 3.54266177e-05 -3.27750144e-01] [ 3.39193492e-03 -1.11761458e-04 9.99994241e-01 -2.14559212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.81592 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:196.34, Y:-0.33, Z:-2.15 [[ 9.99709809e-01 -2.38491869e-02 -3.39334068e-03 1.96339088e+02] [ 2.38494846e-02 9.99715559e-01 4.73098349e-05 -3.32028433e-01] [ 3.39124718e-03 -1.28225532e-04 9.99994241e-01 -2.14925244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.84592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.37, Y:-0.34, Z:-2.17 [[ 9.99747805e-01 -2.21993273e-02 -3.39370822e-03 1.96370966e+02] [ 2.21995577e-02 9.99753559e-01 3.02283214e-05 -3.36003828e-01] [ 3.39220082e-03 -1.05559520e-04 9.99994241e-01 -2.16737948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.87592 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:196.40, Y:-0.34, Z:-2.15 [[ 9.99787261e-01 -2.03450734e-02 -3.39274228e-03 1.96399952e+02] [ 2.03454425e-02 9.99793007e-01 7.43224420e-05 -3.38460156e-01] [ 3.39052791e-03 -1.43333474e-04 9.99994242e-01 -2.15005981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.90592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:196.43, Y:-0.34, Z:-2.17 [[ 9.99793307e-01 -2.00456731e-02 -3.39324212e-03 1.96430236e+02] [ 2.00459629e-02 9.99799058e-01 5.13939698e-05 -3.40420434e-01] [ 3.39153005e-03 -1.19404152e-04 9.99994242e-01 -2.16944473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.93592 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:196.46, Y:-0.35, Z:-2.15 [[ 9.99831765e-01 -1.80258200e-02 -3.39271577e-03 1.96458763e+02] [ 1.80261786e-02 9.99837512e-01 7.51548594e-05 -3.46357287e-01] [ 3.39080977e-03 -1.36299916e-04 9.99994242e-01 -2.14839853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.96592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:196.49, Y:-0.35, Z:-2.17 [[ 9.99885920e-01 -1.47184371e-02 -3.39344212e-03 1.96490979e+02] [ 1.47186652e-02 9.99891674e-01 4.22407988e-05 -3.49152456e-01] [ 3.39245281e-03 -9.21829184e-05 9.99994241e-01 -2.16758442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.99592 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:196.52, Y:-0.35, Z:-2.15 [[ 9.99903636e-01 -1.34613757e-02 -3.39267542e-03 1.96518898e+02] [ 1.34617121e-02 9.99909384e-01 7.63224612e-05 -3.50677423e-01] [ 3.39134058e-03 -1.21986326e-04 9.99994242e-01 -2.14791858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.02592 meters Centerline goodness : 0.998509 Centerline is valid? [True, True] Translation: X:196.55, Y:-0.35, Z:-2.15 [[ 9.99932557e-01 -1.11070822e-02 -3.39339207e-03 1.96549261e+02] [ 1.11072981e-02 9.99938311e-01 4.48022625e-05 -3.52297549e-01] [ 3.39268511e-03 -8.24906582e-05 9.99994241e-01 -2.14697494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.05592000000001 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:196.58, Y:-0.36, Z:-2.15 [[ 9.99943184e-01 -1.01052171e-02 -3.39314464e-03 1.96577875e+02] [ 1.01054640e-02 9.99948937e-01 5.56454937e-05 -3.55993359e-01] [ 3.39240907e-03 -8.99316333e-05 9.99994242e-01 -2.14837475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.08592000000002 meters Centerline goodness : 0.998955 Centerline is valid? [True, True] Translation: X:196.61, Y:-0.36, Z:-2.15 [[ 9.99966348e-01 -7.46902537e-03 -3.39351594e-03 1.96606811e+02] [ 7.46920241e-03 9.99972104e-01 3.95007933e-05 -3.56769722e-01] [ 3.39312624e-03 -6.48463215e-05 9.99994241e-01 -2.14792259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.11592000000002 meters Centerline goodness : 0.998759 Centerline is valid? [True, True] Translation: X:196.64, Y:-0.36, Z:-2.15 [[ 9.99983452e-01 -4.64552415e-03 -3.39329319e-03 1.96637772e+02] [ 4.64571670e-03 9.99989207e-01 4.88638522e-05 -3.57332014e-01] [ 3.39302957e-03 -6.46273225e-05 9.99994242e-01 -2.14550390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.14592000000002 meters Centerline goodness : 0.998658 Centerline is valid? [True, True] Translation: X:196.67, Y:-0.36, Z:-2.15 [[ 9.99987235e-01 -3.74392149e-03 -3.39300933e-03 1.96666954e+02] [ 3.74414908e-03 9.99992989e-01 6.07289665e-05 -3.58484122e-01] [ 3.39275817e-03 -7.34321241e-05 9.99994242e-01 -2.14753429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.17592000000002 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:196.70, Y:-0.36, Z:-2.17 [[ 9.99994174e-01 -3.70079194e-04 -3.39327234e-03 1.96698040e+02] [ 3.70250152e-04 9.99999930e-01 4.97534406e-05 -3.58401211e-01] [ 3.39325369e-03 -5.10095104e-05 9.99994242e-01 -2.16571578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.20592 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:196.73, Y:-0.36, Z:-2.15 [[ 9.99993325e-01 1.35682603e-03 -3.39249483e-03 1.96727139e+02] [-1.35655584e-03 9.99999077e-01 8.19430094e-05 -3.58501157e-01] [ 3.39260288e-03 -7.73403537e-05 9.99994242e-01 -2.14678182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.23592 meters Centerline goodness : 0.999254 Centerline is valid? [True, True] Translation: X:196.76, Y:-0.36, Z:-2.15 [[ 9.99994208e-01 2.68675131e-04 -3.39284116e-03 1.96756658e+02] [-2.68447769e-04 9.99999962e-01 6.74674624e-05 -3.58987575e-01] [ 3.39285916e-03 -6.65562710e-05 9.99994242e-01 -2.14729304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.26592 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:196.79, Y:-0.36, Z:-2.15 [[ 9.99994061e-01 -6.03761617e-04 -3.39306538e-03 1.96785930e+02] [ 6.03962337e-04 9.99999816e-01 5.81317882e-05 -3.60427261e-01] [ 3.39302966e-03 -6.01807267e-05 9.99994242e-01 -2.14721941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.29592 meters Centerline goodness : 0.999502 Centerline is valid? [True, True] Translation: X:196.82, Y:-0.36, Z:-2.15 [[ 9.99991947e-01 -2.14307592e-03 -3.39319557e-03 1.96815385e+02] [ 2.14326715e-03 9.99997702e-01 5.27221698e-05 -3.61686470e-01] [ 3.39307479e-03 -5.99942698e-05 9.99994242e-01 -2.14750483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.32592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:196.85, Y:-0.36, Z:-2.15 [[ 9.99989198e-01 -3.17687782e-03 -3.39292355e-03 1.96845562e+02] [ 3.17711325e-03 9.99994951e-01 6.39992283e-05 -3.62836053e-01] [ 3.39270310e-03 -7.47782393e-05 9.99994242e-01 -2.14739538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.35592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:196.87, Y:-0.36, Z:-2.15 [[ 9.99989096e-01 -3.20877714e-03 -3.39283937e-03 1.96873878e+02] [ 3.20902451e-03 9.99994849e-01 6.74707290e-05 -3.63528518e-01] [ 3.39260540e-03 -7.83576980e-05 9.99994242e-01 -2.14729959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.38592 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:196.90, Y:-0.37, Z:-2.15 [[ 9.99971605e-01 -6.72887523e-03 -3.39284614e-03 1.96904824e+02] [ 6.72914191e-03 9.99977357e-01 6.71910459e-05 -3.67485579e-01] [ 3.39231719e-03 -9.00200811e-05 9.99994242e-01 -2.14909919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.41592 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:196.93, Y:-0.37, Z:-2.15 [[ 9.99953354e-01 -9.04316507e-03 -3.39265685e-03 1.96934321e+02] [ 9.04347130e-03 9.99959104e-01 7.49327932e-05 -3.70607092e-01] [ 3.39184047e-03 -1.05610693e-04 9.99994242e-01 -2.14815310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.44592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:196.96, Y:-0.37, Z:-2.16 [[ 9.99912120e-01 -1.28156308e-02 -3.39280713e-03 1.96962634e+02] [ 1.28159381e-02 9.99917870e-01 6.88404949e-05 -3.74270736e-01] [ 3.39164625e-03 -1.12316451e-04 9.99994242e-01 -2.15554347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.47592 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:196.99, Y:-0.38, Z:-2.15 [[ 9.99891622e-01 -1.43258280e-02 -3.39327240e-03 1.96993110e+02] [ 1.43260821e-02 9.99897375e-01 5.05899084e-05 -3.79224157e-01] [ 3.39219942e-03 -9.91967246e-05 9.99994242e-01 -2.14715147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.50592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.02, Y:-0.38, Z:-2.16 [[ 9.99858491e-01 -1.64767863e-02 -3.39323136e-03 1.97022113e+02] [ 1.64770582e-02 9.99864243e-01 5.21963270e-05 -3.82530476e-01] [ 3.39191068e-03 -1.08099411e-04 9.99994242e-01 -2.15513316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.53592 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:197.05, Y:-0.39, Z:-2.15 [[ 9.99934584e-01 -1.09229614e-02 -3.39355141e-03 1.97053462e+02] [ 1.09231591e-02 9.99940340e-01 3.97263332e-05 -3.87894412e-01] [ 3.39291502e-03 -7.67920363e-05 9.99994241e-01 -2.14734713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.56592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:197.08, Y:-0.39, Z:-2.16 [[ 9.99935503e-01 -1.08388584e-02 -3.39256633e-03 1.97083417e+02] [ 1.08391842e-02 9.99941251e-01 7.76653333e-05 -3.89984302e-01] [ 3.39152522e-03 -1.14432975e-04 9.99994242e-01 -2.16352895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.59592 meters Centerline goodness : 0.851488 Centerline is valid? [True, False] Translation: X:197.11, Y:-0.39, Z:-2.16 [[ 9.99956235e-01 -6.67882032e-03 -6.55150467e-03 1.97106343e+02] [ 6.64163754e-03 9.99961807e-01 -5.68088843e-03 -3.87164736e-01] [ 6.58919609e-03 5.63712708e-03 9.99962402e-01 -2.16113633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.62592 meters Centerline goodness : 0.999950 Centerline is valid? [False, True] Translation: X:197.13, Y:-0.38, Z:-2.16 [[ 9.99947663e-01 -2.21381940e-03 -9.98849018e-03 1.97130210e+02] [ 2.10110168e-03 9.99934158e-01 -1.12811765e-02 -3.83841480e-01] [ 1.00128070e-02 1.12595992e-02 9.99886476e-01 -2.15926754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.65592 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:197.16, Y:-0.40, Z:-2.15 [[ 9.99946700e-01 3.56698028e-03 -9.68886073e-03 1.97158892e+02] [-3.56470348e-03 9.99993615e-01 2.52251136e-04 -3.97451619e-01] [ 9.68969864e-03 -2.17699775e-04 9.99953030e-01 -2.14578160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.68592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.19, Y:-0.40, Z:-2.16 [[ 9.99934121e-01 6.15421386e-03 -9.68911692e-03 1.97188576e+02] [-6.15215493e-03 9.99981046e-01 2.42289955e-04 -3.97256920e-01] [ 9.69042437e-03 -1.82665045e-04 9.99953030e-01 -2.15862666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.71592 meters Centerline goodness : 0.804526 Centerline is valid? [True, False] Translation: X:197.19, Y:-0.39, Z:-2.16 [[ 9.99950983e-01 2.01738332e-03 -9.69335198e-03 1.97188562e+02] [-2.06562650e-03 9.99985519e-01 -4.96950316e-03 -3.92754392e-01] [ 9.68318621e-03 4.98928242e-03 9.99940670e-01 -2.15821952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.74592 meters Centerline goodness : 0.999851 Centerline is valid? [False, True] Translation: X:197.21, Y:-0.38, Z:-2.16 [[ 9.99908250e-01 2.55596796e-03 -1.33025811e-02 1.97213358e+02] [-2.76695197e-03 9.99870295e-01 -1.58662189e-02 -3.83901916e-01] [ 1.32603021e-02 1.59015707e-02 9.99785629e-01 -2.15600892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.77592 meters Centerline goodness : 0.827567 Centerline is valid? [True, False] Translation: X:197.23, Y:-0.39, Z:-2.16 [[ 9.99905684e-01 -3.19255795e-03 -1.33577579e-02 1.97234393e+02] [ 3.05885494e-03 9.99945141e-01 -1.00178767e-02 -3.90263738e-01] [ 1.33890077e-02 9.97607243e-03 9.99860597e-01 -2.15522946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.80592000000001 meters Centerline goodness : 0.999154 Centerline is valid? [False, True] Translation: X:197.26, Y:-0.38, Z:-2.15 [[ 9.99860632e-01 -4.56915423e-05 -1.66947716e-02 1.97255020e+02] [-2.50300588e-04 9.99842831e-01 -1.77271107e-02 -3.82396313e-01] [ 1.66929577e-02 1.77288188e-02 9.99703473e-01 -2.14982760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.83592000000002 meters Centerline goodness : 0.999452 Centerline is valid? [True, True] Translation: X:197.29, Y:-0.40, Z:-2.15 [[ 9.99862029e-01 1.38051384e-03 -1.65534419e-02 1.97285389e+02] [-1.38029539e-03 9.99999047e-01 2.46221268e-05 -3.98270643e-01] [ 1.65534602e-02 -1.77009014e-06 9.99862982e-01 -2.15245411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.86592000000002 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:197.31, Y:-0.40, Z:-2.15 [[ 9.99858286e-01 3.06764006e-03 -1.65528622e-02 1.97314698e+02] [-3.06647024e-03 9.99995294e-01 9.60524806e-05 -3.97097853e-01] [ 1.65530790e-02 -4.52800091e-05 9.99862987e-01 -2.15160143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.89592000000002 meters Centerline goodness : 0.998807 Centerline is valid? [True, True] Translation: X:197.34, Y:-0.40, Z:-2.15 [[ 9.99852297e-01 4.62324872e-03 -1.65532526e-02 1.97343779e+02] [-4.62307388e-03 9.99989312e-01 4.88287923e-05 -3.96508142e-01] [ 1.65533014e-02 2.77053294e-05 9.99862984e-01 -2.15055227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.92592000000002 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:197.37, Y:-0.39, Z:-2.15 [[ 9.99835487e-01 7.41593714e-03 -1.65530213e-02 1.97374591e+02] [-7.41567073e-03 9.99972501e-01 7.74752087e-05 -3.92253323e-01] [ 1.65531407e-02 4.52892925e-05 9.99862986e-01 -2.15062265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.95592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:197.40, Y:-0.39, Z:-2.16 [[ 9.99817658e-01 9.52170546e-03 -1.65525627e-02 1.97404972e+02] [-9.52079230e-03 9.99954667e-01 1.33970756e-04 -3.89518111e-01] [ 1.65530879e-02 2.36471841e-05 9.99862988e-01 -2.16390265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.98592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:197.43, Y:-0.39, Z:-2.16 [[ 9.99808977e-01 1.03933491e-02 -1.65525650e-02 1.97433513e+02] [-1.03925602e-02 9.99945987e-01 1.33684006e-04 -3.85051723e-01] [ 1.65530604e-02 3.83650582e-05 9.99862988e-01 -2.16220573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.01592 meters Centerline goodness : 0.998895 Centerline is valid? [True, True] Translation: X:197.46, Y:-0.38, Z:-2.15 [[ 9.99802699e-01 1.09806266e-02 -1.65526227e-02 1.97463661e+02] [-1.09800434e-02 9.99939710e-01 1.26113315e-04 -3.82373420e-01] [ 1.65530095e-02 5.56600828e-05 9.99862988e-01 -2.14789830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.04592 meters Centerline goodness : 0.930008 Centerline is valid? [True, False] Translation: X:197.45, Y:-0.38, Z:-2.15 [[ 9.99999090e-01 1.33869633e-03 1.64141409e-04 1.97445417e+02] [-1.33889001e-03 9.99998401e-01 1.18553457e-03 -3.77911273e-01] [-1.62554075e-04 -1.18575326e-03 9.99999284e-01 -2.14963299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.07592 meters Centerline goodness : 0.998212 Centerline is valid? [False, True] Translation: X:197.45, Y:-0.36, Z:-2.15 [[ 9.99965239e-01 3.21322672e-03 -7.69393988e-03 1.97445930e+02] [-3.34897313e-03 9.99837807e-01 -1.76958966e-02 -3.57514592e-01] [ 7.63583105e-03 1.77210482e-02 9.99813812e-01 -2.14588658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.10592 meters Centerline goodness : 0.998359 Centerline is valid? [True, True] Translation: X:197.48, Y:-0.37, Z:-2.14 [[ 9.99968532e-01 1.94734701e-03 -7.69038470e-03 1.97476282e+02] [-1.94777731e-03 9.99998102e-01 -4.84635458e-05 -3.66161524e-01] [ 7.69027573e-03 6.34411776e-05 9.99970427e-01 -2.14451985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.13592 meters Centerline goodness : 0.998958 Centerline is valid? [True, True] Translation: X:197.51, Y:-0.36, Z:-2.15 [[ 9.99970074e-01 8.41644616e-04 -7.69037361e-03 1.97507282e+02] [-8.41748651e-04 9.99999646e-01 -1.02911990e-05 -3.61375360e-01] [ 7.69036222e-03 1.67642527e-05 9.99970429e-01 -2.14777173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.16592 meters Centerline goodness : 0.785629 Centerline is valid? [True, False] Translation: X:197.52, Y:-0.33, Z:-2.14 [[ 9.99835532e-01 3.98449913e-03 -1.76927501e-02 1.97518336e+02] [-4.37725883e-03 9.99743613e-01 -2.22159561e-02 -3.32555492e-01] [ 1.75996944e-02 2.22897480e-02 9.99596628e-01 -2.14300484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.19592 meters Centerline goodness : 0.999453 Centerline is valid? [False, True] Translation: X:197.52, Y:-0.34, Z:-2.15 [[ 9.99943783e-01 -2.31379669e-03 -1.03478508e-02 1.97516589e+02] [ 2.20754984e-03 9.99944854e-01 -1.02671904e-02 -3.41078744e-01] [ 1.03710364e-02 1.02437698e-02 9.99893748e-01 -2.14522950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.22592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:197.55, Y:-0.34, Z:-2.15 [[ 9.99931188e-01 -5.53136050e-03 -1.03452410e-02 1.97547209e+02] [ 5.53053784e-03 9.99984701e-01 -1.08127120e-04 -3.42662603e-01] [ 1.03456808e-02 5.09049326e-05 9.99946481e-01 -2.14792533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.25592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:197.58, Y:-0.34, Z:-2.14 [[ 9.99914890e-01 -7.94922268e-03 -1.03452159e-02 1.97576084e+02] [ 7.94935732e-03 9.99968403e-01 -2.81051976e-05 -3.39080933e-01] [ 1.03451124e-02 -5.41350120e-05 9.99946486e-01 -2.14491760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.28592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:197.61, Y:-0.34, Z:-2.15 [[ 9.99868766e-01 -1.24670076e-02 -1.03452170e-02 1.97606264e+02] [ 1.24673461e-02 9.99922279e-01 -3.17770292e-05 -3.35570420e-01] [ 1.03448091e-02 -9.72045416e-05 9.99946486e-01 -2.14618097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.31592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.64, Y:-0.33, Z:-2.16 [[ 9.99808442e-01 -1.66149499e-02 -1.03451975e-02 1.97636221e+02] [ 1.66161609e-02 9.99861942e-01 3.11113336e-05 -3.34212106e-01] [ 1.03432523e-02 -2.03002840e-04 9.99946487e-01 -2.16289690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.34592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:197.67, Y:-0.33, Z:-2.15 [[ 9.99744683e-01 -2.00884603e-02 -1.03452028e-02 1.97665047e+02] [ 2.00895549e-02 9.99798185e-01 1.89339447e-06 -3.33905517e-01] [ 1.03430770e-02 -2.09723431e-04 9.99946487e-01 -2.14527627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.37592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.69, Y:-0.33, Z:-2.15 [[ 9.99650801e-01 -2.43156843e-02 -1.03452019e-02 1.97694315e+02] [ 2.43164544e-02 9.99704310e-01 -5.13494252e-05 -3.31312903e-01] [ 1.03433915e-02 -2.00227136e-04 9.99946486e-01 -2.14543041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.40592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:197.72, Y:-0.33, Z:-2.15 [[ 9.99587402e-01 -2.67955759e-02 -1.03452098e-02 1.97721812e+02] [ 2.67960578e-02 9.99640917e-01 -9.20435391e-05 -3.30810751e-01] [ 1.03439614e-02 -1.85205279e-04 9.99946483e-01 -2.14623659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.43592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:197.75, Y:-0.33, Z:-2.14 [[ 9.99555804e-01 -2.79494598e-02 -1.03452094e-02 1.97751654e+02] [ 2.79500333e-02 9.99609318e-01 -8.91582726e-05 -3.31398352e-01] [ 1.03436596e-02 -2.00030278e-04 9.99946483e-01 -2.14431277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.46592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.78, Y:-0.33, Z:-2.16 [[ 9.99541291e-01 -2.84637375e-02 -1.03452016e-02 1.97782397e+02] [ 2.84645464e-02 9.99594800e-01 -6.90683441e-05 -3.32207277e-01] [ 1.03429757e-02 -2.25434810e-04 9.99946485e-01 -2.16372109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.49592 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:197.81, Y:-0.34, Z:-2.14 [[ 9.99363581e-01 -3.41381125e-02 -1.03451494e-02 1.97808433e+02] [ 3.41400128e-02 9.99417060e-01 7.09739097e-06 -3.36675091e-01] [ 1.03388765e-02 -3.60276407e-04 9.99946487e-01 -2.14422612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.52592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:197.84, Y:-0.34, Z:-2.14 [[ 9.99341055e-01 -3.47912841e-02 -1.03452023e-02 1.97838996e+02] [ 3.47916420e-02 9.99394577e-01 -1.45424626e-04 -3.38527217e-01] [ 1.03439986e-02 -2.14597776e-04 9.99946476e-01 -2.14473816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.55592000000001 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:197.87, Y:-0.34, Z:-2.14 [[ 9.99338286e-01 -3.48707265e-02 -1.03451619e-02 1.97868636e+02] [ 3.48715942e-02 9.99391796e-01 -9.65436288e-05 -3.40241321e-01] [ 1.03422365e-02 -2.64272543e-04 9.99946483e-01 -2.14262233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.58592000000002 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:197.90, Y:-0.34, Z:-2.14 [[ 9.99462692e-01 -3.11015024e-02 -1.03452052e-02 1.97898941e+02] [ 3.11018384e-02 9.99516213e-01 -1.28434503e-04 -3.44842350e-01] [ 1.03441949e-02 -1.93389408e-04 9.99946479e-01 -2.14340060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.61592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.93, Y:-0.35, Z:-2.16 [[ 9.99596240e-01 -2.64638550e-02 -1.03451220e-02 1.97930120e+02] [ 2.64645190e-02 9.99649751e-01 -7.27268216e-05 -3.49566337e-01] [ 1.03434233e-02 -2.01081221e-04 9.99946485e-01 -2.16215217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.64592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.96, Y:-0.35, Z:-2.16 [[ 9.99663938e-01 -2.37695616e-02 -1.03449673e-02 1.97958568e+02] [ 2.37710167e-02 9.99717429e-01 1.77054133e-05 -3.50956275e-01] [ 1.03416232e-02 -2.63609853e-04 9.99946489e-01 -2.16134214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.67592000000002 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:197.99, Y:-0.35, Z:-2.14 [[ 9.99739038e-01 -2.03675708e-02 -1.03449693e-02 1.97988007e+02] [ 2.03688311e-02 9.99792534e-01 1.64699976e-05 -3.51842401e-01] [ 1.03424876e-02 -2.27180631e-04 9.99946489e-01 -2.14401648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.70592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:198.02, Y:-0.35, Z:-2.14 [[ 9.99835196e-01 -1.49185045e-02 -1.03450197e-02 1.98016555e+02] [ 1.49191447e-02 9.99888703e-01 -1.52833307e-05 -3.53946704e-01] [ 1.03440964e-02 -1.39058035e-04 9.99946489e-01 -2.14151697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.73592 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:198.05, Y:-0.35, Z:-2.14 [[ 9.99893646e-01 -1.02798146e-02 -1.03451277e-02 1.98047837e+02] [ 1.02795805e-02 9.99947161e-01 -7.58039717e-05 -3.54214399e-01] [ 1.03453603e-02 -3.05476630e-05 9.99946485e-01 -2.14322601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.76592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:198.08, Y:-0.35, Z:-2.16 [[ 9.99934332e-01 -4.93072696e-03 -1.03450051e-02 1.98077939e+02] [ 4.93087087e-03 9.99987843e-01 -1.15941758e-05 -3.52828426e-01] [ 1.03449365e-02 -3.94164698e-05 9.99946489e-01 -2.15899658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.79592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:198.11, Y:-0.35, Z:-2.14 [[ 9.99940480e-01 -3.46691619e-03 -1.03449436e-02 1.98106225e+02] [ 3.46730940e-03 9.99993989e-01 2.00743228e-05 -3.52182914e-01] [ 1.03448118e-02 -5.59422482e-05 9.99946489e-01 -2.13922512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.82592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:198.14, Y:-0.35, Z:-2.14 [[ 9.99944799e-01 1.83821613e-03 -1.03450738e-02 1.98137602e+02] [-1.83892119e-03 9.99998307e-01 -5.86426175e-05 -3.50640492e-01] [ 1.03449485e-02 7.76631557e-05 9.99946487e-01 -2.14011569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.85592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:198.17, Y:-0.35, Z:-2.16 [[ 9.99938329e-01 4.03968682e-03 -1.03449892e-02 1.98168860e+02] [-4.03996796e-03 9.99991839e-01 -6.27884848e-06 -3.48784386e-01] [ 1.03448794e-02 4.80718861e-05 9.99946489e-01 -2.15712808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.88592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.20, Y:-0.35, Z:-2.16 [[ 9.99935740e-01 4.63664737e-03 -1.03449494e-02 1.98197240e+02] [-4.63671544e-03 9.99989250e-01 1.74043678e-05 -3.46533058e-01] [ 1.03449188e-02 3.05633370e-05 9.99946489e-01 -2.15765244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.91592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:198.23, Y:-0.34, Z:-2.14 [[ 9.99939004e-01 3.86925265e-03 -1.03449551e-02 1.98225149e+02] [-3.86932766e-03 9.99992514e-01 1.27640073e-05 -3.43232842e-01] [ 1.03449270e-02 2.72647921e-05 9.99946489e-01 -2.13983943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.94592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.26, Y:-0.34, Z:-2.16 [[ 9.99932490e-01 5.29114349e-03 -1.03450314e-02 1.98256960e+02] [-5.29212568e-03 9.99985994e-01 -6.75709742e-05 -3.42496281e-01] [ 1.03445290e-02 1.22313619e-04 9.99946486e-01 -2.15753354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.97592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.29, Y:-0.34, Z:-2.16 [[ 9.99946219e-01 7.35899407e-04 -1.03449560e-02 1.98285698e+02] [-7.35834771e-04 9.99999729e-01 1.00542370e-05 -3.40958419e-01] [ 1.03449606e-02 -2.44151797e-06 9.99946489e-01 -2.15711552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.00592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.31, Y:-0.34, Z:-2.16 [[ 9.99944863e-01 -1.80372083e-03 -1.03449571e-02 1.98314646e+02] [ 1.80390756e-03 9.99998373e-01 8.71928336e-06 -3.39879210e-01] [ 1.03449246e-02 -2.73801489e-05 9.99946489e-01 -2.15727684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.03592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:198.34, Y:-0.34, Z:-2.14 [[ 9.99917356e-01 -7.63308435e-03 -1.03449581e-02 1.98343790e+02] [ 7.63356933e-03 9.99970864e-01 7.39536870e-06 -3.39132097e-01] [ 1.03446002e-02 -8.63637120e-05 9.99946489e-01 -2.14007162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.06592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.37, Y:-0.34, Z:-2.16 [[ 9.99895698e-01 -1.00783923e-02 -1.03449797e-02 1.98374516e+02] [ 1.00785401e-02 9.99949210e-01 -3.78457447e-05 -3.39732512e-01] [ 1.03448357e-02 -6.64204952e-05 9.99946489e-01 -2.15791987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.09592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.40, Y:-0.34, Z:-2.16 [[ 9.99809234e-01 -1.65673917e-02 -1.03449544e-02 1.98403043e+02] [ 1.65683400e-02 9.99862736e-01 5.96875831e-06 -3.41411159e-01] [ 1.03434355e-02 -1.77366342e-04 9.99946490e-01 -2.15652790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.12592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:198.43, Y:-0.34, Z:-2.14 [[ 9.99734429e-01 -2.05925681e-02 -1.03449550e-02 1.98431732e+02] [ 2.05937187e-02 9.99787927e-01 4.69444686e-06 -3.42809379e-01] [ 1.03426644e-02 -2.17734293e-04 9.99946490e-01 -2.13812260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.15592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:198.46, Y:-0.34, Z:-2.14 [[ 9.99665157e-01 -2.37182435e-02 -1.03449958e-02 1.98460613e+02] [ 2.37188132e-02 9.99718667e-01 -6.76362420e-05 -3.44686017e-01] [ 1.03436896e-02 -1.77757427e-04 9.99946487e-01 -2.13836626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.18592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.49, Y:-0.35, Z:-2.16 [[ 9.99545249e-01 -2.83244751e-02 -1.03450164e-02 1.98491824e+02] [ 2.83249360e-02 9.99598763e-01 -1.01985737e-04 -3.49853489e-01] [ 1.03437543e-02 -1.91082569e-04 9.99946484e-01 -2.15562098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.21592 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:198.52, Y:-0.35, Z:-2.14 [[ 9.99428625e-01 -3.21777122e-02 -1.03449242e-02 1.98518328e+02] [ 3.21795234e-02 9.99482105e-01 8.63040744e-06 -3.51759864e-01] [ 1.03392889e-02 -3.41520206e-04 9.99946490e-01 -2.13582927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.24592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:198.55, Y:-0.35, Z:-2.13 [[ 9.99436264e-01 -3.19395131e-02 -1.03451056e-02 1.98548410e+02] [ 3.19399445e-02 9.99489782e-01 -1.23549528e-04 -3.54448159e-01] [ 1.03437735e-02 -2.06942221e-04 9.99946480e-01 -2.13475800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.27592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:198.58, Y:-0.35, Z:-2.13 [[ 9.99442015e-01 -3.17590740e-02 -1.03450694e-02 1.98576749e+02] [ 3.17597053e-02 9.99495528e-01 -1.03294392e-04 -3.54411195e-01] [ 1.03431311e-02 -2.25319601e-04 9.99946483e-01 -2.13446737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.30592000000001 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:198.61, Y:-0.36, Z:-2.14 [[ 9.99380532e-01 -3.36382512e-02 -1.03450721e-02 1.98605339e+02] [ 3.36389675e-02 9.99434044e-01 -1.04805762e-04 -3.57891491e-01] [ 1.03427427e-02 -2.43256706e-04 9.99946483e-01 -2.13765509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.33592000000002 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:198.64, Y:-0.36, Z:-2.15 [[ 9.99345875e-01 -3.46525954e-02 -1.03450550e-02 1.98637040e+02] [ 3.46534910e-02 9.99399383e-01 -9.27102279e-05 -3.64990315e-01] [ 1.03420542e-02 -2.65842687e-04 9.99946484e-01 -2.15469240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.36592000000002 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:198.67, Y:-0.37, Z:-2.14 [[ 9.99311484e-01 -3.56306354e-02 -1.03448660e-02 1.98665450e+02] [ 3.56327252e-02 9.99364953e-01 1.77090007e-05 -3.68043963e-01] [ 1.03376656e-02 -3.86312576e-04 9.99946490e-01 -2.13564219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.39592000000002 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:198.70, Y:-0.37, Z:-2.14 [[ 9.99283872e-01 -3.63967684e-02 -1.03449718e-02 1.98695364e+02] [ 3.63981887e-02 9.99337365e-01 -5.10081456e-05 -3.70534558e-01] [ 1.03399734e-02 -3.25566620e-04 9.99946488e-01 -2.13683237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.42592000000002 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:198.73, Y:-0.38, Z:-2.15 [[ 9.99282430e-01 -3.64363399e-02 -1.03449987e-02 1.98726205e+02] [ 3.64375964e-02 9.99335928e-01 -6.70559235e-05 -3.75448438e-01] [ 1.03405722e-02 -3.09939081e-04 9.99946487e-01 -2.15464121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.45592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:198.75, Y:-0.38, Z:-2.15 [[ 9.99329161e-01 -3.51313721e-02 -1.03448366e-02 1.98754897e+02] [ 3.51334526e-02 9.99382629e-01 1.93993881e-05 -3.78517404e-01] [ 1.03377685e-02 -3.82836201e-04 9.99946491e-01 -2.15388188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.48592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:198.78, Y:-0.38, Z:-2.15 [[ 9.99379078e-01 -3.36814986e-02 -1.03448388e-02 1.98783378e+02] [ 3.36834889e-02 9.99432550e-01 1.81823560e-05 -3.78817779e-01] [ 1.03383562e-02 -3.66621328e-04 9.99946491e-01 -2.15287237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.51592 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:198.81, Y:-0.38, Z:-2.14 [[ 9.99427442e-01 -3.22144845e-02 -1.03448408e-02 1.98811748e+02] [ 3.22163837e-02 9.99480917e-01 1.69606809e-05 -3.79228307e-01] [ 1.03389246e-02 -3.50224329e-04 9.99946491e-01 -2.13590622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.54592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.84, Y:-0.38, Z:-2.15 [[ 9.99596219e-01 -2.64647093e-02 -1.03449156e-02 1.98843151e+02] [ 2.64657467e-02 9.99649720e-01 -3.66252804e-05 -3.79977626e-01] [ 1.03422612e-02 -2.37175423e-04 9.99946489e-01 -2.15391494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.57592 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:198.87, Y:-0.38, Z:-2.14 [[ 9.99701809e-01 -2.21196326e-02 -1.03448300e-02 1.98872165e+02] [ 2.21209883e-02 9.99755301e-01 1.66320130e-05 -3.78769062e-01] [ 1.03419307e-02 -2.45464916e-04 9.99946491e-01 -2.13530474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.60592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:198.90, Y:-0.38, Z:-2.13 [[ 9.99735283e-01 -2.05510626e-02 -1.03449075e-02 1.98901108e+02] [ 2.05518513e-02 9.99788788e-01 -3.00717951e-05 -3.77270662e-01] [ 1.03433406e-02 -1.82543167e-04 9.99946490e-01 -2.13379317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.63592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:198.93, Y:-0.38, Z:-2.13 [[ 9.99780253e-01 -1.82325640e-02 -1.03449776e-02 1.98930743e+02] [ 1.82326776e-02 9.99833767e-01 -8.33399611e-05 -3.75536735e-01] [ 1.03447774e-02 -1.05294993e-04 9.99946486e-01 -2.13379055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.66592 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:198.96, Y:-0.38, Z:-2.13 [[ 9.99770748e-01 -1.87466159e-02 -1.03448834e-02 1.98957591e+02] [ 1.87473887e-02 9.99824252e-01 -2.22703013e-05 -3.75965139e-01] [ 1.03434828e-02 -1.71674355e-04 9.99946490e-01 -2.12931324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.69592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.99, Y:-0.37, Z:-2.15 [[ 9.99843722e-01 -1.43355825e-02 -1.03451356e-02 1.98991865e+02] [ 1.43340994e-02 9.99897238e-01 -2.17500003e-04 -3.72713431e-01] [ 1.03471905e-02 6.91778108e-05 9.99946464e-01 -2.15171049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.72592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:199.02, Y:-0.37, Z:-2.13 [[ 9.99855491e-01 -1.34901674e-02 -1.03446649e-02 1.99020740e+02] [ 1.34911011e-02 9.99908991e-01 2.04749537e-05 -3.71851352e-01] [ 1.03434472e-02 -1.60032914e-04 9.99946492e-01 -2.13369330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.75592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:199.05, Y:-0.37, Z:-2.14 [[ 9.99880941e-01 -1.14493922e-02 -1.03447747e-02 1.99053199e+02] [ 1.14495201e-02 9.99934451e-01 -4.68643230e-05 -3.70120419e-01] [ 1.03446332e-02 -7.15839621e-05 9.99946490e-01 -2.13518804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.78592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:199.08, Y:-0.37, Z:-2.14 [[ 9.99837997e-01 -1.47299382e-02 -1.03445261e-02 1.99078864e+02] [ 1.47317026e-02 9.99891478e-01 9.43881664e-05 -3.69838540e-01] [ 1.03420131e-02 -2.46765357e-04 9.99946490e-01 -2.13660124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.81592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:199.11, Y:-0.37, Z:-2.13 [[ 9.99832177e-01 -1.51197001e-02 -1.03446542e-02 1.99109476e+02] [ 1.51204804e-02 9.99885679e-01 -2.77471262e-06 -3.69956286e-01] [ 1.03435135e-02 -1.53641894e-04 9.99946493e-01 -2.13354918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.84592 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:199.14, Y:-0.37, Z:-2.14 [[ 9.99944182e-01 -2.14957423e-03 -1.03446607e-02 1.99142064e+02] [ 2.14961368e-03 9.99997690e-01 -7.30478997e-06 -3.67380377e-01] [ 1.03446525e-02 -1.49326419e-05 9.99946493e-01 -2.13767225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.87592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.17, Y:-0.37, Z:-2.15 [[ 9.99761369e-01 -1.92405337e-02 -1.03443850e-02 1.99169045e+02] [ 1.92432782e-02 9.99814817e-01 1.65836558e-04 -3.72647850e-01] [ 1.03392786e-02 -3.64856862e-04 9.99946482e-01 -2.15108742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.90592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:199.20, Y:-0.37, Z:-2.13 [[ 9.99744708e-01 -2.00875383e-02 -1.03445462e-02 1.99199770e+02] [ 2.00887243e-02 9.99798201e-01 1.07421132e-05 -3.74454388e-01] [ 1.03422429e-02 -2.18548107e-04 9.99946494e-01 -2.13174379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.93592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:199.23, Y:-0.38, Z:-2.13 [[ 9.99722675e-01 -2.11557205e-02 -1.03445090e-02 1.99229043e+02] [ 2.11573376e-02 9.99776157e-01 4.69028565e-05 -3.75997268e-01] [ 1.03412012e-02 -2.65752119e-04 9.99946493e-01 -2.13275885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.96592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:199.26, Y:-0.38, Z:-2.13 [[ 9.99637424e-01 -2.48598522e-02 -1.03445181e-02 1.99257758e+02] [ 2.48615574e-02 9.99690903e-01 3.62608150e-05 -3.78809511e-01] [ 1.03404192e-02 -2.93428498e-04 9.99946493e-01 -2.13130229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.99592 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:199.29, Y:-0.38, Z:-2.13 [[ 9.99598149e-01 -2.63918553e-02 -1.03445682e-02 1.99286828e+02] [ 2.63929819e-02 9.99651644e-01 -2.76137662e-05 -3.79003659e-01] [ 1.03416934e-02 -2.45421333e-04 9.99946493e-01 -2.13169849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.02592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:199.32, Y:-0.38, Z:-2.15 [[ 9.99575855e-01 -2.72231447e-02 -1.03445646e-02 1.99317294e+02] [ 2.72243697e-02 9.99629348e-01 -2.24090494e-05 -3.79244792e-01] [ 1.03413404e-02 -2.59224705e-04 9.99946493e-01 -2.14870958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.05592000000001 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:199.35, Y:-0.38, Z:-2.15 [[ 9.99551336e-01 -2.81090158e-02 -1.03445418e-02 1.99346172e+02] [ 2.81106006e-02 9.99604819e-01 7.80010603e-06 -3.83635633e-01] [ 1.03402346e-02 -2.98587889e-04 9.99946494e-01 -2.14783644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.08592000000002 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:199.37, Y:-0.39, Z:-2.13 [[ 9.99507820e-01 -2.96159993e-02 -1.03445426e-02 1.99373030e+02] [ 2.96176519e-02 9.99561301e-01 6.56083231e-06 -3.87857089e-01] [ 1.03398101e-02 -3.12938664e-04 9.99946494e-01 -2.12649603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.11592000000002 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:199.40, Y:-0.39, Z:-2.13 [[ 9.99513062e-01 -2.94385548e-02 -1.03446005e-02 1.99402954e+02] [ 2.94388625e-02 9.99566575e-01 -1.22560715e-04 -3.87871643e-01] [ 1.03437249e-02 -1.82032235e-04 9.99946486e-01 -2.12834732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.14592000000002 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:199.43, Y:-0.39, Z:-2.13 [[ 9.99590272e-01 -2.66885236e-02 -1.03445977e-02 1.99434828e+02] [ 2.66887337e-02 9.99643785e-01 -1.17763532e-04 -3.88165482e-01] [ 1.03440557e-02 -1.58368932e-04 9.99946486e-01 -2.12868538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.17592000000002 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:199.46, Y:-0.39, Z:-2.13 [[ 9.99546155e-01 -2.82926786e-02 -1.03444920e-02 1.99463780e+02] [ 2.82939042e-02 9.99599647e-01 -2.78797185e-05 -3.92304133e-01] [ 1.03411394e-02 -2.64819001e-04 9.99946494e-01 -2.12840515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.20592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:199.49, Y:-0.40, Z:-2.13 [[ 9.99536202e-01 -2.86421417e-02 -1.03445442e-02 1.99492533e+02] [ 2.86428634e-02 9.99589706e-01 -7.84131628e-05 -3.95038369e-01] [ 1.03425458e-02 -2.17920571e-04 9.99946491e-01 -2.12752458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.23592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:199.52, Y:-0.40, Z:-2.13 [[ 9.99555492e-01 -2.79608468e-02 -1.03445587e-02 1.99520843e+02] [ 2.79614338e-02 9.99608999e-01 -8.79071368e-05 -3.96988079e-01] [ 1.03429719e-02 -2.01380633e-04 9.99946490e-01 -2.12792624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.26592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.55, Y:-0.40, Z:-2.15 [[ 9.99589122e-01 -2.67315843e-02 -1.03445712e-02 1.99552183e+02] [ 2.67319930e-02 9.99642632e-01 -9.87807742e-05 -3.97853218e-01] [ 1.03435150e-02 -1.77790818e-04 9.99946489e-01 -2.14580736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.29592 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:199.58, Y:-0.40, Z:-2.13 [[ 9.99619282e-01 -2.55789873e-02 -1.03444101e-02 1.99581136e+02] [ 2.55805079e-02 9.99672765e-01 1.46895455e-05 -4.03036604e-01] [ 1.03406493e-02 -2.79299218e-04 9.99946495e-01 -2.12905467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.32592 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:199.61, Y:-0.41, Z:-2.13 [[ 9.99645378e-01 -2.45379458e-02 -1.03444755e-02 1.99610172e+02] [ 2.45388708e-02 9.99698876e-01 -3.75146389e-05 -4.05096272e-01] [ 1.03422810e-02 -2.16340411e-04 9.99946494e-01 -2.13077270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.35592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:199.64, Y:-0.41, Z:-2.13 [[ 9.99694442e-01 -2.24502452e-02 -1.03445373e-02 1.99642107e+02] [ 2.24505541e-02 9.99747951e-01 -8.62785817e-05 -4.05785150e-01] [ 1.03438669e-02 -1.45988375e-04 9.99946490e-01 -2.12993304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.38592 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:199.67, Y:-0.41, Z:-2.13 [[ 9.99790296e-01 -1.76736614e-02 -1.03443961e-02 1.99670496e+02] [ 1.76746927e-02 9.99843790e-01 8.27395002e-06 -4.06414479e-01] [ 1.03426340e-02 -1.91106236e-04 9.99946495e-01 -2.12727844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.41592 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:199.70, Y:-0.41, Z:-2.13 [[ 9.99799841e-01 -1.71251453e-02 -1.03444395e-02 1.99699333e+02] [ 1.71258566e-02 9.99853342e-01 -1.98305036e-05 -4.07598417e-01] [ 1.03432620e-02 -1.57330852e-04 9.99946495e-01 -2.12705836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.44592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.73, Y:-0.41, Z:-2.15 [[ 9.99875966e-01 -1.18762108e-02 -1.03444616e-02 1.99730402e+02] [ 1.18764620e-02 9.99929472e-01 -3.71426493e-05 -4.08503051e-01] [ 1.03441731e-02 -8.57175630e-05 9.99946494e-01 -2.14603850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.47592 meters Centerline goodness : 0.999303 Centerline is valid? [True, True] Translation: X:199.76, Y:-0.41, Z:-2.13 [[ 9.99888946e-01 -1.07279355e-02 -1.03443895e-02 1.99757971e+02] [ 1.07286590e-02 9.99942446e-01 1.44547850e-05 -4.07454971e-01] [ 1.03436391e-02 -1.25434608e-04 9.99946495e-01 -2.12693339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.50592 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:199.79, Y:-0.40, Z:-2.13 [[ 9.99924978e-01 -6.55975870e-03 -1.03444667e-02 1.99787509e+02] [ 6.55959699e-03 9.99978484e-01 -4.95619131e-05 -4.03715112e-01] [ 1.03445693e-02 -1.82973379e-05 9.99946493e-01 -2.12700876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.53592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.82, Y:-0.40, Z:-2.15 [[ 9.99936708e-01 -4.42413410e-03 -1.03444331e-02 1.99818824e+02] [ 4.42414086e-03 9.99990213e-01 -2.22296779e-05 -4.03738450e-01] [ 1.03444302e-02 -2.35369583e-05 9.99946495e-01 -2.14516513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.56592 meters Centerline goodness : 0.999005 Centerline is valid? [True, True] Translation: X:199.85, Y:-0.40, Z:-2.13 [[ 9.99942310e-01 -2.89319198e-03 -1.03443878e-02 1.99848062e+02] [ 2.89348346e-03 9.99995814e-01 1.32114013e-05 -4.03719004e-01] [ 1.03443063e-02 -4.31419543e-05 9.99946495e-01 -2.12686792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.59592 meters Centerline goodness : 0.971117 Centerline is valid? [True, True] Translation: X:199.90, Y:-0.36, Z:-2.14 [[ 9.96426569e-01 8.38277205e-02 -1.03443830e-02 1.99900552e+02] [-8.38320278e-02 9.96479900e-01 1.72775076e-05 -3.61178716e-01] [ 1.03094181e-02 8.49974835e-04 9.99946495e-01 -2.14127960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.62592 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:199.91, Y:-0.40, Z:-2.13 [[ 9.99936671e-01 4.43818774e-03 -1.03419734e-02 1.99905599e+02] [-4.42601592e-03 9.99989486e-01 1.19952432e-03 -3.97628439e-01] [ 1.03471884e-02 -1.15367462e-03 9.99945801e-01 -2.13002333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.65592 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:199.93, Y:-0.40, Z:-2.14 [[ 9.99944303e-01 -2.12099471e-03 -1.03389032e-02 1.99934877e+02] [ 2.12087085e-03 9.99997751e-01 -2.29439982e-05 -3.95583090e-01] [ 1.03389286e-02 1.01524179e-06 9.99946552e-01 -2.13555001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.68592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:199.96, Y:-0.39, Z:-2.14 [[ 9.99945727e-01 -1.28551629e-03 -1.03387626e-02 1.99962672e+02] [ 1.28479902e-03 9.99999172e-01 -7.60177026e-05 -3.93590997e-01] [ 1.03388518e-02 6.27303448e-05 9.99946551e-01 -2.13613977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.71592 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:199.99, Y:-0.39, Z:-2.14 [[ 9.99945750e-01 1.26811427e-03 -1.03387273e-02 1.99991333e+02] [-1.26909093e-03 9.99999191e-01 -8.79064701e-05 -3.86533681e-01] [ 1.03386075e-02 1.01022486e-04 9.99946550e-01 -2.13754643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.74592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:200.02, Y:-0.38, Z:-2.14 [[ 9.99937886e-01 4.16314156e-03 -1.03388395e-02 2.00021730e+02] [-4.16389596e-03 9.99991330e-01 -5.14435047e-05 -3.81825272e-01] [ 1.03385357e-02 9.44901614e-05 9.99946551e-01 -2.14128773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.77592 meters Centerline goodness : 0.998558 Centerline is valid? [True, True] Translation: X:200.05, Y:-0.38, Z:-2.13 [[ 9.99931973e-01 5.39975470e-03 -1.03388971e-02 2.00051218e+02] [-5.40039338e-03 9.99985417e-01 -3.38575394e-05 -3.76838597e-01] [ 1.03385635e-02 8.96893477e-05 9.99946552e-01 -2.12735792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.80592000000001 meters Centerline goodness : 0.998410 Centerline is valid? [True, True] Translation: X:200.08, Y:-0.37, Z:-2.13 [[ 9.99929462e-01 5.84646926e-03 -1.03387663e-02 2.00081256e+02] [-5.84750767e-03 9.99982901e-01 -7.02122154e-05 -3.73914546e-01] [ 1.03381790e-02 1.30663278e-04 9.99946551e-01 -2.12854544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.83592000000002 meters Centerline goodness : 0.998505 Centerline is valid? [True, True] Translation: X:200.11, Y:-0.37, Z:-2.13 [[ 9.99923199e-01 6.83417875e-03 -1.03387960e-02 2.00109965e+02] [-6.83518407e-03 9.99976638e-01 -6.19050337e-05 -3.70896462e-01] [ 1.03381314e-02 1.32567853e-04 9.99946551e-01 -2.12788362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.86592000000002 meters Centerline goodness : 0.998707 Centerline is valid? [True, True] Translation: X:200.14, Y:-0.36, Z:-2.13 [[ 9.99921933e-01 7.01710526e-03 -1.03386985e-02 2.00139305e+02] [-7.01839773e-03 9.99975367e-01 -8.87369138e-05 -3.63599660e-01] [ 1.03378212e-02 1.61291085e-04 9.99946550e-01 -2.12845660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.89592000000002 meters Centerline goodness : 0.998061 Centerline is valid? [True, True] Translation: X:200.17, Y:-0.36, Z:-2.13 [[ 9.99926409e-01 6.34713390e-03 -1.03388171e-02 2.00168044e+02] [-6.34805129e-03 9.99979849e-01 -5.59177281e-05 -3.61291379e-01] [ 1.03382539e-02 1.21544955e-04 9.99946551e-01 -2.12709278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.92592000000002 meters Centerline goodness : 0.997914 Centerline is valid? [True, True] Translation: X:200.20, Y:-0.35, Z:-2.13 [[ 9.99934245e-01 4.96132148e-03 -1.03387926e-02 2.00196922e+02] [-4.96222790e-03 9.99987686e-01 -6.20209949e-05 -3.54949805e-01] [ 1.03383576e-02 1.13320362e-04 9.99946551e-01 -2.12641103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.95592 meters Centerline goodness : 0.997865 Centerline is valid? [True, True] Translation: X:200.23, Y:-0.35, Z:-2.12 [[ 9.99935359e-01 4.73210532e-03 -1.03384904e-02 2.00228353e+02] [-4.73376375e-03 9.99988786e-01 -1.35947638e-04 -3.51196941e-01] [ 1.03377312e-02 1.84878821e-04 9.99946547e-01 -2.12428599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.98592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:200.26, Y:-0.35, Z:-2.14 [[ 9.99919308e-01 7.38163922e-03 -1.03386896e-02 2.00259913e+02] [-7.38292569e-03 9.99972742e-01 -8.62712964e-05 -3.47614133e-01] [ 1.03377710e-02 1.62594112e-04 9.99946551e-01 -2.13938862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.01592 meters Centerline goodness : 0.998455 Centerline is valid? [True, True] Translation: X:200.29, Y:-0.34, Z:-2.12 [[ 9.99933318e-01 5.14455483e-03 -1.03388693e-02 2.00287560e+02] [-5.14525985e-03 9.99986762e-01 -4.15936091e-05 -3.42180454e-01] [ 1.03385185e-02 9.47870048e-05 9.99946552e-01 -2.12295734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.04592 meters Centerline goodness : 0.998707 Centerline is valid? [True, True] Translation: X:200.32, Y:-0.34, Z:-2.13 [[ 9.99932296e-01 5.34023176e-03 -1.03385058e-02 2.00315919e+02] [-5.34183054e-03 9.99985724e-01 -1.27035815e-04 -3.35532530e-01] [ 1.03376798e-02 1.82253760e-04 9.99946548e-01 -2.12613690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.07592 meters Centerline goodness : 0.997662 Centerline is valid? [True, True] Translation: X:200.35, Y:-0.33, Z:-2.12 [[ 9.99929810e-01 5.78717179e-03 -1.03384204e-02 2.00345650e+02] [-5.78899503e-03 9.99983233e-01 -1.46438783e-04 -3.31684092e-01] [ 1.03373996e-02 2.06277569e-04 9.99946546e-01 -2.12220740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.10592 meters Centerline goodness : 0.998806 Centerline is valid? [True, True] Translation: X:200.37, Y:-0.33, Z:-2.12 [[ 9.99938990e-01 3.88969937e-03 -1.03385530e-02 2.00374269e+02] [-3.89108946e-03 9.99992423e-01 -1.14345855e-04 -3.28565516e-01] [ 1.03380299e-02 1.54567114e-04 9.99946549e-01 -2.12424756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.13592 meters Centerline goodness : 0.998263 Centerline is valid? [True, True] Translation: X:200.40, Y:-0.32, Z:-2.12 [[ 9.99946055e-01 1.00277277e-03 -1.03383810e-02 2.00404290e+02] [-1.00445358e-03 9.99999483e-01 -1.57388728e-04 -3.23116543e-01] [ 1.03382178e-02 1.67764662e-04 9.99946545e-01 -2.12102644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.16592 meters Centerline goodness : 0.998263 Centerline is valid? [True, True] Translation: X:200.43, Y:-0.32, Z:-2.12 [[ 9.99945858e-01 1.18308327e-03 -1.03383643e-02 2.00432651e+02] [-1.18481826e-03 9.99999285e-01 -1.61697521e-04 -3.22910997e-01] [ 1.03381656e-02 1.73937850e-04 9.99946545e-01 -2.12073249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.19592 meters Centerline goodness : 0.997867 Centerline is valid? [True, True] Translation: X:200.46, Y:-0.32, Z:-2.12 [[ 9.99946214e-01 -8.28843874e-04 -1.03383696e-02 2.00461218e+02] [ 8.27231088e-04 9.99999645e-01 -1.60275255e-04 -3.20802586e-01] [ 1.03384987e-02 1.51714413e-04 9.99946545e-01 -2.11997039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.22592 meters Centerline goodness : 0.964348 Centerline is valid? [True, True] Translation: X:200.50, Y:-0.35, Z:-2.13 [[ 9.97388692e-01 -7.14766921e-02 -1.03382249e-02 2.00502397e+02] [ 7.14784466e-02 9.97442124e-01 -2.00157841e-04 -3.51928719e-01] [ 1.03260877e-02 -5.39325093e-04 9.99946539e-01 -2.13221482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.25592 meters Centerline goodness : 0.998011 Centerline is valid? [True, True] Translation: X:200.52, Y:-0.32, Z:-2.12 [[ 9.99922512e-01 -6.93167032e-03 -1.03403228e-02 2.00520372e+02] [ 6.93635301e-03 9.99975856e-01 4.17062510e-04 -3.16160283e-01] [ 1.03371822e-02 -4.88754322e-04 9.99946450e-01 -2.12085713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.28592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:200.55, Y:-0.31, Z:-2.13 [[ 9.99934121e-01 -4.98968450e-03 -1.03371383e-02 2.00553437e+02] [ 4.98782657e-03 9.99987540e-01 -2.05507137e-04 -3.13593024e-01] [ 1.03380349e-02 1.53933746e-04 9.99946549e-01 -2.13388073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.31592 meters Centerline goodness : 0.994932 Centerline is valid? [True, True] Translation: X:200.54, Y:-0.32, Z:-2.13 [[ 9.99893676e-01 -1.02842223e-02 -1.03378832e-02 2.00544278e+02] [ 1.02842624e-02 9.99947114e-01 -4.92864849e-05 -3.23554821e-01] [ 1.03378433e-02 -5.70362587e-05 9.99946561e-01 -2.12970135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.34592 meters Centerline goodness : 0.817004 Centerline is valid? [True, False] Translation: X:200.56, Y:-0.31, Z:-2.12 [[ 9.99894395e-01 -6.98596203e-03 -1.27434230e-02 2.00564843e+02] [ 6.88846606e-03 9.99946793e-01 -7.67860548e-03 -3.14364326e-01] [ 1.27963875e-02 7.59001194e-03 9.99889316e-01 -2.12497662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.37592 meters Centerline goodness : 0.999355 Centerline is valid? [False, True] Translation: X:200.57, Y:-0.32, Z:-2.13 [[ 9.99913285e-01 -2.83099390e-03 -1.28610965e-02 2.00565045e+02] [ 2.79059812e-03 9.99991120e-01 -3.15778875e-03 -3.16028800e-01] [ 1.28699220e-02 3.12162477e-03 9.99912306e-01 -2.12534690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.40592 meters Centerline goodness : 0.999405 Centerline is valid? [True, True] Translation: X:200.59, Y:-0.32, Z:-2.13 [[ 9.99910067e-01 -3.79826368e-03 -1.28619696e-02 2.00593354e+02] [ 3.79853546e-03 9.99992786e-01 -3.29881319e-06 -3.18366274e-01] [ 1.28618893e-02 -4.55581309e-05 9.99917281e-01 -2.12622783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.43592 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:200.62, Y:-0.32, Z:-2.13 [[ 9.99896092e-01 -6.50961738e-03 -1.28619656e-02 2.00621731e+02] [ 6.51004037e-03 9.99978809e-01 -8.98034040e-06 -3.18292355e-01] [ 1.28617515e-02 -7.47525080e-05 9.99917281e-01 -2.12581068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.46592 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:200.65, Y:-0.32, Z:-2.13 [[ 9.99881653e-01 -8.44101830e-03 -1.28619643e-02 2.00650145e+02] [ 8.44158051e-03 9.99964369e-01 -1.05795167e-05 -3.18899157e-01] [ 1.28615953e-02 -9.79970423e-05 9.99917281e-01 -2.12642962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.49592 meters Centerline goodness : 0.998610 Centerline is valid? [True, True] Translation: X:200.68, Y:-0.32, Z:-2.11 [[ 9.99845910e-01 -1.19468377e-02 -1.28619565e-02 2.00677586e+02] [ 1.19476126e-02 9.99928625e-01 -1.65925182e-05 -3.18367214e-01] [ 1.28612367e-02 -1.37079712e-04 9.99917281e-01 -2.10926955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.52592 meters Centerline goodness : 0.994445 Centerline is valid? [True, True] Translation: X:200.71, Y:-0.30, Z:-2.12 [[ 9.99774780e-01 1.68808957e-02 -1.28617476e-02 2.00708097e+02] [-1.68842565e-02 9.99857439e-01 -1.52752537e-04 -3.03621566e-01] [ 1.28573354e-02 3.69879179e-04 9.99917273e-01 -2.11758854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.55592000000001 meters Centerline goodness : 0.998463 Centerline is valid? [True, True] Translation: X:200.74, Y:-0.32, Z:-2.11 [[ 9.99834148e-01 -1.28937453e-02 -1.28618641e-02 2.00735702e+02] [ 1.28939734e-02 9.99916867e-01 -6.51914446e-05 -3.16592235e-01] [ 1.28616354e-02 -1.00659901e-04 9.99917281e-01 -2.10883555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.58592000000002 meters Centerline goodness : 0.969689 Centerline is valid? [True, True] Translation: X:200.73, Y:-0.36, Z:-2.11 [[ 9.96322486e-01 -8.47117334e-02 -1.28617707e-02 2.00729252e+02] [ 8.47168447e-02 9.96405055e-01 -1.47878837e-04 -3.59824869e-01] [ 1.28280604e-02 -9.42273622e-04 9.99917273e-01 -2.11440919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.61592000000002 meters Centerline goodness : 0.998809 Centerline is valid? [True, True] Translation: X:200.79, Y:-0.31, Z:-2.11 [[ 9.99892629e-01 -7.03571221e-03 -1.28541522e-02 2.00793724e+02] [ 7.01158547e-03 9.99973573e-01 -1.92106381e-03 -3.13757250e-01] [ 1.28673285e-02 1.83072955e-03 9.99915537e-01 -2.10705811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.64592000000002 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:200.83, Y:-0.31, Z:-2.12 [[ 9.99900417e-01 -5.83356595e-03 -1.28501150e-02 2.00825601e+02] [ 5.83338711e-03 9.99982984e-01 -5.13989697e-05 -3.13565451e-01] [ 1.28501961e-02 -2.35658437e-05 9.99917433e-01 -2.12269912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.67592000000002 meters Centerline goodness : 0.998263 Centerline is valid? [True, True] Translation: X:200.85, Y:-0.31, Z:-2.10 [[ 9.99895163e-01 -6.67396295e-03 -1.28499551e-02 2.00853368e+02] [ 6.67485330e-03 9.99977723e-01 2.64013650e-05 -3.13667448e-01] [ 1.28494927e-02 -1.12170163e-04 9.99917436e-01 -2.10319595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.70592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:200.89, Y:-0.31, Z:-2.12 [[ 9.99916406e-01 -1.43271246e-03 -1.28502116e-02 2.00885652e+02] [ 1.43128718e-03 9.99998968e-01 -1.20111202e-04 -3.10754188e-01] [ 1.28503704e-02 1.01708819e-04 9.99917425e-01 -2.12252606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.73592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:200.91, Y:-0.31, Z:-2.12 [[ 9.99917110e-01 -8.07736599e-04 -1.28499012e-02 2.00913680e+02] [ 8.08151605e-04 9.99999673e-01 2.71039424e-05 -3.08341710e-01] [ 1.28498751e-02 -3.74863640e-05 9.99917436e-01 -2.12291579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.76592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:200.94, Y:-0.30, Z:-2.12 [[ 9.99915634e-01 1.89876833e-03 -1.28499115e-02 2.00942516e+02] [-1.89865919e-03 9.99998197e-01 2.06924207e-05 -3.02777704e-01] [ 1.28499276e-02 3.70692767e-06 9.99917436e-01 -2.12170048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.79592 meters Centerline goodness : 0.997521 Centerline is valid? [True, True] Translation: X:200.97, Y:-0.30, Z:-2.10 [[ 9.99917386e-01 3.18039039e-04 -1.28499181e-02 2.00969499e+02] [-3.17871860e-04 9.99999949e-01 1.50525030e-05 -3.00485428e-01] [ 1.28499223e-02 -1.09666321e-05 9.99917436e-01 -2.10119992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.82592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:201.00, Y:-0.29, Z:-2.12 [[ 9.99902367e-01 5.48929391e-03 -1.28500400e-02 2.01002206e+02] [-5.49162020e-03 9.99984910e-01 -1.45755515e-04 -2.94311178e-01] [ 1.28490460e-02 2.16308824e-04 9.99917424e-01 -2.11995996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.85592 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:201.03, Y:-0.29, Z:-2.10 [[ 9.99913901e-01 2.65902961e-03 -1.28498736e-02 2.01028738e+02] [-2.65907644e-03 9.99996465e-01 1.34408297e-05 -2.90971449e-01] [ 1.28498639e-02 2.07291238e-05 9.99917437e-01 -2.10345339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.88592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:201.06, Y:-0.29, Z:-2.12 [[ 9.99897979e-01 6.23770985e-03 -1.28499954e-02 2.01061692e+02] [-6.24007018e-03 9.99980520e-01 -1.43596939e-04 -2.86499040e-01] [ 1.28488493e-02 2.23767162e-04 9.99917425e-01 -2.11936038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.91592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:201.09, Y:-0.28, Z:-2.12 [[ 9.99910281e-01 3.78319988e-03 -1.28498234e-02 2.01090551e+02] [-3.78333193e-03 9.99992843e-01 1.40326062e-05 -2.79786087e-01] [ 1.28497845e-02 3.45837998e-05 9.99917438e-01 -2.11990261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.94592 meters Centerline goodness : 0.999405 Centerline is valid? [True, True] Translation: X:201.12, Y:-0.28, Z:-2.12 [[ 9.99915504e-01 1.96637410e-03 -1.28498271e-02 2.01119613e+02] [-1.96642905e-03 9.99998067e-01 8.35870301e-06 -2.77514983e-01] [ 1.28498187e-02 1.69102765e-05 9.99917438e-01 -2.12082210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.97592 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:201.15, Y:-0.27, Z:-2.12 [[ 9.99913959e-01 -2.63769744e-03 -1.28498282e-02 2.01148565e+02] [ 2.63794876e-03 9.99996521e-01 2.60865680e-06 -2.72824229e-01] [ 1.28497766e-02 -3.65056208e-05 9.99917438e-01 -2.12059313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.00592 meters Centerline goodness : 0.999257 Centerline is valid? [True, True] Translation: X:201.18, Y:-0.27, Z:-2.12 [[ 9.99901947e-01 -5.56579804e-03 -1.28498284e-02 2.01177189e+02] [ 5.56627056e-03 9.99984508e-01 1.00807857e-06 -2.69987954e-01] [ 1.28496237e-02 -7.25336011e-05 9.99917438e-01 -2.12057226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.03592 meters Centerline goodness : 0.998117 Centerline is valid? [True, True] Translation: X:201.21, Y:-0.27, Z:-2.10 [[ 9.99837397e-01 -1.26515189e-02 -1.28498283e-02 2.01206774e+02] [ 1.26525558e-02 9.99919953e-01 -6.01338741e-07 -2.66135072e-01] [ 1.28488073e-02 -1.61981929e-04 9.99917438e-01 -2.10381751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.06592 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:201.24, Y:-0.26, Z:-2.12 [[ 9.99810220e-01 -1.46426073e-02 -1.28498222e-02 2.01236997e+02] [ 1.46434898e-02 9.99892778e-01 -2.54121645e-05 -2.64204533e-01] [ 1.28488165e-02 -1.62758899e-04 9.99917437e-01 -2.12005144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.09592 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:201.27, Y:-0.26, Z:-2.12 [[ 9.99681684e-01 -2.17120434e-02 -1.28498246e-02 2.01266148e+02] [ 2.17138199e-02 9.99764227e-01 -1.26948403e-06 -2.63995415e-01] [ 1.28468225e-02 -2.77749697e-04 9.99917438e-01 -2.12121005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.12592 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:201.29, Y:-0.26, Z:-2.12 [[ 9.99616039e-01 -2.45490633e-02 -1.28498243e-02 2.01294952e+02] [ 2.45510542e-02 9.99698577e-01 -2.80407883e-06 -2.64703861e-01] [ 1.28460199e-02 -3.12673731e-04 9.99917438e-01 -2.12087392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.15592 meters Centerline goodness : 0.998116 Centerline is valid? [True, True] Translation: X:201.32, Y:-0.27, Z:-2.10 [[ 9.99427999e-01 -3.12819005e-02 -1.28498238e-02 2.01319878e+02] [ 3.12844277e-02 9.99510522e-01 -4.33759459e-06 -2.65283133e-01] [ 1.28436697e-02 -3.97664269e-04 9.99917438e-01 -2.10210725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.18592 meters Centerline goodness : 0.998017 Centerline is valid? [True, True] Translation: X:201.35, Y:-0.27, Z:-2.10 [[ 9.99246637e-01 -3.66202762e-02 -1.28496754e-02 2.01349711e+02] [ 3.66196832e-02 9.99329235e-01 -2.81507927e-04 -2.65926710e-01] [ 1.28513652e-02 -1.89255192e-04 9.99917400e-01 -2.10151374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.21592 meters Centerline goodness : 0.998460 Centerline is valid? [True, True] Translation: X:201.38, Y:-0.27, Z:-2.10 [[ 9.99223453e-01 -3.72475106e-02 -1.28496618e-02 2.01381865e+02] [ 3.72465480e-02 9.99306057e-01 -3.14301066e-04 -2.66281766e-01] [ 1.28524518e-02 -1.64548547e-04 9.99917390e-01 -2.10188818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.24592 meters Centerline goodness : 0.998907 Centerline is valid? [True, True] Translation: X:201.41, Y:-0.27, Z:-2.10 [[ 9.99096988e-01 -4.04980972e-02 -1.28496537e-02 2.01410095e+02] [ 4.04989473e-02 9.99179562e-01 -1.94152858e-04 -2.68505340e-01] [ 1.28469742e-02 -3.26419914e-04 9.99917421e-01 -2.10184194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.27592 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:201.44, Y:-0.27, Z:-2.12 [[ 9.99204130e-01 -3.77623280e-02 -1.28496533e-02 2.01442380e+02] [ 3.77629799e-02 9.99286706e-01 -1.91982449e-04 -2.68619190e-01] [ 1.28477374e-02 -2.93411543e-04 9.99917421e-01 -2.12014220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.30592000000001 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:201.47, Y:-0.27, Z:-2.12 [[ 9.99144072e-01 -3.93193822e-02 -1.28495033e-02 2.01471446e+02] [ 3.93227516e-02 9.99226561e-01 9.57877526e-06 -2.71333289e-01] [ 1.28391884e-02 -5.14848404e-04 9.99917442e-01 -2.11877179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.33592000000002 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:201.50, Y:-0.27, Z:-2.11 [[ 9.98971882e-01 -4.34749253e-02 -1.28495042e-02 2.01498311e+02] [ 4.34786191e-02 9.99054358e-01 8.12070768e-06 -2.73103787e-01] [ 1.28370002e-02 -5.66791058e-04 9.99917442e-01 -2.11251364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.36592000000002 meters Centerline goodness : 0.998958 Centerline is valid? [True, True] Translation: X:201.53, Y:-0.27, Z:-2.10 [[ 9.98982560e-01 -4.32288236e-02 -1.28496356e-02 2.01527291e+02] [ 4.32298983e-02 9.99065132e-01 -1.94238102e-04 -2.74714900e-01] [ 1.28460196e-02 -3.61447964e-04 9.99917421e-01 -2.09898646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.39592000000002 meters Centerline goodness : 0.998707 Centerline is valid? [True, True] Translation: X:201.56, Y:-0.28, Z:-2.10 [[ 9.98941459e-01 -4.41684010e-02 -1.28496577e-02 2.01556789e+02] [ 4.41693213e-02 9.99024037e-01 -2.12305178e-04 -2.75223922e-01] [ 1.28464940e-02 -3.55480213e-04 9.99917417e-01 -2.09812952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.42592000000002 meters Centerline goodness : 0.999405 Centerline is valid? [True, True] Translation: X:201.59, Y:-0.27, Z:-2.12 [[ 9.99165551e-01 -3.87696453e-02 -1.28497272e-02 2.01592288e+02] [ 3.87694824e-02 9.99248147e-01 -2.61865294e-04 -2.73603378e-01] [ 1.28502185e-02 -2.36530492e-04 9.99917405e-01 -2.11603212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.45592 meters Centerline goodness : 0.761233 Centerline is valid? [True, False] Translation: X:201.59, Y:-0.27, Z:-2.12 [[ 9.99646029e-01 -2.43055297e-02 -1.08193084e-02 2.01592230e+02] [ 2.42466958e-02 9.99690676e-01 -5.53622978e-03 -2.67870590e-01] [ 1.09505228e-02 5.27193763e-03 9.99926144e-01 -2.11743199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.48592 meters Centerline goodness : 0.999355 Centerline is valid? [False, True] Translation: X:201.59, Y:-0.26, Z:-2.12 [[ 9.99925523e-01 -1.19726592e-02 -2.36731063e-03 2.01585923e+02] [ 1.19432155e-02 9.99855665e-01 -1.20833801e-02 -2.61292894e-01] [ 2.51163914e-03 1.20542069e-02 9.99924191e-01 -2.11706522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.51592 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:201.62, Y:-0.28, Z:-2.12 [[ 9.99916800e-01 -1.27401073e-02 -2.02038331e-03 2.01617290e+02] [ 1.27402499e-02 9.99918838e-01 5.77563332e-05 -2.75301226e-01] [ 2.01948351e-03 -8.34917162e-05 9.99997957e-01 -2.11882808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.54592 meters Centerline goodness : 0.998661 Centerline is valid? [True, True] Translation: X:201.64, Y:-0.28, Z:-2.10 [[ 9.99821317e-01 -1.87949976e-02 -2.02038002e-03 2.01643791e+02] [ 1.87951529e-02 9.99823354e-01 5.78711290e-05 -2.78986310e-01] [ 2.01893544e-03 -9.58341397e-05 9.99997957e-01 -2.10116484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.57592 meters Centerline goodness : 0.998507 Centerline is valid? [True, True] Translation: X:201.68, Y:-0.28, Z:-2.10 [[ 9.99911274e-01 -1.31664897e-02 -2.02162284e-03 2.01678370e+02] [ 1.31665465e-02 9.99913317e-01 1.48065179e-05 -2.82159588e-01] [ 2.02125265e-03 -4.14229954e-05 9.99997956e-01 -2.10337329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.60592 meters Centerline goodness : 0.875062 Centerline is valid? [True, False] Translation: X:201.70, Y:-0.28, Z:-2.10 [[ 9.99975740e-01 -5.31729458e-03 -4.49945359e-03 2.01700650e+02] [ 5.31540079e-03 9.99985780e-01 -4.32745955e-04 -2.84563728e-01] [ 4.50169064e-03 4.08819058e-04 9.99989784e-01 -2.10173796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.63592 meters Centerline goodness : 0.999256 Centerline is valid? [False, True] Translation: X:201.72, Y:-0.28, Z:-2.10 [[ 9.99978673e-01 -1.31460732e-03 -6.39731190e-03 2.01722398e+02] [ 1.27515625e-03 9.99980171e-01 -6.16699676e-03 -2.80937037e-01] [ 6.40529223e-03 6.15870766e-03 9.99960520e-01 -2.09903205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.66592 meters Centerline goodness : 0.998808 Centerline is valid? [True, True] Translation: X:201.75, Y:-0.29, Z:-2.08 [[ 9.99976455e-01 -3.08014294e-03 -6.13212290e-03 2.01748459e+02] [ 3.08175468e-03 9.99995219e-01 2.53403106e-04 -2.90074294e-01] [ 6.13131306e-03 -2.72294838e-04 9.99981166e-01 -2.08346207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.69592 meters Centerline goodness : 0.998657 Centerline is valid? [True, True] Translation: X:201.78, Y:-0.29, Z:-2.08 [[ 9.99979058e-01 2.05869239e-03 -6.13561042e-03 2.01778139e+02] [-2.05769914e-03 9.99997869e-01 1.68191888e-04 -2.92549826e-01] [ 6.13594360e-03 -1.55563126e-04 9.99981163e-01 -2.08185969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.72592 meters Centerline goodness : 0.998561 Centerline is valid? [True, True] Translation: X:201.81, Y:-0.29, Z:-2.08 [[ 9.99961363e-01 6.29454910e-03 -6.13610824e-03 2.01808853e+02] [-6.29370979e-03 9.99980182e-01 1.56082548e-04 -2.92634393e-01] [ 6.13696911e-03 -1.17457633e-04 9.99981162e-01 -2.08358877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.75592 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:201.84, Y:-0.29, Z:-2.10 [[ 9.99906430e-01 1.22270324e-02 -6.13442548e-03 2.01839413e+02] [-1.22260544e-02 9.99925240e-01 1.96902704e-04 -2.93230757e-01] [ 6.13637441e-03 -1.21884461e-04 9.99981165e-01 -2.09792102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.78592 meters Centerline goodness : 0.998710 Centerline is valid? [True, True] Translation: X:201.87, Y:-0.30, Z:-2.08 [[ 9.99912167e-01 1.17497342e-02 -6.13208157e-03 2.01867540e+02] [-1.17483998e-02 9.99930953e-01 2.53582901e-04 -2.95065743e-01] [ 6.13463770e-03 -1.81518482e-04 9.99981166e-01 -2.08052543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.81592 meters Centerline goodness : 0.998711 Centerline is valid? [True, True] Translation: X:201.90, Y:-0.29, Z:-2.08 [[ 9.99907084e-01 1.21734372e-02 -6.13436737e-03 2.01896438e+02] [-1.21724536e-02 9.99925893e-01 1.97647178e-04 -2.92833814e-01] [ 6.13631882e-03 -1.22958512e-04 9.99981165e-01 -2.07716526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.84592 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:201.93, Y:-0.29, Z:-2.10 [[ 9.99887195e-01 1.37096518e-02 -6.13529560e-03 2.01927953e+02] [-1.37088377e-02 9.99906014e-01 1.74732074e-04 -2.91677933e-01] [ 6.13711448e-03 -9.06045918e-05 9.99981164e-01 -2.09691219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.87592 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:201.96, Y:-0.29, Z:-2.10 [[ 9.99903090e-01 1.24982449e-02 -6.13224017e-03 2.01956013e+02] [-1.24969481e-02 9.99921879e-01 2.49753069e-04 -2.91548025e-01] [ 6.13488259e-03 -1.73094578e-04 9.99981166e-01 -2.09652642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.90592 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:201.98, Y:-0.29, Z:-2.10 [[ 9.99907118e-01 1.21716655e-02 -6.13235693e-03 2.01984281e+02] [-1.21703803e-02 9.99925908e-01 2.46852427e-04 -2.90066205e-01] [ 6.13490718e-03 -1.72196382e-04 9.99981166e-01 -2.09682469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.93592 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:202.01, Y:-0.29, Z:-2.08 [[ 9.99937109e-01 9.38994915e-03 -6.13247156e-03 2.02011166e+02] [-9.38862933e-03 9.99955896e-01 2.43971252e-04 -2.89855114e-01] [ 6.13449197e-03 -1.86380406e-04 9.99981166e-01 -2.08216471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.96592 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:202.04, Y:-0.29, Z:-2.10 [[ 9.99927929e-01 1.03197542e-02 -6.13505771e-03 2.02042838e+02] [-1.03188553e-02 9.99946743e-01 1.78152729e-04 -2.88611267e-01] [ 6.13656947e-03 -1.14833116e-04 9.99981164e-01 -2.09620449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.99592 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:202.07, Y:-0.29, Z:-2.08 [[ 9.99953442e-01 7.45021821e-03 -6.13250333e-03 2.02070429e+02] [-7.44886976e-03 9.99972227e-01 2.42697410e-04 -2.90004303e-01] [ 6.13414116e-03 -1.97005892e-04 9.99981167e-01 -2.07976701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.02592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.10, Y:-0.29, Z:-2.09 [[ 9.99969786e-01 4.77323767e-03 -6.13540005e-03 2.02099853e+02] [-4.77229515e-03 9.99988598e-01 1.68251348e-04 -2.89518722e-01] [ 6.13613320e-03 -1.38966325e-04 9.99981164e-01 -2.09266557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.05592000000001 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:202.13, Y:-0.29, Z:-2.07 [[ 9.99965929e-01 5.52216548e-03 -6.13564445e-03 2.02126564e+02] [-5.52127560e-03 9.99984745e-01 1.61962943e-04 -2.89688423e-01] [ 6.13644524e-03 -1.28080841e-04 9.99981164e-01 -2.07205770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.08592000000002 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:202.15, Y:-0.29, Z:-2.07 [[ 9.99963307e-01 5.97588762e-03 -6.13794424e-03 2.02154975e+02] [-5.97537077e-03 9.99982142e-01 1.02541670e-04 -2.90506442e-01] [ 6.13844741e-03 -6.58614146e-05 9.99981157e-01 -2.07186973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.11592000000002 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:202.19, Y:-0.29, Z:-2.08 [[ 9.99959779e-01 6.53961692e-03 -6.13786684e-03 2.02186292e+02] [-6.53909858e-03 9.99978614e-01 1.04514304e-04 -2.89095470e-01] [ 6.13841906e-03 -6.43739840e-05 9.99981158e-01 -2.07725747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.14592000000002 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:202.22, Y:-0.29, Z:-2.08 [[ 9.99948135e-01 8.12860611e-03 -6.13620084e-03 2.02216302e+02] [-8.12786281e-03 9.99966958e-01 1.46062477e-04 -2.88255287e-01] [ 6.13718537e-03 -9.61807033e-05 9.99981163e-01 -2.07785657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.17592000000002 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:202.25, Y:-0.29, Z:-2.08 [[ 9.99930657e-01 1.00521392e-02 -6.13474354e-03 2.02245375e+02] [-1.00512123e-02 9.99949469e-01 1.81895077e-04 -2.88080120e-01] [ 6.13626198e-03 -1.20220854e-04 9.99981166e-01 -2.07843897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.20592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:202.27, Y:-0.29, Z:-2.08 [[ 9.99944083e-01 8.61401791e-03 -6.13430048e-03 2.02274617e+02] [-8.61299713e-03 9.99962889e-01 1.92805085e-04 -2.88143922e-01] [ 6.13573365e-03 -1.39959592e-04 9.99981166e-01 -2.07746781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.23592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:202.31, Y:-0.29, Z:-2.10 [[ 9.99926577e-01 1.04498716e-02 -6.13513450e-03 2.02306142e+02] [-1.04490127e-02 9.99945393e-01 1.72041228e-04 -2.87480602e-01] [ 6.13659728e-03 -1.07922498e-04 9.99981165e-01 -2.09692537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.26592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:202.33, Y:-0.29, Z:-2.08 [[ 9.99937089e-01 9.39233972e-03 -6.13206989e-03 2.02333632e+02] [-9.39099616e-03 9.99955873e-01 2.47860140e-04 -2.87710777e-01] [ 6.13412729e-03 -1.90258302e-04 9.99981168e-01 -2.07607606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.29592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:202.36, Y:-0.29, Z:-2.08 [[ 9.99927851e-01 1.03273740e-02 -6.13495442e-03 2.02364792e+02] [-1.03264903e-02 9.99946665e-01 1.75694451e-04 -2.88552417e-01] [ 6.13644167e-03 -1.12329228e-04 9.99981166e-01 -2.07786301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.32592 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] Translation: X:202.37, Y:-0.30, Z:-2.07 [[ 9.99890061e-01 -1.34998914e-02 -6.13345121e-03 2.02373112e+02] [ 1.35014517e-02 9.99908829e-01 2.13051941e-04 -3.00193687e-01] [ 6.13001584e-03 -2.95839013e-04 9.99981168e-01 -2.07024905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.35592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:202.42, Y:-0.29, Z:-2.08 [[ 9.99955567e-01 7.14175473e-03 -6.15301193e-03 2.02421038e+02] [-7.14364569e-03 9.99974443e-01 -2.85399131e-04 -2.88303141e-01] [ 6.15081643e-03 3.29341387e-04 9.99981029e-01 -2.07715679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.38592 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:202.45, Y:-0.29, Z:-2.08 [[ 9.99955702e-01 7.13916038e-03 -6.13409775e-03 2.02451087e+02] [-7.13831022e-03 9.99974509e-01 1.60478194e-04 -2.91006442e-01] [ 6.13508707e-03 -1.16683992e-04 9.99981173e-01 -2.07662530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.41592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:202.48, Y:-0.29, Z:-2.10 [[ 9.99960293e-01 6.46583730e-03 -6.13230969e-03 2.02482261e+02] [-6.46471799e-03 9.99979083e-01 2.02331858e-04 -2.93774589e-01] [ 6.13348966e-03 -1.62680171e-04 9.99981177e-01 -2.09734794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.44592 meters Centerline goodness : 0.997268 Centerline is valid? [True, True] Translation: X:202.49, Y:-0.32, Z:-2.07 [[ 9.99749227e-01 -2.15385563e-02 -6.12974635e-03 2.02488331e+02] [ 2.15405674e-02 9.99767941e-01 2.62247371e-04 -3.15587553e-01] [ 6.12267545e-03 -3.94219821e-04 9.99981179e-01 -2.07290971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.47592 meters Centerline goodness : 0.993702 Centerline is valid? [True, True] Translation: X:202.51, Y:-0.33, Z:-2.07 [[ 9.98968778e-01 -4.49835056e-02 -6.15344851e-03 2.02511124e+02] [ 4.49825072e-02 9.98987729e-01 -3.00620407e-04 -3.30981462e-01] [ 6.16074251e-03 2.35128580e-05 9.99981022e-01 -2.07371133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.50592 meters Centerline goodness : 0.998712 Centerline is valid? [True, True] Translation: X:202.57, Y:-0.30, Z:-2.08 [[ 9.99804801e-01 1.87713246e-02 -6.16415272e-03 2.02571810e+02] [-1.87748064e-02 9.99823609e-01 -5.07474203e-04 -2.97391690e-01] [ 6.15353945e-03 6.23105918e-04 9.99980873e-01 -2.08001610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.53592 meters Centerline goodness : 0.998909 Centerline is valid? [True, True] Translation: X:202.60, Y:-0.30, Z:-2.08 [[ 9.99750245e-01 2.14944164e-02 -6.11860340e-03 2.02603063e+02] [-2.14930017e-02 9.99768955e-01 2.96873490e-04 -3.01583930e-01] [ 6.12357085e-03 -1.65292191e-04 9.99981237e-01 -2.08103336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.56592 meters Centerline goodness : 0.998563 Centerline is valid? [True, True] Translation: X:202.63, Y:-0.31, Z:-2.08 [[ 9.99653076e-01 2.56186111e-02 -6.11677236e-03 2.02634016e+02] [-2.56170759e-02 9.99671775e-01 3.29201487e-04 -3.05879902e-01] [ 6.12319836e-03 -1.72393457e-04 9.99981238e-01 -2.07804957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.59592 meters Centerline goodness : 0.997023 Centerline is valid? [True, True] Translation: X:202.66, Y:-0.30, Z:-2.08 [[ 9.98917873e-01 4.61054022e-02 -6.11350840e-03 2.02663621e+02] [-4.61039014e-02 9.98936575e-01 3.86266413e-04 -3.03879209e-01] [ 6.12481611e-03 -1.03991835e-04 9.99981238e-01 -2.08157771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.62592 meters Centerline goodness : 0.998361 Centerline is valid? [True, True] Translation: X:202.69, Y:-0.32, Z:-2.08 [[ 9.99767116e-01 2.06971852e-02 -6.11073045e-03 2.02685755e+02] [-2.06949074e-02 9.99785743e-01 4.35763281e-04 -3.18139867e-01] [ 6.11844025e-03 -3.09200798e-04 9.99981234e-01 -2.07754176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.65592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.72, Y:-0.32, Z:-2.10 [[ 9.99731760e-01 2.23373174e-02 -6.11990143e-03 2.02716945e+02] [-2.23360861e-02 9.99750482e-01 2.69469576e-04 -3.23318139e-01] [ 6.12439363e-03 -1.32702648e-04 9.99981237e-01 -2.09869892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.68592 meters Centerline goodness : 0.998065 Centerline is valid? [True, True] Translation: X:202.74, Y:-0.33, Z:-2.08 [[ 9.99737830e-01 2.20650257e-02 -6.11600438e-03 2.02742645e+02] [-2.20633603e-02 9.99756517e-01 3.39644337e-04 -3.27963277e-01] [ 6.12200950e-03 -2.04615684e-04 9.99981239e-01 -2.07776971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.71592 meters Centerline goodness : 0.717497 Centerline is valid? [True, False] Translation: X:202.73, Y:-0.33, Z:-2.08 [[ 9.99915012e-01 1.06286673e-02 7.54991091e-03 2.02730303e+02] [-1.06471579e-02 9.99940406e-01 2.41315937e-03 -3.31204556e-01] [-7.52381230e-03 -2.49333937e-03 9.99968587e-01 -2.07974684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.74592 meters Centerline goodness : 0.995086 Centerline is valid? [False, True] Translation: X:202.73, Y:-0.33, Z:-2.08 [[ 9.99968681e-01 2.59248491e-03 7.47765954e-03 2.02730450e+02] [-2.53928867e-03 9.99971466e-01 -7.11476582e-03 -3.25678456e-01] [-7.49589109e-03 7.09555505e-03 9.99946731e-01 -2.07841384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.77592 meters Centerline goodness : 0.996972 Centerline is valid? [True, True] Translation: X:202.78, Y:-0.32, Z:-2.08 [[ 9.99317114e-01 3.60985243e-02 7.88688292e-03 2.02777480e+02] [-3.60952849e-02 9.99348200e-01 -5.52731154e-04 -3.19246716e-01] [-7.90169503e-03 2.67674415e-04 9.99968745e-01 -2.07620943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.80592000000001 meters Centerline goodness : 0.998361 Centerline is valid? [True, True] Translation: X:202.81, Y:-0.32, Z:-2.08 [[ 9.99440626e-01 3.24980232e-02 7.89386612e-03 2.02806340e+02] [-3.24955065e-02 9.99471782e-01 -4.46900245e-04 -3.23154698e-01] [-7.90421981e-03 1.90135082e-04 9.99968743e-01 -2.08391110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.83592000000002 meters Centerline goodness : 0.998263 Centerline is valid? [True, True] Translation: X:202.84, Y:-0.33, Z:-2.08 [[ 9.99333399e-01 3.56419014e-02 7.90010088e-03 2.02837582e+02] [-3.56402264e-02 9.99364623e-01 -3.52749611e-04 -3.27023434e-01] [-7.90765401e-03 7.09530840e-05 9.99968731e-01 -2.08205358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.86592000000002 meters Centerline goodness : 0.867636 Centerline is valid? [True, False] Translation: X:202.83, Y:-0.34, Z:-2.08 [[ 9.99576696e-01 2.23186316e-02 1.86630071e-02 2.02829370e+02] [-2.23842834e-02 9.99743940e-01 3.31625755e-03 -3.36104211e-01] [-1.85842139e-02 -3.73261180e-03 9.99820331e-01 -2.08314559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.89592000000002 meters Centerline goodness : 0.998808 Centerline is valid? [False, True] Translation: X:202.86, Y:-0.34, Z:-2.08 [[ 9.99882619e-01 8.65658460e-03 1.26416588e-02 2.02857172e+02] [-8.68920729e-03 9.99959053e-01 2.52792862e-03 -3.44117222e-01] [-1.26192580e-02 -2.63747789e-03 9.99916896e-01 -2.08070917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.92592000000002 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:202.89, Y:-0.34, Z:-2.10 [[ 9.99818214e-01 1.43773026e-02 1.25232624e-02 2.02891501e+02] [-1.43755712e-02 9.99896640e-01 -2.28271944e-04 -3.44758373e-01] [-1.25252499e-02 4.82013977e-05 9.99921555e-01 -2.09620069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.95592 meters Centerline goodness : 0.638144 Centerline is valid? [True, False] Translation: X:202.91, Y:-0.35, Z:-2.09 [[ 9.99977254e-01 4.56643911e-03 4.96371845e-03 2.02914789e+02] [-4.55906888e-03 9.99988490e-01 -1.49512348e-03 -3.49702128e-01] [-4.97048870e-03 1.47245954e-03 9.99986563e-01 -2.09330086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.98592 meters Centerline goodness : 0.998659 Centerline is valid? [False, True] Translation: X:202.92, Y:-0.35, Z:-2.09 [[ 9.99988223e-01 5.13134079e-04 4.82611325e-03 2.02915231e+02] [-4.87862400e-04 9.99986172e-01 -5.23616589e-03 -3.51576087e-01] [-4.82873337e-03 5.23374974e-03 9.99974645e-01 -2.09285270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.01592 meters Centerline goodness : 0.998609 Centerline is valid? [True, True] Translation: X:202.95, Y:-0.36, Z:-2.09 [[ 9.99945533e-01 9.17902670e-03 4.96757099e-03 2.02947990e+02] [-9.17841567e-03 9.99957867e-01 -1.45788731e-04 -3.59865515e-01] [-4.96869989e-03 1.00186359e-04 9.99987651e-01 -2.09454797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.04592 meters Centerline goodness : 0.726884 Centerline is valid? [True, False] Translation: X:202.95, Y:-0.36, Z:-2.09 [[ 9.99976000e-01 5.07906054e-03 4.71204610e-03 2.02948562e+02] [-5.05764167e-03 9.99976875e-01 -4.54639049e-03 -3.58915643e-01] [-4.73502853e-03 4.52244954e-03 9.99978563e-01 -2.09457518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.07592 meters Centerline goodness : 0.997669 Centerline is valid? [False, True] Translation: X:202.95, Y:-0.36, Z:-2.09 [[ 9.99989554e-01 1.10375936e-03 4.43557612e-03 2.02949291e+02] [-1.06423877e-03 9.99959806e-01 -8.90241687e-03 -3.58036131e-01] [-4.44522397e-03 8.89760336e-03 9.99950535e-01 -2.09452333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.10592 meters Centerline goodness : 0.998312 Centerline is valid? [True, True] Translation: X:202.98, Y:-0.37, Z:-2.10 [[ 9.99967676e-01 6.62564947e-03 4.55507243e-03 2.02981372e+02] [-6.62544781e-03 9.99978050e-01 -5.93606356e-05 -3.67467929e-01] [-4.55536575e-03 2.91793221e-05 9.99989624e-01 -2.09615079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.13592 meters Centerline goodness : 0.847856 Centerline is valid? [True, False] Translation: X:202.98, Y:-0.36, Z:-2.10 [[ 9.99989672e-01 -1.30541573e-03 4.35345323e-03 2.02981986e+02] [ 1.34765358e-03 9.99951916e-01 -9.71336860e-03 -3.60757770e-01] [-4.34056391e-03 9.71913523e-03 9.99943347e-01 -2.09531870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.16592 meters Centerline goodness : 0.997965 Centerline is valid? [False, True] Translation: X:202.98, Y:-0.36, Z:-2.10 [[ 9.99990392e-01 -1.25070875e-03 4.20136809e-03 2.02982419e+02] [ 1.29003572e-03 9.99955260e-01 -9.37088402e-03 -3.62343263e-01] [-4.18945987e-03 9.37621390e-03 9.99947266e-01 -2.09553064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.19592 meters Centerline goodness : 0.766931 Centerline is valid? [True, False] Translation: X:202.99, Y:-0.36, Z:-2.10 [[ 9.99989410e-01 -3.29643267e-03 3.21156300e-03 2.02987768e+02] [ 3.33396084e-03 9.99925398e-01 -1.17509103e-02 -3.60398884e-01] [-3.17258733e-03 1.17614931e-02 9.99925798e-01 -2.09997789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.22592 meters Centerline goodness : 0.752885 Centerline is valid? [False, False] Translation: X:202.99, Y:-0.36, Z:-2.10 [[ 9.99990088e-01 -3.22518598e-03 3.06951111e-03 2.02988182e+02] [ 3.26110230e-03 9.99925427e-01 -1.17688148e-02 -3.60252310e-01] [-3.03132559e-03 1.17787081e-02 9.99926034e-01 -2.09993401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.25592 meters Centerline goodness : 0.999752 Centerline is valid? [False, True] Translation: X:202.99, Y:-0.36, Z:-2.10 [[ 9.99996078e-01 -2.01394056e-03 1.94638183e-03 2.02992645e+02] [ 2.03390344e-03 9.99944788e-01 -1.03094331e-02 -3.62362441e-01] [-1.92551178e-03 1.03133514e-02 9.99944962e-01 -2.10344096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.28592 meters Centerline goodness : 0.998361 Centerline is valid? [True, True] Translation: X:203.02, Y:-0.37, Z:-2.09 [[ 9.99982458e-01 -5.57920156e-03 1.98922270e-03 2.03021767e+02] [ 5.57922901e-03 9.99984436e-01 -8.25245851e-06 -3.72817318e-01] [-1.98914569e-03 1.93506427e-05 9.99998021e-01 -2.08890723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.31592 meters Centerline goodness : 0.998212 Centerline is valid? [True, True] Translation: X:203.05, Y:-0.37, Z:-2.09 [[ 9.99982774e-01 -5.52214621e-03 1.98927659e-03 2.03053532e+02] [ 5.52214589e-03 9.99984753e-01 5.65628908e-06 -3.72230847e-01] [-1.98927750e-03 5.32888391e-06 9.99998021e-01 -2.08737796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.34592 meters Centerline goodness : 0.998410 Centerline is valid? [True, True] Translation: X:203.09, Y:-0.37, Z:-2.09 [[ 9.99991527e-01 -3.60402945e-03 1.98928286e-03 2.03085062e+02] [ 3.60402243e-03 9.99993505e-01 7.11074690e-06 -3.72043088e-01] [-1.98929556e-03 5.87333959e-08 9.99998021e-01 -2.08627931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.37592 meters Centerline goodness : 0.998211 Centerline is valid? [True, True] Translation: X:203.11, Y:-0.37, Z:-2.09 [[ 9.99981917e-01 -5.67519041e-03 1.98922744e-03 2.03114630e+02] [ 5.67521178e-03 9.99983896e-01 -5.09627177e-06 -3.73540695e-01] [-1.98916649e-03 1.63854666e-05 9.99998021e-01 -2.08667203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.40592 meters Centerline goodness : 0.998414 Centerline is valid? [True, True] Translation: X:203.15, Y:-0.37, Z:-2.09 [[ 9.99994477e-01 -2.66260503e-03 1.98931017e-03 2.03147362e+02] [ 2.66258604e-03 9.99996455e-01 1.21949936e-05 -3.73402425e-01] [-1.98933559e-03 -6.89821674e-06 9.99998021e-01 -2.08715686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.43592 meters Centerline goodness : 0.997520 Centerline is valid? [True, True] Translation: X:203.18, Y:-0.37, Z:-2.09 [[ 9.99997842e-01 -5.98821821e-04 1.98927590e-03 2.03179705e+02] [ 5.98811836e-04 9.99999821e-01 5.61499068e-06 -3.72414443e-01] [-1.98927890e-03 -4.42377662e-06 9.99998021e-01 -2.08559179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.46592 meters Centerline goodness : 0.997617 Centerline is valid? [True, True] Translation: X:203.21, Y:-0.37, Z:-2.09 [[ 9.99997238e-01 1.25158039e-03 1.98922744e-03 2.03211885e+02] [-1.25157622e-03 9.99999217e-01 -3.34503036e-06 -3.72505922e-01] [-1.98923007e-03 8.55351377e-07 9.99998021e-01 -2.08650914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.49592 meters Centerline goodness : 0.998409 Centerline is valid? [True, True] Translation: X:203.24, Y:-0.37, Z:-2.09 [[ 9.99996862e-01 1.52323586e-03 1.98915310e-03 2.03240982e+02] [-1.52320510e-03 9.99998840e-01 -1.69805235e-05 -3.72548133e-01] [-1.98917665e-03 1.39505821e-05 9.99998021e-01 -2.08615768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.52592 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:203.27, Y:-0.37, Z:-2.10 [[ 9.99976509e-01 6.55922260e-03 1.98927963e-03 2.03273652e+02] [-6.55924859e-03 9.99978488e-01 6.54498703e-06 -3.69723776e-01] [-1.98919390e-03 -1.95930129e-05 9.99998021e-01 -2.09973734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.55592000000001 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:203.30, Y:-0.37, Z:-2.10 [[ 9.99966623e-01 7.92441152e-03 1.98917808e-03 2.03304999e+02] [-7.92440470e-03 9.99968601e-01 -1.13116781e-05 -3.68585958e-01] [-1.98920527e-03 -4.45175162e-06 9.99998022e-01 -2.10031190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.58592000000002 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:203.34, Y:-0.37, Z:-2.10 [[ 9.99956538e-01 9.10856172e-03 1.98917736e-03 2.03336604e+02] [-9.10855699e-03 9.99958516e-01 -1.14378681e-05 -3.68083679e-01] [-1.98919902e-03 -6.68116434e-06 9.99998022e-01 -2.10004923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.61592000000002 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:203.37, Y:-0.37, Z:-2.09 [[ 9.99930455e-01 1.16244749e-02 1.98917662e-03 2.03367237e+02] [-1.16244749e-02 9.99932433e-01 -1.15644595e-05 -3.65819299e-01] [-1.98917665e-03 -1.15594785e-05 9.99998022e-01 -2.08635360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.64592000000002 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:203.40, Y:-0.36, Z:-2.09 [[ 9.99915900e-01 1.28154320e-02 1.98918583e-03 2.03397183e+02] [-1.28154377e-02 9.99917879e-01 -9.90251803e-06 -3.64022411e-01] [-1.98914938e-03 -1.55906018e-05 9.99998022e-01 -2.08815108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.67592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.43, Y:-0.36, Z:-2.10 [[ 9.99925879e-01 1.20116857e-02 1.98913550e-03 2.03427311e+02] [-1.20116704e-02 9.99927857e-01 -1.96686287e-05 -3.61321105e-01] [-1.98922825e-03 -4.22566912e-06 9.99998021e-01 -2.09968892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.70592 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:203.46, Y:-0.36, Z:-2.09 [[ 9.99921695e-01 1.23550479e-02 1.98918412e-03 2.03458563e+02] [-1.23550529e-02 9.99923673e-01 -9.81568269e-06 -3.60962359e-01] [-1.98915357e-03 -1.47615609e-05 9.99998022e-01 -2.08730284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.73592 meters Centerline goodness : 0.998902 Centerline is valid? [True, True] Translation: X:203.49, Y:-0.36, Z:-2.08 [[ 9.99948636e-01 9.93823537e-03 1.98910786e-03 2.03488543e+02] [-9.93820309e-03 9.99950614e-01 -2.61128167e-05 -3.59371191e-01] [-1.98926914e-03 6.34331756e-06 9.99998021e-01 -2.08281432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.76592 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:203.52, Y:-0.36, Z:-2.08 [[ 9.99953021e-01 9.48679969e-03 1.98917627e-03 2.03518390e+02] [-9.48679807e-03 9.99954999e-01 -1.02527776e-05 -3.58445003e-01] [-1.98918402e-03 -8.61861767e-06 9.99998022e-01 -2.08291367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.79592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:203.55, Y:-0.36, Z:-2.10 [[ 9.99986500e-01 4.80029057e-03 1.98915942e-03 2.03548614e+02] [-4.80027131e-03 9.99988479e-01 -1.44562881e-05 -3.59439488e-01] [-1.98920590e-03 4.90758807e-06 9.99998022e-01 -2.09837929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.82592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:203.58, Y:-0.36, Z:-2.10 [[ 9.99995556e-01 2.22075628e-03 1.98918545e-03 2.03579583e+02] [-2.22074495e-03 9.99997534e-01 -7.90559970e-06 -3.60565070e-01] [-1.98919811e-03 3.48809100e-06 9.99998022e-01 -2.09862824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.85592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:203.61, Y:-0.36, Z:-2.10 [[ 9.99998001e-01 -2.04677652e-04 1.98918495e-03 2.03612303e+02] [ 2.04694033e-04 9.99999979e-01 -8.03115902e-06 -3.62205999e-01] [-1.98918326e-03 8.43831725e-06 9.99998022e-01 -2.09897723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.88592 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:203.64, Y:-0.36, Z:-2.08 [[ 9.99997702e-01 -7.99372307e-04 1.98918105e-03 2.03643137e+02] [ 7.99391595e-04 9.99999680e-01 -8.90158405e-06 -3.64196590e-01] [-1.98917330e-03 1.04916982e-05 9.99998022e-01 -2.08366232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.91592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.67, Y:-0.37, Z:-2.10 [[ 9.99993586e-01 -2.97852968e-03 1.98917091e-03 2.03673625e+02] [ 2.97855786e-03 9.99995564e-01 -1.12021032e-05 -3.67004003e-01] [-1.98912872e-03 1.71268920e-05 9.99998022e-01 -2.09948917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.94592 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:203.70, Y:-0.37, Z:-2.08 [[ 9.99996768e-01 -1.58340143e-03 1.98918076e-03 2.03704910e+02] [ 1.58342254e-03 9.99998746e-01 -9.03359561e-06 -3.67611365e-01] [-1.98916396e-03 1.21832801e-05 9.99998022e-01 -2.08208769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.97592 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:203.74, Y:-0.37, Z:-2.08 [[ 9.99997004e-01 -1.42644995e-03 1.98915932e-03 2.03736617e+02] [ 1.42648004e-03 9.99998982e-01 -1.37071385e-05 -3.67657946e-01] [-1.98913775e-03 1.65445935e-05 9.99998022e-01 -2.08214992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.00592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:203.77, Y:-0.37, Z:-2.10 [[ 9.99997615e-01 -9.01258903e-04 1.98915787e-03 2.03767291e+02] [ 9.01288561e-04 9.99999594e-01 -1.40130134e-05 -3.68097942e-01] [-1.98914444e-03 1.58057852e-05 9.99998022e-01 -2.09778954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.03592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.80, Y:-0.37, Z:-2.10 [[ 9.99997953e-01 -3.70773159e-04 1.98917840e-03 2.03799396e+02] [ 3.70793549e-04 9.99999931e-01 -9.88160313e-06 -3.69843437e-01] [-1.98917460e-03 1.06191574e-05 9.99998022e-01 -2.09933900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.06592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:203.83, Y:-0.37, Z:-2.10 [[ 9.99997986e-01 -2.67669122e-04 1.98917712e-03 2.03831450e+02] [ 2.67689807e-04 9.99999964e-01 -1.01326194e-05 -3.73274766e-01] [-1.98917433e-03 1.06650815e-05 9.99998022e-01 -2.09858714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.09592 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:203.86, Y:-0.37, Z:-2.08 [[ 9.99996327e-01 1.84122822e-03 1.98917581e-03 2.03862341e+02] [-1.84121121e-03 9.99998305e-01 -1.03826146e-05 -3.73925061e-01] [-1.98919156e-03 6.72008369e-06 9.99998022e-01 -2.08144979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.12592 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:203.89, Y:-0.37, Z:-2.08 [[ 9.99992746e-01 3.24831480e-03 1.98913415e-03 2.03894886e+02] [-3.24828444e-03 9.99994724e-01 -1.84923116e-05 -3.73500387e-01] [-1.98918372e-03 1.20309039e-05 9.99998021e-01 -2.08276508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.15592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.92, Y:-0.37, Z:-2.10 [[ 9.99996434e-01 1.78176344e-03 1.98909785e-03 2.03924392e+02] [-1.78171584e-03 9.99998412e-01 -2.57042455e-05 -3.74544617e-01] [-1.98914049e-03 2.21601467e-05 9.99998021e-01 -2.09825168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.18592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:203.96, Y:-0.37, Z:-2.10 [[ 9.99995328e-01 2.32084608e-03 1.98917476e-03 2.03956863e+02] [-2.32083204e-03 9.99997307e-01 -9.36182961e-06 -3.74820458e-01] [-1.98919113e-03 4.74524535e-06 9.99998022e-01 -2.09808441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.21592 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:203.99, Y:-0.37, Z:-2.08 [[ 9.99994774e-01 2.54859965e-03 1.98917354e-03 2.03985765e+02] [-2.54858557e-03 9.99996752e-01 -9.61387476e-06 -3.73028195e-01] [-1.98919158e-03 4.54424552e-06 9.99998022e-01 -2.08433475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.24592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:204.02, Y:-0.37, Z:-2.10 [[ 9.99986756e-01 4.74660380e-03 1.98927012e-03 2.04018385e+02] [-4.74663103e-03 9.99988735e-01 8.96828945e-06 -3.72685007e-01] [-1.98920514e-03 -1.84105020e-05 9.99998021e-01 -2.09647285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.27592 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:204.05, Y:-0.37, Z:-2.08 [[ 9.99980415e-01 5.93405711e-03 1.98916288e-03 2.04049363e+02] [-5.93404738e-03 9.99982393e-01 -1.07944855e-05 -3.74531037e-01] [-1.98919191e-03 -1.00951263e-06 9.99998022e-01 -2.07929887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.30592000000001 meters Centerline goodness : 0.998011 Centerline is valid? [True, True] Translation: X:204.08, Y:-0.37, Z:-2.08 [[ 9.99982854e-01 5.50775868e-03 1.98916414e-03 2.04080744e+02] [-5.50774856e-03 9.99984832e-01 -1.05663605e-05 -3.74241126e-01] [-1.98919217e-03 -3.89636595e-07 9.99998022e-01 -2.07813586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.33592000000002 meters Centerline goodness : 0.906954 Centerline is valid? [True, False] Translation: X:204.08, Y:-0.37, Z:-2.08 [[ 9.99996863e-01 1.43753387e-03 2.05128283e-03 2.04080629e+02] [-1.42600644e-03 9.99983247e-01 -5.61005934e-03 -3.67865033e-01] [-2.05931311e-03 5.60711660e-03 9.99982160e-01 -2.07742643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.36592000000002 meters Centerline goodness : 0.998758 Centerline is valid? [False, True] Translation: X:204.08, Y:-0.36, Z:-2.08 [[ 9.99994611e-01 -2.62124545e-03 1.97643786e-03 2.04080861e+02] [ 2.64235368e-03 9.99938682e-01 -1.07540509e-02 -3.63685310e-01] [-1.94812766e-03 1.07592154e-02 9.99940220e-01 -2.07682007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.39592000000002 meters Centerline goodness : 0.796873 Centerline is valid? [True, False] Translation: X:204.10, Y:-0.36, Z:-2.07 [[ 9.99997425e-01 -3.54051339e-04 -2.24171586e-03 2.04101692e+02] [ 3.13185419e-04 9.99834246e-01 -1.82039310e-02 -3.56938163e-01] [ 2.24778941e-03 1.82031821e-02 9.99831782e-01 -2.07164163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.42592000000002 meters Centerline goodness : 0.999702 Centerline is valid? [False, True] Translation: X:204.11, Y:-0.36, Z:-2.08 [[ 9.99993859e-01 1.34091337e-03 -3.23795319e-03 2.04106866e+02] [-1.39319252e-03 9.99867836e-01 -1.61978316e-02 -3.58881310e-01] [ 3.21580536e-03 1.62022433e-02 9.99863564e-01 -2.07625790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.45592 meters Centerline goodness : 0.997119 Centerline is valid? [True, True] Translation: X:204.14, Y:-0.37, Z:-2.06 [[ 9.99994187e-01 1.20647219e-03 -3.18911262e-03 2.04135030e+02] [-1.20644741e-03 9.99999272e-01 9.69265855e-06 -3.74219748e-01] [ 3.18912199e-03 -5.84510554e-06 9.99994915e-01 -2.06056594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.48592 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:204.17, Y:-0.37, Z:-2.08 [[ 9.99994074e-01 1.29636893e-03 -3.18914578e-03 2.04165517e+02] [-1.29638116e-03 9.99999160e-01 -1.76892786e-06 -3.73844388e-01] [ 3.18914081e-03 5.90326588e-06 9.99994915e-01 -2.07848837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.51592 meters Centerline goodness : 0.975832 Centerline is valid? [True, True] Translation: X:204.19, Y:-0.34, Z:-2.08 [[ 9.97506164e-01 7.05073196e-02 -3.18911399e-03 2.04192120e+02] [-7.05076488e-02 9.97511239e-01 9.22343491e-06 -3.41286592e-01] [ 3.18182736e-03 2.15656496e-04 9.99994915e-01 -2.07927547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.54592 meters Centerline goodness : 0.868287 Centerline is valid? [True, False] Translation: X:204.17, Y:-0.34, Z:-2.08 [[ 9.98204289e-01 5.85276775e-02 1.27557077e-02 2.04174578e+02] [-5.85086250e-02 9.98285166e-01 -1.86205426e-03 -3.40691180e-01] [-1.28428155e-02 1.11239163e-03 9.99916909e-01 -2.07938353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.57592 meters Centerline goodness : 0.999652 Centerline is valid? [False, True] Translation: X:204.16, Y:-0.34, Z:-2.08 [[ 9.98582160e-01 4.52675481e-02 2.80092651e-02 2.04157467e+02] [-4.51897647e-02 9.98972621e-01 -3.40417309e-03 -3.40117701e-01] [-2.81345875e-02 2.13361441e-03 9.99601867e-01 -2.08008520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.60592 meters Centerline goodness : 0.985343 Centerline is valid? [True, True] Translation: X:204.18, Y:-0.33, Z:-2.08 [[ 9.96902051e-01 7.34588397e-02 2.81087087e-02 2.04175880e+02] [-7.34490955e-02 9.97298012e-01 -1.38038472e-03 -3.27479104e-01] [-2.81341608e-02 -6.88450877e-04 9.99603919e-01 -2.07627895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.63592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:204.22, Y:-0.35, Z:-2.08 [[ 9.98419828e-01 4.86097397e-02 2.81946936e-02 2.04220332e+02] [-4.86386125e-02 9.98816385e-01 3.38739424e-04 -3.47283720e-01] [-2.81448559e-02 -1.70955494e-03 9.99602393e-01 -2.08415608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.66592 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:204.25, Y:-0.35, Z:-2.08 [[ 9.98401442e-01 4.90407517e-02 2.80992192e-02 2.04252076e+02] [-4.90185822e-02 9.98796774e-01 -1.47767411e-03 -3.47369562e-01] [-2.81378757e-02 9.79280797e-05 9.99604047e-01 -2.07765442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.69592 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:204.28, Y:-0.35, Z:-2.08 [[ 9.98347811e-01 5.01188607e-02 2.81024393e-02 2.04284723e+02] [-5.00988304e-02 9.98743260e-01 -1.41684063e-03 -3.49172694e-01] [-2.81381323e-02 6.60040169e-06 9.99604044e-01 -2.07833085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.72592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:204.32, Y:-0.35, Z:-2.09 [[ 9.98384010e-01 4.93930328e-02 2.81015294e-02 2.04316803e+02] [-4.93722362e-02 9.98779418e-01 -1.43384864e-03 -3.51574876e-01] [-2.81380513e-02 4.40962092e-05 9.99604046e-01 -2.08502624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.75592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:204.35, Y:-0.36, Z:-2.09 [[ 9.98327950e-01 5.05157173e-02 2.80974597e-02 2.04349096e+02] [-5.04932334e-02 9.98723262e-01 -1.50959762e-03 -3.55054523e-01] [-2.81378450e-02 8.83419106e-05 9.99604049e-01 -2.08540095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.78592 meters Centerline goodness : 0.998708 Centerline is valid? [True, True] Translation: X:204.38, Y:-0.36, Z:-2.08 [[ 9.98347427e-01 5.01296893e-02 2.80967881e-02 2.04379441e+02] [-5.01067035e-02 9.98742711e-01 -1.52199567e-03 -3.57181228e-01] [-2.81377594e-02 1.11643031e-04 9.99604049e-01 -2.07526565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.81592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:204.41, Y:-0.36, Z:-2.09 [[ 9.98240034e-01 5.22186087e-02 2.81078612e-02 2.04412494e+02] [-5.22021746e-02 9.98635666e-01 -1.31865407e-03 -3.58434492e-01] [-2.81383710e-02 -1.50958200e-04 9.99604026e-01 -2.08792589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.84592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:204.44, Y:-0.36, Z:-2.09 [[ 9.98200017e-01 5.29845977e-02 2.80955303e-02 2.04444800e+02] [-5.29621466e-02 9.98595328e-01 -1.54316930e-03 -3.58947757e-01] [-2.81378295e-02 5.23920238e-05 9.99604052e-01 -2.08747977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.87592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:204.48, Y:-0.36, Z:-2.09 [[ 9.98172116e-01 5.35077541e-02 2.80953352e-02 2.04477311e+02] [-5.34854104e-02 9.98567433e-01 -1.54671346e-03 -3.60539384e-01] [-2.81378479e-02 4.11957168e-05 9.99604052e-01 -2.08912835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.90592 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:204.51, Y:-0.36, Z:-2.09 [[ 9.98162676e-01 5.36836644e-02 2.80951372e-02 2.04509896e+02] [-5.36612894e-02 9.98557992e-01 -1.55030007e-03 -3.61876618e-01] [-2.81378496e-02 3.98303762e-05 9.99604052e-01 -2.08947529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.93592 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:204.54, Y:-0.36, Z:-2.09 [[ 9.98194931e-01 5.30809231e-02 2.80943939e-02 2.04543134e+02] [-5.30579335e-02 9.98590212e-01 -1.56365590e-03 -3.63883791e-01] [-2.81377870e-02 7.02029088e-05 9.99604052e-01 -2.09209849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.96592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:204.58, Y:-0.37, Z:-2.09 [[ 9.98202249e-01 5.29435544e-02 2.80935928e-02 2.04576518e+02] [-5.29201090e-02 9.98597503e-01 -1.57791978e-03 -3.66070047e-01] [-2.81377322e-02 8.83670792e-05 9.99604052e-01 -2.09391972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.99592 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:204.61, Y:-0.37, Z:-2.09 [[ 9.98209126e-01 5.28138975e-02 2.80932924e-02 2.04608844e+02] [-5.27902507e-02 9.98604367e-01 -1.58324877e-03 -3.67580993e-01] [-2.81377021e-02 9.73614228e-05 9.99604052e-01 -2.09361781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.02592 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:204.64, Y:-0.37, Z:-2.08 [[ 9.98257297e-01 5.18955392e-02 2.80930924e-02 2.04639526e+02] [-5.18714292e-02 9.98652511e-01 -1.58678934e-03 -3.68372266e-01] [-2.81375846e-02 1.26795183e-04 9.99604052e-01 -2.08339665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.05592000000001 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:204.67, Y:-0.37, Z:-2.10 [[ 9.98139910e-01 5.40992346e-02 2.81068073e-02 2.04673244e+02] [-5.40828240e-02 9.98535548e-01 -1.34429367e-03 -3.69270372e-01] [-2.81383715e-02 -1.78302349e-04 9.99604022e-01 -2.09697485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.08592000000002 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:204.70, Y:-0.37, Z:-2.08 [[ 9.98118555e-01 5.44996591e-02 2.80916033e-02 2.04703272e+02] [-5.44759368e-02 9.98513786e-01 -1.60965084e-03 -3.71709544e-01] [-2.81375786e-02 7.63059594e-05 9.99604057e-01 -2.08381104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.11592000000002 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:204.74, Y:-0.37, Z:-2.08 [[ 9.98028193e-01 5.61226653e-02 2.81064536e-02 2.04736758e+02] [-5.61068543e-02 9.98423855e-01 -1.35148615e-03 -3.73553253e-01] [-2.81380027e-02 -2.28143417e-04 9.99604022e-01 -2.08309106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.14592000000002 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:204.77, Y:-0.37, Z:-2.10 [[ 9.97909537e-01 5.81983660e-02 2.80981419e-02 2.04770013e+02] [-5.81793452e-02 9.98305028e-01 -1.49468788e-03 -3.74698619e-01] [-2.81375047e-02 -1.43168208e-04 9.99604052e-01 -2.10008626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.17592000000002 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:204.82, Y:-0.36, Z:-2.09 [[ 9.95338420e-01 9.22627151e-02 2.80895263e-02 2.04817324e+02] [-9.22530645e-02 9.95734239e-01 -1.64207200e-03 -3.63726389e-01] [-2.81212051e-02 -9.56927529e-04 9.99604063e-01 -2.08914162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.20592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.83, Y:-0.38, Z:-2.10 [[ 9.97809725e-01 5.99536229e-02 2.79520260e-02 2.04828931e+02] [-5.98667947e-02 9.98198624e-01 -3.93366631e-03 -3.79343365e-01] [-2.81375114e-02 2.25165230e-03 9.99601526e-01 -2.10105690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.23592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.86, Y:-0.38, Z:-2.10 [[ 9.97726616e-01 6.12603449e-02 2.80850447e-02 2.04860812e+02] [-6.12395788e-02 9.98121814e-01 -1.59973891e-03 -3.83417272e-01] [-2.81302963e-02 -1.23814219e-04 9.99604257e-01 -2.10214540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.26592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:204.89, Y:-0.38, Z:-2.09 [[ 9.97613756e-01 6.30716708e-02 2.80848398e-02 2.04891665e+02] [-6.30515213e-02 9.98008985e-01 -1.60332761e-03 -3.83277875e-01] [-2.81300470e-02 -1.71290200e-04 9.99604257e-01 -2.08588213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.29592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.92, Y:-0.38, Z:-2.10 [[ 9.97506727e-01 6.47402920e-02 2.80895687e-02 2.04922811e+02] [-6.47231372e-02 9.97902101e-01 -1.52044555e-03 -3.83892699e-01] [-2.81290737e-02 -3.01390338e-04 9.99604254e-01 -2.10413295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.32592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.96, Y:-0.39, Z:-2.11 [[ 9.97311850e-01 6.76781165e-02 2.80846289e-02 2.04955412e+02] [-6.76596949e-02 9.97707163e-01 -1.60678879e-03 -3.85183317e-01] [-2.81289798e-02 -2.97727923e-04 9.99604258e-01 -2.10533520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.35592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:204.99, Y:-0.39, Z:-2.09 [[ 9.97254007e-01 6.85252552e-02 2.80844237e-02 2.04987415e+02] [-6.85070688e-02 9.97649331e-01 -1.61036604e-03 -3.86475250e-01] [-2.81287573e-02 -3.18037565e-04 9.99604258e-01 -2.08858593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.38592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.02, Y:-0.38, Z:-2.11 [[ 9.97159085e-01 6.98944378e-02 2.80807215e-02 2.05017951e+02] [-6.98749824e-02 9.97554350e-01 -1.67470593e-03 -3.84628494e-01] [-2.81290985e-02 -2.92191688e-04 9.99604256e-01 -2.10715069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.41592 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:205.03, Y:-0.39, Z:-2.10 [[ 9.96905459e-01 7.34221286e-02 2.80837420e-02 2.05030787e+02] [-7.34055444e-02 9.97300854e-01 -1.62242244e-03 -3.86067607e-01] [-2.81270616e-02 -4.44100582e-04 9.99604257e-01 -2.09652488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.44592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:205.08, Y:-0.38, Z:-2.09 [[ 9.96874271e-01 7.38037764e-02 2.81902363e-02 2.05078460e+02] [-7.38396391e-02 9.97270101e-01 2.31883025e-04 -3.83040024e-01] [-2.80961660e-02 -2.31271510e-03 9.99602549e-01 -2.09430062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.47592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:205.11, Y:-0.38, Z:-2.11 [[ 9.96871908e-01 7.38805490e-02 2.80724612e-02 2.05109690e+02] [-7.38611692e-02 9.97267036e-01 -1.72808081e-03 -3.79426686e-01] [-2.81234117e-02 -3.50789590e-04 9.99604397e-01 -2.11044339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.50592 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:205.14, Y:-0.38, Z:-2.10 [[ 9.96840760e-01 7.42988437e-02 2.80745623e-02 2.05141218e+02] [-7.42806106e-02 9.97235942e-01 -1.69324442e-03 -3.78936634e-01] [-2.81227687e-02 -3.97500572e-04 9.99604398e-01 -2.09602023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.53592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:205.17, Y:-0.38, Z:-2.10 [[ 9.96863587e-01 7.39929014e-02 2.80720342e-02 2.05173980e+02] [-7.39733704e-02 9.97258708e-01 -1.73503059e-03 -3.77671744e-01] [-2.81234605e-02 -3.46994166e-04 9.99604397e-01 -2.09917225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.56592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:205.21, Y:-0.38, Z:-2.10 [[ 9.96954182e-01 7.27635061e-02 2.80683144e-02 2.05206190e+02] [-7.27417651e-02 9.97349191e-01 -1.79622236e-03 -3.77463835e-01] [-2.81246101e-02 -2.50987339e-04 9.99604393e-01 -2.09987028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.59592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:205.24, Y:-0.38, Z:-2.11 [[ 9.97167292e-01 6.97808852e-02 2.80716977e-02 2.05237234e+02] [-6.97595218e-02 9.97562318e-01 -1.74083449e-03 -3.75012747e-01] [-2.81247448e-02 -2.22364991e-04 9.99604396e-01 -2.11421536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.62592 meters Centerline goodness : 0.894622 Centerline is valid? [True, False] Translation: X:205.22, Y:-0.37, Z:-2.11 [[ 9.97558566e-01 5.61917720e-02 4.14655561e-02 2.05222543e+02] [-5.61676591e-02 9.98419822e-01 -1.74722298e-03 -3.74246510e-01] [-4.14982127e-02 -5.86065968e-04 9.99138406e-01 -2.11380125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.65592 meters Centerline goodness : 0.999751 Centerline is valid? [False, True] Translation: X:205.25, Y:-0.37, Z:-2.11 [[ 9.98522620e-01 4.03485141e-02 3.63946997e-02 2.05253055e+02] [-4.01932687e-02 9.99179476e-01 -4.98751807e-03 -3.74064089e-01] [-3.65660760e-02 3.51732767e-03 9.99325047e-01 -2.11266916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.68592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:205.29, Y:-0.38, Z:-2.12 [[ 9.98625679e-01 3.75744675e-02 3.65364516e-02 2.05285607e+02] [-3.75458235e-02 9.99293826e-01 -1.47003636e-03 -3.78048301e-01] [-3.65658864e-02 9.62248981e-05 9.99331240e-01 -2.11507928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.71592 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:205.31, Y:-0.38, Z:-2.10 [[ 9.98839023e-01 3.13966233e-02 3.65357018e-02 2.05314613e+02] [-3.13631737e-02 9.99506946e-01 -1.48844149e-03 -3.79864546e-01] [-3.65644198e-02 3.40837886e-04 9.99331240e-01 -2.10020237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.74592 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:205.35, Y:-0.38, Z:-2.10 [[ 9.98918721e-01 2.87300927e-02 3.65509326e-02 2.05346300e+02] [-2.87084982e-02 9.99587204e-01 -1.11561292e-03 -3.83442193e-01] [-3.65678961e-02 6.50842511e-05 9.99331169e-01 -2.10202635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.77592 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:205.38, Y:-0.39, Z:-2.10 [[ 9.99000958e-01 2.57198280e-02 3.65455435e-02 2.05377895e+02] [-2.56914410e-02 9.99669144e-01 -1.24623326e-03 -3.88627579e-01] [-3.65655051e-02 3.06080548e-04 9.99331211e-01 -2.10373865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.80592000000001 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:205.41, Y:-0.39, Z:-2.11 [[ 9.98971692e-01 2.68326198e-02 3.65454413e-02 2.05410674e+02] [-2.68048875e-02 9.99639905e-01 -1.24868204e-03 -3.91512376e-01] [-3.65657868e-02 2.67801566e-04 9.99331212e-01 -2.11424641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.83592000000002 meters Centerline goodness : 0.945468 Centerline is valid? [True, False] Translation: X:205.42, Y:-0.39, Z:-2.12 [[ 9.99129337e-01 2.34605584e-02 3.44988380e-02 2.05416846e+02] [-2.33521555e-02 9.99721027e-01 -3.54185669e-03 -3.94356118e-01] [-3.45723077e-02 2.73315070e-03 9.99398462e-01 -2.11633224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.86592000000002 meters Centerline goodness : 0.999603 Centerline is valid? [False, True] Translation: X:205.45, Y:-0.40, Z:-2.12 [[ 9.99774222e-01 1.66678675e-02 1.31790205e-02 2.05448639e+02] [-1.67029761e-02 9.99857222e-01 2.55840555e-03 -4.03200631e-01] [-1.31344956e-02 -2.77795678e-03 9.99909880e-01 -2.11512295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.89592000000002 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:205.48, Y:-0.40, Z:-2.12 [[ 9.99766407e-01 1.72094354e-02 1.30754462e-02 2.05482332e+02] [-1.72066396e-02 9.99851902e-01 -3.26300725e-04 -4.01424715e-01] [-1.30791252e-02 1.01240013e-04 9.99914459e-01 -2.11502299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.92592000000002 meters Centerline goodness : 0.999006 Centerline is valid? [True, True] Translation: X:205.51, Y:-0.41, Z:-2.11 [[ 9.99769131e-01 1.70513614e-02 1.30742271e-02 2.05512071e+02] [-1.70481136e-02 9.99854606e-01 -3.59828573e-04 -4.06934583e-01] [-1.30784617e-02 1.36854590e-04 9.99914464e-01 -2.10741965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.95592 meters Centerline goodness : 0.908770 Centerline is valid? [True, False] Translation: X:205.53, Y:-0.41, Z:-2.10 [[ 9.99973091e-01 2.36144011e-03 6.94556649e-03 2.05534170e+02] [-2.31537522e-03 9.99975322e-01 -6.63285323e-03 -4.07221138e-01] [-6.96105817e-03 6.61659315e-03 9.99953881e-01 -2.10290982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.98592 meters Centerline goodness : 0.999851 Centerline is valid? [False, True] Translation: X:205.53, Y:-0.41, Z:-2.10 [[ 9.99974763e-01 2.34417513e-03 6.70664487e-03 2.05534818e+02] [-2.30419919e-03 9.99979571e-01 -5.96217656e-03 -4.10285241e-01] [-6.72048425e-03 5.94657264e-03 9.99959736e-01 -2.10325491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.01592 meters Centerline goodness : 0.977469 Centerline is valid? [True, True] Translation: X:205.60, Y:-0.44, Z:-2.11 [[ 9.98735663e-01 -4.98048194e-02 6.82315402e-03 2.05598562e+02] [ 4.98069073e-02 9.98758856e-01 -1.36317962e-04 -4.43097270e-01] [-6.80789622e-03 4.75985811e-04 9.99976713e-01 -2.10620471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.04592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:205.59, Y:-0.43, Z:-2.11 [[ 9.99974663e-01 2.12808631e-03 6.79305113e-03 2.05589040e+02] [-2.11935729e-03 9.99996920e-01 -1.29193166e-03 -4.25132840e-01] [-6.79577955e-03 1.27750202e-03 9.99976092e-01 -2.10517793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.07592 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:205.62, Y:-0.43, Z:-2.09 [[ 9.99976696e-01 -3.93761953e-04 6.81553973e-03 2.05617640e+02] [ 3.94671628e-04 9.99999913e-01 -1.32126170e-04 -4.29399346e-01] [-6.81548711e-03 1.34812991e-04 9.99976765e-01 -2.09144449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.10592 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:205.65, Y:-0.43, Z:-2.09 [[ 9.99975601e-01 1.52515548e-03 6.81701290e-03 2.05649247e+02] [-1.52480567e-03 9.99998836e-01 -5.65115683e-05 -4.32350729e-01] [-6.81709115e-03 4.61155696e-05 9.99976762e-01 -2.09181486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.13592 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:205.68, Y:-0.44, Z:-2.09 [[ 9.99966360e-01 4.56136030e-03 6.81705362e-03 2.05680078e+02] [-4.56109504e-03 9.99989597e-01 -5.44577022e-05 -4.35748582e-01] [-6.81723111e-03 2.33626408e-05 9.99976762e-01 -2.08999053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.16592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:205.71, Y:-0.44, Z:-2.11 [[ 9.99930996e-01 9.56714730e-03 6.81716923e-03 2.05713745e+02] [-9.56703711e-03 9.99954234e-01 -4.87745098e-05 -4.37704855e-01] [-6.81732387e-03 -1.64489669e-05 9.99976762e-01 -2.10598777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.19592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:205.74, Y:-0.44, Z:-2.09 [[ 9.99928102e-01 9.86625224e-03 6.81521264e-03 2.05742382e+02] [-9.86551074e-03 9.99951325e-01 -1.42410622e-04 -4.41057922e-01] [-6.81628597e-03 7.51648297e-05 9.99976766e-01 -2.09267435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.22592 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:205.77, Y:-0.44, Z:-2.09 [[ 9.99911316e-01 1.14410624e-02 6.81639158e-03 2.05774188e+02] [-1.14407437e-02 9.99934549e-01 -8.57351716e-05 -4.43464061e-01] [-6.81692634e-03 7.74297882e-06 9.99976764e-01 -2.09157197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.25592 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:205.80, Y:-0.45, Z:-2.09 [[ 9.99892113e-01 1.30115728e-02 6.81628466e-03 2.05804362e+02] [-1.30112563e-02 9.99915346e-01 -9.07698590e-05 -4.45650862e-01] [-6.81688869e-03 2.07163918e-06 9.99976765e-01 -2.09191707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.28592 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:205.84, Y:-0.45, Z:-2.09 [[ 9.99866302e-01 1.48629166e-02 6.81706658e-03 2.05835526e+02] [-1.48628931e-02 9.99889540e-01 -5.41061197e-05 -4.47215672e-01] [-6.81711774e-03 -4.72224460e-05 9.99976762e-01 -2.09476023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.31592 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:205.87, Y:-0.45, Z:-2.09 [[ 9.99818662e-01 1.77813289e-02 6.81667816e-03 2.05866471e+02] [-1.77812511e-02 9.99841898e-01 -7.20192800e-05 -4.49448781e-01] [-6.81688103e-03 -4.92028458e-05 9.99976764e-01 -2.09429202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.34592 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:205.90, Y:-0.45, Z:-2.11 [[ 9.99746330e-01 2.14665793e-02 6.81624749e-03 2.05899103e+02] [-2.14664536e-02 9.99769565e-01 -9.16108600e-05 -4.51243550e-01] [-6.81664336e-03 -5.47330392e-05 9.99976765e-01 -2.10914059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.37592 meters Centerline goodness : 0.860329 Centerline is valid? [True, False] Translation: X:205.93, Y:-0.46, Z:-2.11 [[ 9.99945893e-01 9.78464315e-03 3.53160979e-03 2.05927000e+02] [-9.79087901e-03 9.99950532e-01 1.75277948e-03 -4.55520872e-01] [-3.51428477e-03 -1.78726221e-03 9.99992228e-01 -2.10690799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.40592 meters Centerline goodness : 0.897160 Centerline is valid? [False, False] Translation: X:205.93, Y:-0.45, Z:-2.11 [[ 9.99992662e-01 1.64396620e-03 3.46034536e-03 2.05927171e+02] [-1.61598352e-03 9.99966099e-01 -8.07399387e-03 -4.48712639e-01] [-3.47350143e-03 8.06834276e-03 9.99961418e-01 -2.10616533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.43592 meters Centerline goodness : 0.999255 Centerline is valid? [False, True] Translation: X:205.93, Y:-0.45, Z:-2.11 [[ 9.99993066e-01 1.60830843e-03 3.35876859e-03 2.05927457e+02] [-1.58186321e-03 9.99967848e-01 -7.86135643e-03 -4.49950111e-01] [-3.37130409e-03 7.85598881e-03 9.99963458e-01 -2.10626831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.46592 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:205.96, Y:-0.46, Z:-2.10 [[ 9.99986134e-01 4.04830746e-03 3.36798471e-03 2.05957588e+02] [-4.04819176e-03 9.99991805e-01 -4.11667669e-05 -4.58601265e-01] [-3.36812377e-03 2.75319482e-05 9.99994327e-01 -2.10396159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.49592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:205.98, Y:-0.48, Z:-2.11 [[ 9.99180388e-01 -4.03386760e-02 3.36808000e-03 2.05980933e+02] [ 4.03387890e-02 9.99186059e-01 3.44255138e-05 -4.79964934e-01] [-3.36672726e-03 1.01466970e-04 9.99994327e-01 -2.11219313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.52592 meters Centerline goodness : 0.960206 Centerline is valid? [True, True] Translation: X:206.01, Y:-0.50, Z:-2.13 [[ 9.96911526e-01 -7.84605943e-02 3.36828171e-03 2.06010027e+02] [ 7.84605281e-02 9.96917209e-01 1.51995805e-04 -4.97202861e-01] [-3.36982369e-03 1.12750792e-04 9.99994316e-01 -2.12527070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.55592000000001 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:206.05, Y:-0.45, Z:-2.11 [[ 9.99863309e-01 1.61869177e-02 3.36839223e-03 2.06049912e+02] [-1.61877137e-02 9.99868949e-01 2.09156821e-04 -4.54664088e-01] [-3.36456519e-03 -2.63654800e-04 9.99994305e-01 -2.10812680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.58592000000002 meters Centerline goodness : 0.999004 Centerline is valid? [True, True] Translation: X:206.08, Y:-0.45, Z:-2.11 [[ 9.99875345e-01 1.54257069e-02 3.36768151e-03 2.06079698e+02] [-1.54258626e-02 9.99881014e-01 2.02542853e-05 -4.54395871e-01] [-3.36696837e-03 -7.22011526e-05 9.99994329e-01 -2.10789011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.61592000000002 meters Centerline goodness : 0.995088 Centerline is valid? [True, True] Translation: X:206.11, Y:-0.43, Z:-2.11 [[ 9.99382858e-01 3.49651378e-02 3.36773741e-03 2.06111955e+02] [-3.49654577e-02 9.99388521e-01 3.61136324e-05 -4.34459369e-01] [-3.36441539e-03 -1.53845825e-04 9.99994329e-01 -2.11162492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.64592000000002 meters Centerline goodness : 0.998213 Centerline is valid? [True, True] Translation: X:206.10, Y:-0.45, Z:-2.12 [[ 9.99475390e-01 3.22118717e-02 3.36753710e-03 2.06103744e+02] [-3.22120087e-02 9.99481059e-01 -1.35753990e-05 -4.50424984e-01] [-3.36622684e-03 -9.49068572e-05 9.99994330e-01 -2.11632591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.67592000000002 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:206.16, Y:-0.44, Z:-2.11 [[ 9.99327898e-01 3.65017178e-02 3.37294534e-03 2.06162896e+02] [-3.65030542e-02 9.99333485e-01 3.35493634e-04 -4.40703482e-01] [-3.35845113e-03 -4.58390955e-04 9.99994255e-01 -2.10667834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.70592 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:206.19, Y:-0.44, Z:-2.11 [[ 9.99316482e-01 3.68136395e-02 3.36535575e-03 2.06192787e+02] [-3.68137090e-02 9.99322145e-01 -4.13138901e-05 -4.39909276e-01] [-3.36459544e-03 -8.26055761e-05 9.99994336e-01 -2.10721031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.73592 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:206.22, Y:-0.44, Z:-2.11 [[ 9.99362213e-01 3.55505819e-02 3.36514285e-03 2.06222465e+02] [-3.55506084e-02 9.99367876e-01 -5.19488668e-05 -4.38620792e-01] [-3.36486248e-03 -6.77171413e-05 9.99994337e-01 -2.10518734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.76592 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:206.25, Y:-0.44, Z:-2.11 [[ 9.99364988e-01 3.54724649e-02 3.36529976e-03 2.06253129e+02] [-3.54725174e-02 9.99370651e-01 -4.41085796e-05 -4.36113657e-01] [-3.36474645e-03 -7.52950841e-05 9.99994336e-01 -2.10867482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.79592 meters Centerline goodness : 0.948843 Centerline is valid? [True, False] Translation: X:206.24, Y:-0.44, Z:-2.11 [[ 9.99653452e-01 2.19320707e-02 1.45588585e-02 2.06244474e+02] [-2.19698308e-02 9.99755660e-01 2.43875074e-03 -4.40247377e-01] [-1.45018143e-02 -2.75776126e-03 9.99891040e-01 -2.11023475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.82592 meters Centerline goodness : 0.963504 Centerline is valid? [False, True] Translation: X:206.27, Y:-0.44, Z:-2.11 [[ 9.99926047e-01 7.13997684e-03 9.84481138e-03 2.06273002e+02] [-7.13788123e-03 9.99974494e-01 -2.47984887e-04 -4.40760670e-01] [-9.84633088e-03 1.77695454e-04 9.99951508e-01 -2.10834928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.85592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:206.35, Y:-0.42, Z:-2.08 [[ 9.99536507e-01 2.87994436e-02 9.86726905e-03 2.06354134e+02] [-2.88145297e-02 9.99583809e-01 1.39014355e-03 -4.15315280e-01] [-9.82312702e-03 -1.67381994e-03 9.99950351e-01 -2.08257976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.88592 meters Centerline goodness : 0.918401 Centerline is valid? [True, False] Translation: X:206.38, Y:-0.41, Z:-2.08 [[ 9.99894840e-01 1.28390546e-02 6.74291172e-03 2.06382329e+02] [-1.28240006e-02 9.99915190e-01 -2.27107845e-03 -4.14190030e-01] [-6.77149835e-03 2.18436852e-03 9.99974687e-01 -2.08081248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.91592 meters Centerline goodness : 0.999752 Centerline is valid? [False, True] Translation: X:206.38, Y:-0.41, Z:-2.08 [[ 9.99966887e-01 4.69496250e-03 6.64693497e-03 2.06382485e+02] [-4.61538213e-03 9.99918092e-01 -1.19376305e-02 -4.08335851e-01] [-6.70243726e-03 1.19065571e-02 9.99906651e-01 -2.08013286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.94592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:206.42, Y:-0.42, Z:-2.09 [[ 9.99973608e-01 2.88319369e-03 6.66863852e-03 2.06415080e+02] [-2.88294033e-03 9.99995843e-01 -4.76064591e-05 -4.20572784e-01] [-6.66874806e-03 2.83799158e-05 9.99977763e-01 -2.09315386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.97592 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:206.45, Y:-0.42, Z:-2.08 [[ 9.99977154e-01 1.10431577e-03 6.66870871e-03 2.06445242e+02] [-1.10424778e-03 9.99999390e-01 -1.38777984e-05 -4.20707859e-01] [-6.66871997e-03 6.51357456e-06 9.99977764e-01 -2.07994443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.00592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:206.48, Y:-0.42, Z:-2.08 [[ 9.99977430e-01 8.16842870e-04 6.66878007e-03 2.06477752e+02] [-8.17000764e-04 9.99999666e-01 2.09523140e-05 -4.24736834e-01] [-6.66876073e-03 -2.64002395e-05 9.99977763e-01 -2.08233902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.03592 meters Centerline goodness : 0.843120 Centerline is valid? [True, False] Translation: X:206.48, Y:-0.42, Z:-2.08 [[ 9.99972902e-01 -3.28871872e-03 6.58628671e-03 2.06478078e+02] [ 3.31643864e-03 9.99985671e-01 -4.20224351e-03 -4.24665465e-01] [-6.57237234e-03 4.22397265e-03 9.99969481e-01 -2.08238248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.06592 meters Centerline goodness : 0.999602 Centerline is valid? [False, True] Translation: X:206.50, Y:-0.42, Z:-2.08 [[ 9.99997533e-01 -7.20061713e-04 2.10143144e-03 2.06499905e+02] [ 7.42636142e-04 9.99941818e-01 -1.07614697e-02 -4.21156014e-01] [-2.09356025e-03 1.07630038e-02 9.99939886e-01 -2.07806648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.09592 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:206.53, Y:-0.43, Z:-2.08 [[ 9.99995973e-01 -1.86202458e-03 2.14168911e-03 2.06530388e+02] [ 1.86207842e-03 9.99998266e-01 -2.31477680e-05 -4.31805134e-01] [-2.14164230e-03 2.71356679e-05 9.99997706e-01 -2.07852354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.12592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:206.56, Y:-0.43, Z:-2.08 [[ 9.99996881e-01 -1.28492089e-03 2.14178952e-03 2.06561966e+02] [ 1.28491941e-03 9.99999174e-01 2.06553644e-06 -4.34071578e-01] [-2.14179041e-03 6.86496938e-07 9.99997706e-01 -2.08172161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.15592 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:206.59, Y:-0.44, Z:-2.08 [[ 9.99997687e-01 -1.96464242e-04 2.14177321e-03 2.06593966e+02] [ 1.96468305e-04 9.99999981e-01 -1.68652007e-06 -4.36274153e-01] [-2.14177284e-03 2.10730672e-06 9.99997706e-01 -2.08123199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.18592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.63, Y:-0.44, Z:-2.09 [[ 9.99997624e-01 4.06853221e-04 2.14175459e-03 2.06625176e+02] [-4.06841314e-04 9.99999917e-01 -5.99503288e-06 -4.37935678e-01] [-2.14175685e-03 5.12366438e-06 9.99997706e-01 -2.09308546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.21592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:206.66, Y:-0.44, Z:-2.08 [[ 9.99997681e-01 -2.26939583e-04 2.14174138e-03 2.06655247e+02] [ 2.26959600e-04 9.99999974e-01 -9.10325430e-06 -4.39127772e-01] [-2.14173926e-03 9.58932196e-06 9.99997706e-01 -2.08001588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.24592 meters Centerline goodness : 0.999253 Centerline is valid? [True, True] Translation: X:206.69, Y:-0.44, Z:-2.08 [[ 9.99996988e-01 -1.19902897e-03 2.14177938e-03 2.06685097e+02] [ 1.19903266e-03 9.99999281e-01 -4.39072395e-07 -4.42236668e-01] [-2.14177731e-03 3.00713450e-06 9.99997706e-01 -2.07702848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.27592 meters Centerline goodness : 0.997320 Centerline is valid? [True, True] Translation: X:206.73, Y:-0.43, Z:-2.08 [[ 9.99549832e-01 2.99256758e-02 2.14181503e-03 2.06730791e+02] [-2.99257601e-02 9.99552124e-01 7.30503995e-06 -4.30171591e-01] [-2.14063715e-03 -7.13971941e-05 9.99997706e-01 -2.08191872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.30592000000001 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:206.75, Y:-0.44, Z:-2.08 [[ 9.99993824e-01 -2.78732379e-03 2.14094160e-03 2.06746440e+02] [ 2.78766306e-03 9.99996102e-01 -1.55501717e-04 -4.44935981e-01] [-2.14049982e-03 1.61468980e-04 9.99997696e-01 -2.07815271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.33592000000002 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:206.78, Y:-0.45, Z:-2.08 [[ 9.99994173e-01 -2.65848240e-03 2.14137818e-03 2.06776772e+02] [ 2.65849689e-03 9.99996466e-01 -3.91667635e-06 -4.46437085e-01] [-2.14136020e-03 9.60950075e-06 9.99997707e-01 -2.07631098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.36592000000002 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:206.81, Y:-0.45, Z:-2.08 [[ 9.99996583e-01 -1.49917696e-03 2.14139772e-03 2.06808645e+02] [ 1.49917445e-03 9.99998876e-01 2.77867682e-06 -4.47189359e-01] [-2.14139948e-03 4.31661418e-07 9.99997707e-01 -2.07926176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.39592000000002 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:206.84, Y:-0.45, Z:-2.09 [[ 9.99997358e-01 -8.35322674e-04 2.14138049e-03 2.06839954e+02] [ 8.35330310e-04 9.99999651e-01 -2.67192607e-06 -4.47571003e-01] [-2.14137751e-03 4.46067904e-06 9.99997707e-01 -2.08993014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.42592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.87, Y:-0.45, Z:-2.09 [[ 9.99997707e-01 -2.75746951e-05 2.14136523e-03 2.06872641e+02] [ 2.75901898e-05 1.00000000e+00 -7.20634202e-06 -4.48217416e-01] [-2.14136503e-03 7.26540617e-06 9.99997707e-01 -2.09024589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.45592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:206.90, Y:-0.45, Z:-2.09 [[ 9.99997509e-01 -6.29119697e-04 2.14136401e-03 2.06904472e+02] [ 6.29137309e-04 9.99999802e-01 -7.55100704e-06 -4.50733214e-01] [-2.14135884e-03 8.89820023e-06 9.99997707e-01 -2.09084796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.48592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.96, Y:-0.45, Z:-2.09 [[ 9.99991507e-01 -3.52146051e-03 2.14136021e-03 2.06963169e+02] [ 3.52148681e-03 9.99993800e-01 -8.50898987e-06 -4.45747448e-01] [-2.14131696e-03 1.60496893e-05 9.99997707e-01 -2.09251707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.51592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:206.96, Y:-0.46, Z:-2.08 [[ 9.99985185e-01 -5.00505673e-03 2.14005398e-03 2.06961147e+02] [ 5.00568200e-03 9.99987430e-01 -2.86919253e-04 -4.56860432e-01] [-2.13859103e-03 2.97627432e-04 9.99997669e-01 -2.07772550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.54592 meters Centerline goodness : 0.998706 Centerline is valid? [True, True] Translation: X:207.03, Y:-0.44, Z:-2.10 [[ 9.99995515e-01 -2.09534300e-03 2.13990367e-03 2.07033736e+02] [ 2.09534083e-03 9.99997805e-01 3.25513789e-06 -4.42250882e-01] [-2.13990580e-03 1.22870426e-06 9.99997710e-01 -2.10176936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.57592 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:207.01, Y:-0.46, Z:-2.08 [[ 9.99956605e-01 -9.06718809e-03 2.13874134e-03 2.07013973e+02] [ 9.06809172e-03 9.99958799e-01 -4.13186556e-04 -4.62726230e-01] [-2.13490678e-03 4.32562929e-04 9.99997628e-01 -2.07938783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.60592 meters Centerline goodness : 0.999502 Centerline is valid? [True, True] Translation: X:207.05, Y:-0.46, Z:-2.08 [[ 9.99966066e-01 -7.95618074e-03 2.13669387e-03 2.07046440e+02] [ 7.95615441e-03 9.99968349e-01 2.08209068e-05 -4.63251498e-01] [-2.13679190e-03 -3.82033388e-06 9.99997717e-01 -2.07810857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.63592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.08, Y:-0.46, Z:-2.09 [[ 9.99983492e-01 -5.33395495e-03 2.13670638e-03 2.07077718e+02] [ 5.33392870e-03 9.99985774e-01 1.79840020e-05 -4.63091071e-01] [-2.13677191e-03 -6.58666566e-06 9.99997717e-01 -2.09244546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.66592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.11, Y:-0.46, Z:-2.09 [[ 9.99990602e-01 -3.77240603e-03 2.13674422e-03 2.07111004e+02] [ 3.77239545e-03 9.99992884e-01 8.98321947e-06 -4.61894819e-01] [-2.13676290e-03 -9.22490881e-07 9.99997717e-01 -2.09189259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.69592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:207.14, Y:-0.46, Z:-2.08 [[ 9.99994015e-01 -2.72093266e-03 2.13674831e-03 2.07140654e+02] [ 2.72092204e-03 9.99996298e-01 7.87357800e-06 -4.60774747e-01] [-2.13676182e-03 -2.05960531e-06 9.99997717e-01 -2.07955203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.72592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:207.17, Y:-0.46, Z:-2.08 [[ 9.99993817e-01 -2.79307444e-03 2.13671187e-03 2.07170321e+02] [ 2.79304163e-03 9.99996099e-01 1.83360896e-05 -4.57757593e-01] [-2.13675475e-03 -1.23680510e-05 9.99997717e-01 -2.07878137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.75592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.20, Y:-0.46, Z:-2.09 [[ 9.99995957e-01 -1.87646019e-03 2.13668604e-03 2.07203725e+02] [ 1.87640796e-03 9.99998239e-01 2.64497625e-05 -4.56310657e-01] [-2.13673191e-03 -2.24403608e-05 9.99997717e-01 -2.09252568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.78592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:207.23, Y:-0.46, Z:-2.08 [[ 9.99991716e-01 -3.46455328e-03 2.13674373e-03 2.07233912e+02] [ 3.46454829e-03 9.99993998e-01 6.03879103e-06 -4.55766942e-01] [-2.13675183e-03 1.36411083e-06 9.99997717e-01 -2.08059164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.81592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:207.27, Y:-0.46, Z:-2.08 [[ 9.99993250e-01 -2.98910335e-03 2.13670236e-03 2.07265643e+02] [ 2.98906675e-03 9.99995533e-01 2.03234501e-05 -4.55474502e-01] [-2.13675356e-03 -1.39365669e-05 9.99997717e-01 -2.08066142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.84592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.30, Y:-0.45, Z:-2.09 [[ 9.99993366e-01 -2.94994878e-03 2.13670459e-03 2.07297968e+02] [ 2.94991404e-03 9.99995649e-01 1.94057144e-05 -4.54349190e-01] [-2.13675254e-03 -1.31024908e-05 9.99997717e-01 -2.09244204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.87592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.33, Y:-0.45, Z:-2.09 [[ 9.99991622e-01 -3.49155392e-03 2.13673334e-03 2.07329808e+02] [ 3.49155338e-03 9.99993905e-01 3.98386346e-06 -4.53766520e-01] [-2.13673423e-03 3.47668844e-06 9.99997717e-01 -2.09191748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.90592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:207.36, Y:-0.45, Z:-2.09 [[ 9.99987066e-01 -4.61547484e-03 2.13673469e-03 2.07362417e+02] [ 4.61547890e-03 9.99989349e-01 3.03259470e-06 -4.53008221e-01] [-2.13672593e-03 6.82949841e-06 9.99997717e-01 -2.09239712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.93592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:207.40, Y:-0.45, Z:-2.09 [[ 9.99990168e-01 -3.88553410e-03 2.13673562e-03 2.07395472e+02] [ 3.88553853e-03 9.99992451e-01 2.07783863e-06 -4.51546685e-01] [-2.13672757e-03 6.22455038e-06 9.99997717e-01 -2.09188289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.96592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.43, Y:-0.45, Z:-2.09 [[ 9.99993678e-01 -2.84221444e-03 2.13673613e-03 2.07428331e+02] [ 2.84221881e-03 9.99995961e-01 9.92426075e-07 -4.48815598e-01] [-2.13673032e-03 5.08065180e-06 9.99997717e-01 -2.09217617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.99592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:207.46, Y:-0.45, Z:-2.09 [[ 9.99994307e-01 -2.61142070e-03 2.13673607e-03 2.07461025e+02] [ 2.61142690e-03 9.99996590e-01 -1.09746772e-07 -4.48049904e-01] [-2.13672850e-03 5.68967619e-06 9.99997717e-01 -2.09248589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.02592 meters Centerline goodness : 0.999254 Centerline is valid? [True, True] Translation: X:207.49, Y:-0.45, Z:-2.08 [[ 9.99997541e-01 -5.93289398e-04 2.13673600e-03 2.07492617e+02] [ 5.93291716e-04 9.99999824e-01 -4.51148025e-07 -4.47163947e-01] [-2.13673535e-03 1.71885468e-06 9.99997717e-01 -2.07723224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.05592000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.52, Y:-0.44, Z:-2.09 [[ 9.99995188e-01 -2.24888083e-03 2.13673268e-03 2.07522415e+02] [ 2.24891273e-03 9.99997471e-01 -1.25261719e-05 -4.44192622e-01] [-2.13669911e-03 1.73314370e-05 9.99997717e-01 -2.09379588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.08592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.55, Y:-0.44, Z:-2.09 [[ 9.99994664e-01 -2.47128413e-03 2.13673392e-03 2.07554173e+02] [ 2.47129023e-03 9.99996946e-01 -2.15157765e-07 -4.39978507e-01] [-2.13672686e-03 5.49564627e-06 9.99997717e-01 -2.09369563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.11592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.59, Y:-0.44, Z:-2.09 [[ 9.99996659e-01 -1.45458183e-03 2.13673340e-03 2.07586497e+02] [ 1.45458765e-03 9.99998942e-01 -1.16912739e-06 -4.38201730e-01] [-2.13672944e-03 4.27718951e-06 9.99997717e-01 -2.09336130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.14592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.62, Y:-0.44, Z:-2.09 [[ 9.99996449e-01 -1.59239226e-03 2.13673244e-03 2.07618299e+02] [ 1.59240044e-03 9.99998732e-01 -2.12699114e-06 -4.36146396e-01] [-2.13672635e-03 5.52951727e-06 9.99997717e-01 -2.09413972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.17592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.65, Y:-0.43, Z:-2.09 [[ 9.99994895e-01 -2.37579977e-03 2.13673106e-03 2.07650129e+02] [ 2.37581179e-03 9.99997178e-01 -3.08328963e-06 -4.33545299e-01] [-2.13671771e-03 8.15974474e-06 9.99997717e-01 -2.09371339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.20592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.68, Y:-0.43, Z:-2.09 [[ 9.99989021e-01 -4.17029892e-03 2.13672928e-03 2.07682224e+02] [ 4.17031705e-03 9.99991304e-01 -4.03033534e-06 -4.32966147e-01] [-2.13669389e-03 1.29411296e-05 9.99997717e-01 -2.09340563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.23592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.71, Y:-0.43, Z:-2.10 [[ 9.99981165e-01 -5.75358287e-03 2.13672706e-03 2.07714711e+02] [ 5.75360665e-03 9.99983448e-01 -4.98276519e-06 -4.31544819e-01] [-2.13666302e-03 1.72765583e-05 9.99997717e-01 -2.09529919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.26592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:207.75, Y:-0.43, Z:-2.09 [[ 9.99984012e-01 -5.23540279e-03 2.13672445e-03 2.07747454e+02] [ 5.23542740e-03 9.99986295e-01 -5.92186614e-06 -4.30512851e-01] [-2.13666417e-03 1.71084372e-05 9.99997717e-01 -2.09460218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.29592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.78, Y:-0.43, Z:-2.09 [[ 9.99979501e-01 -6.03584891e-03 2.13672093e-03 2.07780776e+02] [ 6.03587764e-03 9.99981784e-01 -6.99684163e-06 -4.29156797e-01] [-2.13663978e-03 1.98936843e-05 9.99997717e-01 -2.09430850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.32592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.81, Y:-0.43, Z:-2.09 [[ 9.99978817e-01 -6.14823822e-03 2.13671686e-03 2.07813580e+02] [ 6.14826951e-03 9.99981099e-01 -8.07510309e-06 -4.29349900e-01] [-2.13662683e-03 2.12120432e-05 9.99997717e-01 -2.09420422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.35592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:207.85, Y:-0.43, Z:-2.10 [[ 9.99963068e-01 -8.32453524e-03 2.13671232e-03 2.07846457e+02] [ 8.32457377e-03 9.99965350e-01 -9.13685573e-06 -4.31134273e-01] [-2.13656222e-03 2.69237376e-05 9.99997717e-01 -2.09569678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.38592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.88, Y:-0.43, Z:-2.10 [[ 9.99954041e-01 -9.34614022e-03 2.13670723e-03 2.07879297e+02] [ 9.34618335e-03 9.99956323e-01 -1.02027399e-05 -4.31568157e-01] [-2.13651855e-03 3.01723285e-05 9.99997717e-01 -2.09626044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.41592 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:207.91, Y:-0.43, Z:-2.08 [[ 9.99930634e-01 -1.15827953e-02 2.13670164e-03 2.07909029e+02] [ 1.15828458e-02 9.99932917e-01 -1.12624322e-05 -4.32327386e-01] [-2.13642786e-03 3.60107368e-05 9.99997717e-01 -2.08224651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.44592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:207.94, Y:-0.43, Z:-2.09 [[ 9.99902386e-01 -1.38077120e-02 2.13674580e-03 2.07941116e+02] [ 1.38077498e-02 9.99904668e-01 -2.94319442e-06 -4.33502714e-01] [-2.13650146e-03 3.24465586e-05 9.99997717e-01 -2.09476646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.47592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:207.97, Y:-0.44, Z:-2.09 [[ 9.99883234e-01 -1.51311903e-02 2.13669358e-03 2.07974505e+02] [ 1.51312508e-02 9.99885516e-01 -1.21360966e-05 -4.35179265e-01] [-2.13626533e-03 4.44655260e-05 9.99997717e-01 -2.09461227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.50592 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:208.01, Y:-0.44, Z:-2.08 [[ 9.99905755e-01 -1.35615424e-02 2.13668712e-03 2.08005844e+02] [ 1.35616015e-02 9.99908037e-01 -1.31829340e-05 -4.35840415e-01] [-2.13631185e-03 4.21585910e-05 9.99997717e-01 -2.08036465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.53592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:208.04, Y:-0.43, Z:-2.09 [[ 9.99897788e-01 -1.41367326e-02 2.13673077e-03 2.08038766e+02] [ 1.41367782e-02 9.99900071e-01 -6.22677759e-06 -4.34950875e-01] [-2.13642922e-03 3.64326300e-05 9.99997717e-01 -2.09408162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.56592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:208.07, Y:-0.43, Z:-2.09 [[ 9.99911666e-01 -1.31185113e-02 2.13667614e-03 2.08072209e+02] [ 1.31185720e-02 9.99913948e-01 -1.43568332e-05 -4.34809578e-01] [-2.13630393e-03 4.23857046e-05 9.99997717e-01 -2.09417845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.59592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:208.11, Y:-0.44, Z:-2.09 [[ 9.99927007e-01 -1.18918485e-02 2.13666858e-03 2.08105711e+02] [ 1.18919086e-02 9.99929289e-01 -1.54047695e-05 -4.35119006e-01] [-2.13633431e-03 4.08127125e-05 9.99997717e-01 -2.09428994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.62592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.14, Y:-0.44, Z:-2.09 [[ 9.99937139e-01 -1.10069346e-02 2.13666051e-03 2.08139096e+02] [ 1.10069949e-02 9.99939421e-01 -1.64527019e-05 -4.35216407e-01] [-2.13634998e-03 3.99698790e-05 9.99997717e-01 -2.09418171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.65592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.17, Y:-0.44, Z:-2.09 [[ 9.99955743e-01 -9.16226482e-03 2.13665201e-03 2.08171100e+02] [ 9.16232311e-03 9.99958025e-01 -1.74917857e-05 -4.35385629e-01] [-2.13640206e-03 3.70677076e-05 9.99997717e-01 -2.09305513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.68592 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:208.20, Y:-0.44, Z:-2.08 [[ 9.99974312e-01 -6.84177820e-03 2.13664925e-03 2.08201845e+02] [ 6.84183189e-03 9.99976594e-01 -1.78221294e-05 -4.35290609e-01] [-2.13647731e-03 3.24402666e-05 9.99997717e-01 -2.07882558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.71592 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:208.23, Y:-0.44, Z:-2.08 [[ 9.99964655e-01 -8.13161445e-03 2.13661932e-03 2.08230660e+02] [ 8.13167857e-03 9.99966937e-01 -2.13244481e-05 -4.36321242e-01] [-2.13637527e-03 3.86979959e-05 9.99997717e-01 -2.07884206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.74592 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:208.26, Y:-0.44, Z:-2.08 [[ 9.99984625e-01 -5.11694566e-03 2.13679548e-03 2.08261371e+02] [ 5.11695824e-03 9.99986908e-01 -4.21777551e-07 -4.36431666e-01] [-2.13676535e-03 1.13556643e-05 9.99997717e-01 -2.07870215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.77592 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:208.29, Y:-0.44, Z:-2.08 [[ 9.99986660e-01 -4.70257002e-03 2.13669566e-03 2.08291460e+02] [ 4.70260583e-03 9.99988943e-01 -1.17345907e-05 -4.36379691e-01] [-2.13661685e-03 2.17824715e-05 9.99997717e-01 -2.07844026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.80592000000001 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:208.32, Y:-0.44, Z:-2.08 [[ 9.99997465e-01 7.10142767e-04 2.13677227e-03 2.08323567e+02] [-7.10137312e-04 9.99999748e-01 -3.31171688e-06 -4.36971049e-01] [-2.13677408e-03 1.79430677e-06 9.99997717e-01 -2.07841284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.83592000000002 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:208.35, Y:-0.44, Z:-2.08 [[ 9.99997351e-01 -8.56348253e-04 2.13649329e-03 2.08352688e+02] [ 8.56421790e-04 9.99999633e-01 -3.35049721e-05 -4.38468097e-01] [-2.13646382e-03 3.53346228e-05 9.99997717e-01 -2.07952666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.86592000000002 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:208.38, Y:-0.44, Z:-2.09 [[ 9.99997658e-01 -3.45290133e-04 2.13669362e-03 2.08384710e+02] [ 3.45316055e-04 9.99999940e-01 -1.17628763e-05 -4.39772320e-01] [-2.13668943e-03 1.25006834e-05 9.99997717e-01 -2.09334090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.89592000000002 meters Centerline goodness : 0.998859 Centerline is valid? [True, True] Translation: X:208.42, Y:-0.44, Z:-2.08 [[ 9.99995882e-01 1.91606948e-03 2.13661725e-03 2.08415959e+02] [-1.91603124e-03 9.99998164e-01 -1.99447422e-05 -4.40049260e-01] [-2.13665154e-03 1.58508347e-05 9.99997717e-01 -2.08069430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.92592000000002 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:208.45, Y:-0.44, Z:-2.08 [[ 9.99996533e-01 1.53915144e-03 2.13654619e-03 2.08446971e+02] [-1.53909607e-03 9.99998815e-01 -2.75575898e-05 -4.41170463e-01] [-2.13658607e-03 2.42691444e-05 9.99997717e-01 -2.08305037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.95592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:208.48, Y:-0.44, Z:-2.09 [[ 9.99992576e-01 3.20667673e-03 2.13665127e-03 2.08478306e+02] [-3.20664947e-03 9.99994859e-01 -1.61865102e-05 -4.42158182e-01] [-2.13669219e-03 9.33489837e-06 9.99997717e-01 -2.09430952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.98592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.51, Y:-0.45, Z:-2.10 [[ 9.99991141e-01 3.62676558e-03 2.13661979e-03 2.08510162e+02] [-3.62673195e-03 9.99993423e-01 -1.96157483e-05 -4.45264694e-01] [-2.13667688e-03 1.18666273e-05 9.99997717e-01 -2.09524894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.01592 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:208.54, Y:-0.45, Z:-2.08 [[ 9.99991755e-01 3.45323308e-03 2.13661726e-03 2.08541493e+02] [-3.45319847e-03 9.99994037e-01 -1.98872788e-05 -4.46724765e-01] [-2.13667319e-03 1.25089514e-05 9.99997717e-01 -2.08269120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.04592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:208.57, Y:-0.45, Z:-2.10 [[ 9.99992418e-01 3.25543417e-03 2.13661052e-03 2.08573312e+02] [-3.25539757e-03 9.99994701e-01 -2.06077104e-05 -4.48657335e-01] [-2.13666629e-03 1.36520375e-05 9.99997717e-01 -2.09550211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.07592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:208.61, Y:-0.45, Z:-2.10 [[ 9.99990753e-01 3.73225195e-03 2.13661414e-03 2.08605022e+02] [-3.73221726e-03 9.99993035e-01 -2.02257249e-05 -4.50141008e-01] [-2.13667474e-03 1.22512297e-05 9.99997717e-01 -2.09565736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.10592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:208.64, Y:-0.45, Z:-2.08 [[ 9.99996027e-01 1.83892062e-03 2.13661153e-03 2.08635329e+02] [-1.83888103e-03 9.99998309e-01 -2.04973098e-05 -4.53371866e-01] [-2.13664561e-03 1.65682540e-05 9.99997717e-01 -2.08339612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.13592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:208.67, Y:-0.45, Z:-2.10 [[ 9.99993484e-01 2.90976143e-03 2.13667355e-03 2.08666744e+02] [-2.90973809e-03 9.99995767e-01 -1.40339656e-05 -4.54866645e-01] [-2.13670534e-03 7.81671374e-06 9.99997717e-01 -2.09565072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.16592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:208.70, Y:-0.46, Z:-2.09 [[ 9.99989200e-01 4.12723417e-03 2.13660784e-03 2.08698317e+02] [-4.12719917e-03 9.99991483e-01 -2.07877408e-05 -4.57545678e-01] [-2.13667544e-03 1.19693102e-05 9.99997717e-01 -2.08561586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.19592 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:208.73, Y:-0.46, Z:-2.08 [[ 9.99993713e-01 2.83014293e-03 2.13652679e-03 2.08728534e+02] [-2.83008700e-03 9.99995995e-01 -2.91995093e-05 -4.58391021e-01] [-2.13660088e-03 2.31527691e-05 9.99997717e-01 -2.08076636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.22592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:208.76, Y:-0.46, Z:-2.08 [[ 9.99997136e-01 1.07875050e-03 2.13664881e-03 2.08759282e+02] [-1.07871783e-03 9.99999418e-01 -1.64448258e-05 -4.60733247e-01] [-2.13666530e-03 1.41399375e-05 9.99997717e-01 -2.08188536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.25592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.79, Y:-0.46, Z:-2.10 [[ 9.99997021e-01 1.18021627e-03 2.13673012e-03 2.08791494e+02] [-1.18020160e-03 9.99999304e-01 -8.12861965e-06 -4.62968549e-01] [-2.13673822e-03 5.60682314e-06 9.99997717e-01 -2.09730739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.28592 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:208.82, Y:-0.47, Z:-2.08 [[ 9.99997377e-01 -8.25011122e-04 2.13659747e-03 2.08821167e+02] [ 8.25058692e-04 9.99999659e-01 -2.13827225e-05 -4.67426329e-01] [-2.13657910e-03 2.31454847e-05 9.99997717e-01 -2.08202037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.31592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:208.85, Y:-0.47, Z:-2.10 [[ 9.99997647e-01 -3.73392657e-04 2.13674878e-03 2.08854108e+02] [ 3.73406805e-04 9.99999930e-01 -6.22202008e-06 -4.68314793e-01] [-2.13674631e-03 7.01988197e-06 9.99997717e-01 -2.09613086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.34592 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:208.88, Y:-0.47, Z:-2.08 [[ 9.99997715e-01 -6.81238229e-05 2.13659219e-03 2.08884001e+02] [ 6.81702676e-05 9.99999997e-01 -2.16649516e-05 -4.71489881e-01] [-2.13659071e-03 2.18105542e-05 9.99997717e-01 -2.08243401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.37592 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:208.94, Y:-0.47, Z:-2.10 [[ 9.99997191e-01 -1.02591564e-03 2.13666977e-03 2.08943929e+02] [ 1.02594784e-03 9.99999474e-01 -1.39728786e-05 -4.68492259e-01] [-2.13665431e-03 1.61649511e-05 9.99997717e-01 -2.09760903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.40592 meters Centerline goodness : 0.999303 Centerline is valid? [True, True] Translation: X:208.94, Y:-0.48, Z:-2.08 [[ 9.99997553e-01 5.85357965e-04 2.13340607e-03 2.08943041e+02] [-5.84724627e-04 9.99999785e-01 -2.97478612e-04 -4.82447075e-01] [-2.13357975e-03 2.96230429e-04 9.99997680e-01 -2.08257194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.43592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.97, Y:-0.48, Z:-2.10 [[ 9.99997530e-01 6.17341958e-04 2.13523373e-03 2.08973524e+02] [-6.17303324e-04 9.99999809e-01 -1.87525972e-05 -4.83234581e-01] [-2.13524490e-03 1.74344640e-05 9.99997720e-01 -2.09957803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.46592 meters Centerline goodness : 0.999198 Centerline is valid? [True, True] Translation: X:209.00, Y:-0.49, Z:-2.08 [[ 9.99994565e-01 2.51209453e-03 2.13526545e-03 2.09004564e+02] [-2.51207064e-03 9.99996845e-01 -1.38693539e-05 -4.85278654e-01] [-2.13529356e-03 8.50534086e-06 9.99997720e-01 -2.08356447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.49592 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:209.04, Y:-0.49, Z:-2.10 [[ 9.99994127e-01 2.68062415e-03 2.13526947e-03 2.09036394e+02] [-2.68060194e-03 9.99996407e-01 -1.32614417e-05 -4.87055360e-01] [-2.13529734e-03 7.53755639e-06 9.99997720e-01 -2.10116542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.52592 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:209.07, Y:-0.49, Z:-2.10 [[ 9.99992892e-01 3.10742759e-03 2.13526161e-03 2.09069019e+02] [-3.10740387e-03 9.99995172e-01 -1.44249514e-05 -4.88332964e-01] [-2.13529612e-03 7.78972865e-06 9.99997720e-01 -2.10100958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.55592000000001 meters Centerline goodness : 0.996718 Centerline is valid? [True, True] Translation: X:209.13, Y:-0.48, Z:-2.10 [[ 9.99997580e-01 5.29146409e-04 2.13525973e-03 2.09128573e+02] [-5.29116231e-04 9.99999860e-01 -1.46981516e-05 -4.82924192e-01] [-2.13526720e-03 1.35683154e-05 9.99997720e-01 -2.09732924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.58592000000002 meters Centerline goodness : 0.995978 Centerline is valid? [True, True] Translation: X:209.18, Y:-0.49, Z:-2.10 [[ 9.99996437e-01 1.62378687e-03 2.11858378e-03 2.09182607e+02] [-1.62298654e-03 9.99998611e-01 -3.79431649e-04 -4.90046718e-01] [-2.11919696e-03 3.75991865e-04 9.99997684e-01 -2.10410073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.61592000000002 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:209.16, Y:-0.51, Z:-2.10 [[ 9.99821179e-01 -1.87915744e-02 2.11841842e-03 2.09155570e+02] [ 1.87923867e-02 9.99823341e-01 -3.64228266e-04 -5.12119492e-01] [-2.11119976e-03 4.03973273e-04 9.99997690e-01 -2.10190051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.64592000000002 meters Centerline goodness : 0.970397 Centerline is valid? [True, True] Translation: X:209.13, Y:-0.54, Z:-2.11 [[ 9.99518279e-01 -3.09638056e-02 2.11035394e-03 2.09133646e+02] [ 3.09637861e-02 9.99520506e-01 4.19055723e-05 -5.38226893e-01] [-2.11063960e-03 2.34591626e-05 9.99997772e-01 -2.11038777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.67592000000002 meters Centerline goodness : 0.998907 Centerline is valid? [True, True] Translation: X:209.21, Y:-0.51, Z:-2.09 [[ 9.99957378e-01 -8.98992674e-03 2.10329840e-03 2.09206687e+02] [ 8.98917491e-03 9.99959529e-01 3.66635745e-04 -5.08752234e-01] [-2.10650931e-03 -3.47713201e-04 9.99997721e-01 -2.08975673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.70592 meters Centerline goodness : 0.998907 Centerline is valid? [True, True] Translation: X:209.24, Y:-0.51, Z:-2.09 [[ 9.99961641e-01 -8.50134150e-03 2.10808669e-03 2.09238415e+02] [ 8.50128442e-03 9.99963863e-01 3.60333748e-05 -5.07679961e-01] [-2.10831684e-03 -1.81105481e-05 9.99997777e-01 -2.08978724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.73592 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:209.27, Y:-0.51, Z:-2.10 [[ 9.99988256e-01 -4.36396609e-03 2.10811173e-03 2.09270612e+02] [ 4.36390359e-03 9.99990478e-01 3.42454333e-05 -5.07177474e-01] [-2.10824111e-03 -2.50454347e-05 9.99997777e-01 -2.10373430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.76592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:209.30, Y:-0.51, Z:-2.10 [[ 9.99994840e-01 -2.42377101e-03 2.10818277e-03 2.09303588e+02] [ 2.42371505e-03 9.99997062e-01 2.90991364e-05 -5.05219664e-01] [-2.10824711e-03 -2.39893520e-05 9.99997777e-01 -2.10430861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.79592 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:209.34, Y:-0.50, Z:-2.10 [[ 9.99997139e-01 -1.13036667e-03 2.10818833e-03 2.09335269e+02] [ 1.13030870e-03 9.99999361e-01 2.86908203e-05 -5.01449178e-01] [-2.10821941e-03 -2.63078346e-05 9.99997777e-01 -2.10338536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.82592 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:209.37, Y:-0.50, Z:-2.09 [[ 9.99996834e-01 -1.37370798e-03 2.10819292e-03 2.09365530e+02] [ 1.37365127e-03 9.99999056e-01 2.83492313e-05 -5.00403223e-01] [-2.10822987e-03 -2.54532197e-05 9.99997777e-01 -2.09101734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.85592 meters Centerline goodness : 0.998659 Centerline is valid? [True, True] Translation: X:209.40, Y:-0.50, Z:-2.08 [[ 9.99995455e-01 -2.15556411e-03 2.10813988e-03 2.09396859e+02] [ 2.15550080e-03 9.99997676e-01 3.23058448e-05 -4.99003497e-01] [-2.10820462e-03 -2.77616008e-05 9.99997777e-01 -2.08449076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.88592 meters Centerline goodness : 0.940032 Centerline is valid? [True, False] Translation: X:209.40, Y:-0.49, Z:-2.08 [[ 9.99978231e-01 -6.24139387e-03 2.14064897e-03 2.09396784e+02] [ 6.25328599e-03 9.99964799e-01 -5.59442627e-03 -4.92583718e-01] [-2.10565659e-03 5.60769058e-03 9.99982060e-01 -2.08418422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.91592 meters Centerline goodness : 0.998808 Centerline is valid? [False, True] Translation: X:209.37, Y:-0.48, Z:-2.09 [[ 9.99954627e-01 -3.93791927e-03 8.67393330e-03 2.09374054e+02] [ 4.05860604e-03 9.99894592e-01 -1.39403543e-02 -4.82094563e-01] [-8.61812300e-03 1.39749258e-02 9.99865206e-01 -2.08720495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.94592 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:209.41, Y:-0.49, Z:-2.10 [[ 9.99960395e-01 -2.79617412e-03 8.44926732e-03 2.09405136e+02] [ 2.79519188e-03 9.99996085e-01 1.28058935e-04 -4.93942620e-01] [-8.44959231e-03 -1.04436540e-04 9.99964296e-01 -2.10301251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.97592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:209.44, Y:-0.49, Z:-2.10 [[ 9.99961326e-01 -2.44095567e-03 8.44918499e-03 2.09438398e+02] [ 2.43991665e-03 9.99997015e-01 1.33278257e-04 -4.91202474e-01] [-8.44948509e-03 -1.12657795e-04 9.99964296e-01 -2.10287495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.00592 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:209.47, Y:-0.49, Z:-2.09 [[ 9.99958834e-01 -3.30778427e-03 8.44925160e-03 2.09469038e+02] [ 3.30681307e-03 9.99994524e-01 1.28911956e-04 -4.89634829e-01] [-8.44963175e-03 -1.00966554e-04 9.99964296e-01 -2.08841105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.03592 meters Centerline goodness : 0.879094 Centerline is valid? [True, False] Translation: X:209.47, Y:-0.47, Z:-2.08 [[ 9.99998165e-01 1.15161689e-03 1.53116312e-03 2.09470319e+02] [-1.12612722e-03 9.99862485e-01 -1.65451819e-02 -4.73075726e-01] [-1.55000628e-03 1.65434273e-02 9.99861947e-01 -2.08475937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.06592 meters Centerline goodness : 0.951615 Centerline is valid? [False, True] Translation: X:209.47, Y:-0.46, Z:-2.08 [[ 9.99974356e-01 -6.96906587e-03 1.64917787e-03 2.09470064e+02] [ 7.01153702e-03 9.99601990e-01 -2.73257927e-02 -4.62970758e-01] [-1.45808623e-03 2.73366553e-02 9.99625220e-01 -2.08304848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.09592 meters Centerline goodness : 0.998360 Centerline is valid? [True, True] Translation: X:209.50, Y:-0.53, Z:-2.07 [[ 9.94358046e-01 -1.06064599e-01 -1.54210969e-03 2.09496367e+02] [ 1.06067030e-01 9.94357710e-01 1.59035515e-03 -5.30872431e-01] [ 1.36472828e-03 -1.74494943e-03 9.99997546e-01 -2.06885901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.12592 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:209.53, Y:-0.52, Z:-2.09 [[ 9.94205494e-01 -1.07487782e-01 -1.34633155e-03 2.09528579e+02] [ 1.07487677e-01 9.94206406e-01 -1.50455406e-04 -5.24390998e-01] [ 1.35470357e-03 4.86954099e-06 9.99999082e-01 -2.08526192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.15592 meters Centerline goodness : 0.997562 Centerline is valid? [True, True] Translation: X:209.56, Y:-0.52, Z:-2.07 [[ 9.93944609e-01 -1.09874029e-01 -1.34627303e-03 2.09558610e+02] [ 1.09873925e-01 9.93945521e-01 -1.50977279e-04 -5.21206264e-01] [ 1.35471053e-03 2.14275029e-06 9.99999082e-01 -2.06639675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.18592 meters Centerline goodness : 0.845073 Centerline is valid? [True, False] Translation: X:209.56, Y:-0.51, Z:-2.06 [[ 9.94850464e-01 -1.01267723e-01 -4.17154417e-03 2.09560369e+02] [ 1.01204877e-01 9.94777736e-01 -1.32222742e-02 -5.08344739e-01] [ 5.48874887e-03 1.27320050e-02 9.99903880e-01 -2.06462872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.21592 meters Centerline goodness : 0.998212 Centerline is valid? [False, True] Translation: X:209.56, Y:-0.50, Z:-2.06 [[ 9.96450891e-01 -8.41701776e-02 1.00149994e-03 2.09556146e+02] [ 8.41758133e-02 9.96343627e-01 -1.46222224e-02 -5.04688087e-01] [ 2.32916966e-04 1.46546286e-02 9.99892588e-01 -2.06455391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.24592 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:209.59, Y:-0.52, Z:-2.08 [[ 9.96164839e-01 -8.74961379e-02 -2.00912668e-04 2.09589219e+02] [ 8.74961360e-02 9.96164859e-01 -1.81506625e-05 -5.17512987e-01] [ 2.01730253e-04 5.01969668e-07 9.99999980e-01 -2.08058579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.27592 meters Centerline goodness : 0.857724 Centerline is valid? [True, False] Translation: X:209.59, Y:-0.51, Z:-2.08 [[ 9.97382788e-01 -7.22927738e-02 1.15311111e-03 2.09588241e+02] [ 7.22969136e-02 9.97374804e-01 -4.08119017e-03 -5.14895694e-01] [-8.55043406e-04 4.15387520e-03 9.99991007e-01 -2.08077812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.30592000000001 meters Centerline goodness : 0.766334 Centerline is valid? [False, False] Translation: X:209.59, Y:-0.51, Z:-2.08 [[ 9.98308973e-01 -5.81297022e-02 3.63872936e-04 2.09589117e+02] [ 5.81304688e-02 9.98260620e-01 -9.82765283e-03 -5.08825940e-01] [ 2.08038509e-04 9.83218611e-03 9.99951641e-01 -2.08101351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.33592000000002 meters Centerline goodness : 0.997964 Centerline is valid? [False, True] Translation: X:209.59, Y:-0.50, Z:-2.08 [[ 9.99044853e-01 -4.36941303e-02 4.51940670e-04 2.09589109e+02] [ 4.36959485e-02 9.98929140e-01 -1.52064959e-02 -5.03050868e-01] [ 2.12977911e-04 1.52117195e-02 9.99884272e-01 -2.08093488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.36592000000002 meters Centerline goodness : 0.997565 Centerline is valid? [True, True] Translation: X:209.62, Y:-0.52, Z:-2.08 [[ 9.99170720e-01 -4.07168334e-02 -1.06718400e-04 2.09622302e+02] [ 4.07168282e-02 9.99170725e-01 -5.13138226e-05 -5.17469305e-01] [ 1.08719237e-04 4.69260343e-05 9.99999993e-01 -2.08259761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.39592000000002 meters Centerline goodness : 0.771918 Centerline is valid? [True, False] Translation: X:209.62, Y:-0.51, Z:-2.08 [[ 9.99670114e-01 -2.56828099e-02 2.35784085e-04 2.09623139e+02] [ 2.56836399e-02 9.99658861e-01 -4.74476798e-03 -5.12589146e-01] [-1.13844675e-04 4.74925854e-03 9.99988716e-01 -2.08313179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.42592000000002 meters Centerline goodness : 0.998061 Centerline is valid? [False, True] Translation: X:209.62, Y:-0.51, Z:-2.08 [[ 9.99935252e-01 -1.09261164e-02 3.18004614e-03 2.09621556e+02] [ 1.09569478e-02 9.99891505e-01 -9.84494671e-03 -5.06336367e-01] [-3.07213408e-03 9.87915287e-03 9.99946481e-01 -2.08339069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.45592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.67, Y:-0.51, Z:-2.13 [[ 9.99967047e-01 7.50873619e-03 3.08600854e-03 2.09672656e+02] [-7.50881959e-03 9.99971808e-01 1.54393330e-05 -5.10653001e-01] [-3.08580561e-03 -3.86111056e-05 9.99995238e-01 -2.12738689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.48592 meters Centerline goodness : 0.893237 Centerline is valid? [True, False] Translation: X:209.67, Y:-0.51, Z:-2.13 [[ 9.99995596e-01 -6.07518502e-04 2.90491858e-03 2.09673206e+02] [ 6.35233574e-04 9.99954202e-01 -9.54935439e-03 -5.05062940e-01] [-2.89898413e-03 9.55115764e-03 9.99950184e-01 -2.12708678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.51592 meters Centerline goodness : 0.998655 Centerline is valid? [False, True] Translation: X:209.69, Y:-0.50, Z:-2.12 [[ 9.99994010e-01 8.73341586e-05 -3.46022961e-03 2.09694162e+02] [-1.45750114e-04 9.99857420e-01 -1.68854500e-02 -4.98141297e-01] [ 3.45826157e-03 1.68858532e-02 9.99851443e-01 -2.12322787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.54592 meters Centerline goodness : 0.998005 Centerline is valid? [True, True] Translation: X:209.72, Y:-0.51, Z:-2.13 [[ 9.99988958e-01 3.11233709e-03 -3.52100017e-03 2.09722613e+02] [-3.11252792e-03 9.99995155e-01 -4.87201830e-05 -5.12263045e-01] [ 3.52083148e-03 5.96788564e-05 9.99993800e-01 -2.12578833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.57592 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:209.75, Y:-0.51, Z:-2.14 [[ 9.99979064e-01 5.42889640e-03 -3.52110812e-03 2.09751882e+02] [-5.42899893e-03 9.99985263e-01 -1.95605917e-05 -5.10673610e-01] [ 3.52095003e-03 3.86762744e-05 9.99993801e-01 -2.13630631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.60592 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:209.78, Y:-0.51, Z:-2.14 [[ 9.99969900e-01 6.91382185e-03 -3.52113011e-03 2.09780122e+02] [-6.91391417e-03 9.99976099e-01 -1.40487463e-05 -5.10139106e-01] [ 3.52094882e-03 3.83931148e-05 9.99993801e-01 -2.13546824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.63592 meters Centerline goodness : 0.997663 Centerline is valid? [True, True] Translation: X:209.81, Y:-0.51, Z:-2.12 [[ 9.99967080e-01 7.31026322e-03 -3.52112190e-03 2.09808614e+02] [-7.31036441e-03 9.99973279e-01 -1.58697703e-05 -5.09843970e-01] [ 3.52091180e-03 4.16099322e-05 9.99993801e-01 -2.12397328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.66592 meters Centerline goodness : 0.846379 Centerline is valid? [True, False] Translation: X:209.81, Y:-0.50, Z:-2.12 [[ 9.99993734e-01 -9.54662381e-04 -3.40885491e-03 2.09808251e+02] [ 9.20881066e-04 9.99950592e-01 -9.89772753e-03 -5.03142584e-01] [ 3.41813547e-03 9.89452636e-03 9.99945206e-01 -2.12326879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.69592 meters Centerline goodness : 0.997665 Centerline is valid? [False, True] Translation: X:209.81, Y:-0.51, Z:-2.13 [[ 9.99990040e-01 9.60515886e-04 -4.35868495e-03 2.09813611e+02] [-9.93221049e-04 9.99971325e-01 -7.50749664e-03 -5.05283267e-01] [ 4.35134889e-03 7.51175100e-03 9.99962319e-01 -2.12805849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.72592 meters Centerline goodness : 0.998758 Centerline is valid? [True, True] Translation: X:209.85, Y:-0.51, Z:-2.17 [[ 9.98987685e-01 -4.47659360e-02 -4.42905548e-03 2.09845046e+02] [ 4.47660027e-02 9.98997496e-01 -8.41188977e-05 -5.13373632e-01] [ 4.42838100e-03 -1.14237367e-04 9.99990188e-01 -2.17117073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.75592 meters Centerline goodness : 0.997069 Centerline is valid? [True, True] Translation: X:209.87, Y:-0.51, Z:-2.12 [[ 9.99988497e-01 -1.83914742e-03 -4.42977102e-03 2.09873737e+02] [ 1.83912974e-03 9.99998309e-01 -8.06432387e-06 -5.14934419e-01] [ 4.42977836e-03 -8.26925133e-08 9.99990188e-01 -2.12461913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.78592 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:209.90, Y:-0.51, Z:-2.14 [[ 9.99990064e-01 5.04646634e-04 -4.42924625e-03 2.09903940e+02] [-5.04929295e-04 9.99999871e-01 -6.26988262e-05 -5.14466431e-01] [ 4.42921404e-03 6.49346594e-05 9.99990189e-01 -2.13917754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.81592 meters Centerline goodness : 0.998312 Centerline is valid? [True, True] Translation: X:209.93, Y:-0.51, Z:-2.13 [[ 9.99989643e-01 -1.04631016e-03 -4.42943736e-03 2.09931776e+02] [ 1.04612985e-03 9.99999452e-01 -4.30236855e-05 -5.14387117e-01] [ 4.42947995e-03 3.83894732e-05 9.99990189e-01 -2.12687649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.84592 meters Centerline goodness : 0.893238 Centerline is valid? [True, False] Translation: X:209.93, Y:-0.52, Z:-2.13 [[ 9.99989182e-01 -1.08504662e-03 -4.52318727e-03 2.09932051e+02] [ 1.08587477e-03 9.99999394e-01 1.80638662e-04 -5.15571786e-01] [ 4.52298853e-03 -1.85548323e-04 9.99989754e-01 -2.12708970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.87592 meters Centerline goodness : 0.999603 Centerline is valid? [False, True] Translation: X:209.93, Y:-0.51, Z:-2.13 [[ 9.99976172e-01 -5.21069557e-03 -4.52823072e-03 2.09932132e+02] [ 5.18953642e-03 9.99975620e-01 -4.67197454e-03 -5.12513907e-01] [ 4.55246456e-03 4.64836380e-03 9.99978834e-01 -2.12702070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.90592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:209.96, Y:-0.52, Z:-2.13 [[ 9.99978434e-01 -4.68388682e-03 -4.60347056e-03 2.09960771e+02] [ 4.68338678e-03 9.99989026e-01 -1.19398115e-04 -5.15499854e-01] [ 4.60397929e-03 9.78357065e-05 9.99989397e-01 -2.12560951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.93592 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:209.99, Y:-0.51, Z:-2.12 [[ 9.99980170e-01 -4.29692743e-03 -4.60381888e-03 2.09989277e+02] [ 4.29651857e-03 9.99990765e-01 -9.86949164e-05 -5.14329383e-01] [ 4.60420045e-03 7.89125660e-05 9.99989397e-01 -2.12407148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.96592 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:210.02, Y:-0.51, Z:-2.12 [[ 9.99984289e-01 -3.19798605e-03 -4.60385391e-03 2.10018465e+02] [ 3.19757510e-03 9.99994883e-01 -9.66190771e-05 -5.13089565e-01] [ 4.60413934e-03 8.18963904e-05 9.99989398e-01 -2.12279647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.99592 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:210.05, Y:-0.51, Z:-2.13 [[ 9.99988216e-01 -1.53943228e-03 -4.60403806e-03 2.10045282e+02] [ 1.53905415e-03 9.99998812e-01 -8.56720506e-05 -5.12086631e-01] [ 4.60416448e-03 7.85851772e-05 9.99989398e-01 -2.12521247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.02592 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:210.08, Y:-0.51, Z:-2.12 [[ 9.99985656e-01 -2.73856269e-03 -4.60310419e-03 2.10076098e+02] [ 2.73793931e-03 9.99996242e-01 -1.41722713e-04 -5.12110084e-01] [ 4.60347500e-03 1.29117660e-04 9.99989396e-01 -2.12308435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.05592000000001 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:210.10, Y:-0.51, Z:-2.12 [[ 9.99987303e-01 -2.04828996e-03 -4.60413121e-03 2.10104734e+02] [ 2.04794492e-03 9.99997900e-01 -7.96544078e-05 -5.09282922e-01] [ 4.60428469e-03 7.02243893e-05 9.99989398e-01 -2.12311389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.08592000000002 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:210.13, Y:-0.51, Z:-2.12 [[ 9.99987974e-01 -1.68919940e-03 -4.60412142e-03 2.10133093e+02] [ 1.68884785e-03 9.99998571e-01 -8.02418942e-05 -5.06505368e-01] [ 4.60425039e-03 7.24652687e-05 9.99989398e-01 -2.12260328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.11592000000002 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:210.16, Y:-0.50, Z:-2.12 [[ 9.99988054e-01 -1.64141711e-03 -4.60409074e-03 2.10161443e+02] [ 1.64105662e-03 9.99998650e-01 -8.20747295e-05 -5.04317620e-01] [ 4.60421924e-03 7.45181754e-05 9.99989398e-01 -2.12182519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.14592000000002 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:210.19, Y:-0.50, Z:-2.13 [[ 9.99989347e-01 -3.28286304e-04 -4.60408149e-03 2.10190433e+02] [ 3.27909371e-04 9.99999943e-01 -8.26238921e-05 -5.01926543e-01] [ 4.60410836e-03 8.11132904e-05 9.99989398e-01 -2.13201882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.17592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.22, Y:-0.50, Z:-2.13 [[ 9.99987777e-01 -1.80217958e-03 -4.60415100e-03 2.10219473e+02] [ 1.80183702e-03 9.99998374e-01 -7.85498208e-05 -4.99316336e-01] [ 4.60428507e-03 7.02529309e-05 9.99989398e-01 -2.13324389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.20592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:210.25, Y:-0.50, Z:-2.13 [[ 9.99985536e-01 -2.78008664e-03 -4.60414078e-03 2.10248732e+02] [ 2.77975171e-03 9.99996133e-01 -7.91443836e-05 -4.97719189e-01] [ 4.60434301e-03 6.63448707e-05 9.99989398e-01 -2.13363220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.23592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:210.28, Y:-0.50, Z:-2.12 [[ 9.99983453e-01 -3.44889119e-03 -4.60413042e-03 2.10278402e+02] [ 3.44856059e-03 9.99994051e-01 -7.97423495e-05 -4.96564164e-01] [ 4.60437805e-03 6.38634074e-05 9.99989398e-01 -2.12196017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.26592 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:210.31, Y:-0.50, Z:-2.12 [[ 9.99977140e-01 -4.95171982e-03 -4.60427281e-03 2.10308492e+02] [ 4.95144308e-03 9.99987739e-01 -7.15025901e-05 -4.95691385e-01] [ 4.60457042e-03 4.87031608e-05 9.99989398e-01 -2.12295926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.29592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:210.34, Y:-0.49, Z:-2.13 [[ 9.99973411e-01 -5.65500157e-03 -4.60417947e-03 2.10338310e+02] [ 5.65470736e-03 9.99984009e-01 -7.69163512e-05 -4.94631787e-01] [ 4.60454081e-03 5.08790185e-05 9.99989398e-01 -2.13349359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.32592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:210.37, Y:-0.49, Z:-2.12 [[ 9.99953537e-01 -8.46913376e-03 -4.60413786e-03 2.10366912e+02] [ 8.46885826e-03 9.99964135e-01 -7.93315431e-05 -4.92300662e-01] [ 4.60464460e-03 4.03360662e-05 9.99989398e-01 -2.12215261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.35592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:210.40, Y:-0.49, Z:-2.13 [[ 9.99954764e-01 -8.32311044e-03 -4.60393717e-03 2.10396583e+02] [ 8.32278037e-03 9.99965361e-01 -9.08477692e-05 -4.90275561e-01] [ 4.60453383e-03 5.25261017e-05 9.99989398e-01 -2.13303760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.38592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:210.42, Y:-0.49, Z:-2.12 [[ 9.99922634e-01 -1.15554632e-02 -4.60412612e-03 2.10424717e+02] [ 1.15552174e-02 9.99933233e-01 -7.99694705e-05 -4.88824125e-01] [ 4.60474280e-03 2.67616051e-05 9.99989398e-01 -2.12234628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.41592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.45, Y:-0.49, Z:-2.13 [[ 9.99914058e-01 -1.22751158e-02 -4.60408074e-03 2.10453726e+02] [ 1.22748657e-02 9.99924658e-01 -8.25696386e-05 -4.87995439e-01] [ 4.60474741e-03 2.60480698e-05 9.99989398e-01 -2.13249070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.44592 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:210.48, Y:-0.49, Z:-2.12 [[ 9.99880645e-01 -1.47477859e-02 -4.60410679e-03 2.10482617e+02] [ 1.47475689e-02 9.99891245e-01 -8.10908579e-05 -4.87567780e-01] [ 4.60480198e-03 1.31817973e-05 9.99989398e-01 -2.12062512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.47592 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:210.51, Y:-0.49, Z:-2.12 [[ 9.99821248e-01 -1.83378481e-02 -4.60384768e-03 2.10512087e+02] [ 1.83376016e-02 9.99831847e-01 -9.57396430e-05 -4.86862753e-01] [ 4.60482919e-03 1.12990046e-05 9.99989398e-01 -2.12116568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.50592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.54, Y:-0.49, Z:-2.13 [[ 9.99829304e-01 -1.78932845e-02 -4.60367899e-03 2.10543276e+02] [ 1.78929893e-02 9.99839902e-01 -1.05315461e-04 -4.85712244e-01] [ 4.60482639e-03 2.29239052e-05 9.99989397e-01 -2.13379006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.53592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:210.57, Y:-0.49, Z:-2.13 [[ 9.99829208e-01 -1.78984915e-02 -4.60411652e-03 2.10572103e+02] [ 1.78983119e-02 9.99839809e-01 -8.01971391e-05 -4.85351212e-01] [ 4.60481439e-03 -2.22247150e-06 9.99989398e-01 -2.13347260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.56592 meters Centerline goodness : 0.999452 Centerline is valid? [True, True] Translation: X:210.60, Y:-0.49, Z:-2.12 [[ 9.99822036e-01 -1.82947414e-02 -4.60410618e-03 2.10600261e+02] [ 1.82945634e-02 9.99832637e-01 -8.07863326e-05 -4.85651517e-01] [ 4.60481359e-03 -3.45815678e-06 9.99989398e-01 -2.12109660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.59592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:210.63, Y:-0.49, Z:-2.13 [[ 9.99860972e-01 -1.60262333e-02 -4.60399388e-03 2.10630100e+02] [ 1.60260020e-02 9.99871572e-01 -8.71327851e-05 -4.86026890e-01] [ 4.60479901e-03 1.33370561e-05 9.99989398e-01 -2.13302889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.62592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:210.66, Y:-0.49, Z:-2.13 [[ 9.99858902e-01 -1.61548079e-02 -4.60410640e-03 2.10659404e+02] [ 1.61546075e-02 9.99869503e-01 -8.07143310e-05 -4.85556495e-01] [ 4.60480951e-03 6.32541046e-06 9.99989398e-01 -2.13289485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.65592 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:210.69, Y:-0.49, Z:-2.12 [[ 9.99872354e-01 -1.52995985e-02 -4.60409595e-03 2.10689594e+02] [ 1.52993863e-02 9.99882954e-01 -8.13065262e-05 -4.85228191e-01] [ 4.60480101e-03 1.08563052e-05 9.99989398e-01 -2.12068938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.68592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:210.72, Y:-0.48, Z:-2.13 [[ 9.99903162e-01 -1.31326616e-02 -4.60428476e-03 2.10719908e+02] [ 1.31324755e-02 9.99913763e-01 -7.06523464e-05 -4.83908394e-01] [ 4.60481556e-03 1.01798477e-05 9.99989398e-01 -2.13307096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.71592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:210.75, Y:-0.48, Z:-2.13 [[ 9.99909236e-01 -1.26618077e-02 -4.60407784e-03 2.10748800e+02] [ 1.26615632e-02 9.99919836e-01 -8.22370807e-05 -4.83384102e-01] [ 4.60475003e-03 2.39347939e-05 9.99989398e-01 -2.13351411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.74592 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:210.78, Y:-0.48, Z:-2.12 [[ 9.99909721e-01 -1.26234998e-02 -4.60406717e-03 2.10777307e+02] [ 1.26232522e-02 9.99920320e-01 -8.28302796e-05 -4.83543660e-01] [ 4.60474592e-03 2.47045006e-05 9.99989398e-01 -2.12032216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.77592 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:210.81, Y:-0.48, Z:-2.12 [[ 9.99923500e-01 -1.14803975e-02 -4.60378661e-03 2.10806618e+02] [ 1.14800664e-02 9.99934097e-01 -9.83446978e-05 -4.83052246e-01] [ 4.60461224e-03 4.54853986e-05 9.99989398e-01 -2.12031039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.80592000000001 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:210.84, Y:-0.48, Z:-2.12 [[ 9.99933225e-01 -1.05994998e-02 -4.60389029e-03 2.10835589e+02] [ 1.05991860e-02 9.99943823e-01 -9.25497457e-05 -4.83002111e-01] [ 4.60461264e-03 4.37460763e-05 9.99989398e-01 -2.12044348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.83592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.87, Y:-0.48, Z:-2.13 [[ 9.99946092e-01 -9.30679147e-03 -4.60394954e-03 2.10865765e+02] [ 9.30647909e-03 9.99956690e-01 -8.92712233e-05 -4.82240239e-01] [ 4.60458097e-03 4.64198508e-05 9.99989398e-01 -2.13070676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.86592000000002 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:210.89, Y:-0.48, Z:-2.13 [[ 9.99951917e-01 -8.65831604e-03 -4.60407154e-03 2.10894981e+02] [ 8.65802815e-03 9.99962515e-01 -8.24589798e-05 -4.81376509e-01] [ 4.60461292e-03 4.25928339e-05 9.99989398e-01 -2.12996103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.89592000000002 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:210.92, Y:-0.48, Z:-2.13 [[ 9.99964832e-01 -7.00981338e-03 -4.60406077e-03 2.10924155e+02] [ 7.00950527e-03 9.99975430e-01 -8.30560232e-05 -4.80587338e-01] [ 4.60452986e-03 5.07809141e-05 9.99989398e-01 -2.12961393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.92592000000002 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:210.95, Y:-0.48, Z:-2.12 [[ 9.99962995e-01 -7.26710565e-03 -4.60405000e-03 2.10953292e+02] [ 7.26679753e-03 9.99973593e-01 -8.36491115e-05 -4.78753045e-01] [ 4.60453631e-03 5.01893169e-05 9.99989398e-01 -2.11921014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.95592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:210.98, Y:-0.47, Z:-2.13 [[ 9.99987135e-01 -2.12956364e-03 -4.60387183e-03 2.10982968e+02] [ 2.12915643e-03 9.99997729e-01 -9.33492651e-05 -4.73793699e-01] [ 4.60406017e-03 8.35457008e-05 9.99989398e-01 -2.13077049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.98592 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:211.01, Y:-0.47, Z:-2.12 [[ 9.99986162e-01 -2.54534139e-03 -4.60402864e-03 2.11012273e+02] [ 2.54497776e-03 9.99996758e-01 -8.48393754e-05 -4.71002811e-01] [ 4.60422966e-03 7.31210509e-05 9.99989398e-01 -2.11891785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.01592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:211.04, Y:-0.47, Z:-2.13 [[ 9.99988637e-01 1.23803650e-03 -4.60370478e-03 2.11042868e+02] [-1.23851966e-03 9.99999228e-01 -1.02100525e-04 -4.66769541e-01] [ 4.60357482e-03 1.07801144e-04 9.99989398e-01 -2.13014125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.04592 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:211.07, Y:-0.46, Z:-2.12 [[ 9.99989096e-01 7.81840764e-04 -4.60400624e-03 2.11071761e+02] [-7.82244781e-04 9.99999690e-01 -8.59533172e-05 -4.64079408e-01] [ 4.60393761e-03 8.95538398e-05 9.99989398e-01 -2.11760937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.07592 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:211.10, Y:-0.46, Z:-2.12 [[ 9.99989394e-01 1.32172118e-04 -4.60375100e-03 2.11103463e+02] [-1.32631880e-04 9.99999986e-01 -9.95616236e-05 -4.58440057e-01] [ 4.60373778e-03 1.00171172e-04 9.99989398e-01 -2.11778279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.10592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:211.13, Y:-0.46, Z:-2.13 [[ 9.99989396e-01 -1.02429293e-04 -4.60413114e-03 2.11132775e+02] [ 1.02064887e-04 9.99999992e-01 -7.93826300e-05 -4.55222667e-01] [ 4.60413923e-03 7.89118681e-05 9.99989398e-01 -2.12889167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.13592 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:211.16, Y:-0.45, Z:-2.13 [[ 9.99987626e-01 -1.88474431e-03 -4.60396762e-03 2.11161445e+02] [ 1.88435939e-03 9.99998221e-01 -8.79432190e-05 -4.52518411e-01] [ 4.60412518e-03 7.92666011e-05 9.99989398e-01 -2.12966644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.16592 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:211.19, Y:-0.45, Z:-2.13 [[ 9.99975729e-01 -5.22930036e-03 -4.60395618e-03 2.11190246e+02] [ 5.22894814e-03 9.99986325e-01 -8.85378670e-05 -4.47702002e-01] [ 4.60435622e-03 6.44618699e-05 9.99989398e-01 -2.12958351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.19592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.22, Y:-0.44, Z:-2.13 [[ 9.99956716e-01 -8.08516008e-03 -4.60394461e-03 2.11218604e+02] [ 8.08483537e-03 9.99967313e-01 -8.91354619e-05 -4.42198696e-01] [ 4.60451480e-03 5.19094695e-05 9.99989398e-01 -2.12993106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.22592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:211.25, Y:-0.44, Z:-2.13 [[ 9.99936098e-01 -1.03249461e-02 -4.60393310e-03 2.11247186e+02] [ 1.03246424e-02 9.99946695e-01 -8.97261849e-05 -4.39754723e-01] [ 4.60461411e-03 4.21864883e-05 9.99989398e-01 -2.12908070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.25592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:211.28, Y:-0.44, Z:-2.13 [[ 9.99912951e-01 -1.23650327e-02 -4.60392157e-03 2.11276409e+02] [ 1.23647479e-02 9.99923550e-01 -9.03139183e-05 -4.37850346e-01] [ 4.60468633e-03 3.33797269e-05 9.99989398e-01 -2.12882867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.28592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:211.31, Y:-0.43, Z:-2.13 [[ 9.99868956e-01 -1.55201640e-02 -4.60390997e-03 2.11305561e+02] [ 1.55199099e-02 9.99879555e-01 -9.09016501e-05 -4.34429592e-01] [ 4.60476626e-03 1.94374700e-05 9.99989398e-01 -2.12851612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.31592 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:211.33, Y:-0.43, Z:-2.11 [[ 9.99823290e-01 -1.82261554e-02 -4.60389829e-03 2.11334785e+02] [ 1.82259274e-02 9.99833890e-01 -9.14890453e-05 -4.31651546e-01] [ 4.60480103e-03 7.56256234e-06 9.99989398e-01 -2.11278362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.34592 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:211.36, Y:-0.43, Z:-2.11 [[ 9.99802010e-01 -1.93584215e-02 -4.60351280e-03 2.11364412e+02] [ 1.93581155e-02 9.99812608e-01 -1.11008224e-04 -4.26664301e-01] [ 4.60479908e-03 2.18709126e-05 9.99989398e-01 -2.11342458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.37592 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:211.39, Y:-0.42, Z:-2.13 [[ 9.99803132e-01 -1.93003216e-02 -4.60375649e-03 2.11394418e+02] [ 1.93000721e-02 9.99813731e-01 -9.86275665e-05 -4.24003555e-01] [ 4.60480250e-03 9.75531779e-06 9.99989398e-01 -2.12811078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.40592 meters Centerline goodness : 0.998611 Centerline is valid? [True, True] Translation: X:211.43, Y:-0.42, Z:-2.11 [[ 9.99795564e-01 -1.96884262e-02 -4.60392527e-03 2.11425170e+02] [ 1.96882206e-02 9.99806164e-01 -8.99930265e-05 -4.21692204e-01] [ 4.60480469e-03 -6.68467533e-07 9.99989398e-01 -2.10818616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.43592 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:211.46, Y:-0.42, Z:-2.13 [[ 9.99708572e-01 -2.36975136e-02 -4.60414505e-03 2.11455148e+02] [ 2.36974025e-02 9.99719174e-01 -7.87021051e-05 -4.18852970e-01] [ 4.60471713e-03 -3.04271090e-05 9.99989398e-01 -2.12607328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.46592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:211.49, Y:-0.42, Z:-2.13 [[ 9.99682583e-01 -2.47696877e-02 -4.60391840e-03 2.11485431e+02] [ 2.47695346e-02 9.99693184e-01 -9.02627077e-05 -4.17664073e-01] [ 4.60474162e-03 -2.38028593e-05 9.99989398e-01 -2.12590642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.49592 meters Centerline goodness : 0.998909 Centerline is valid? [True, True] Translation: X:211.51, Y:-0.42, Z:-2.11 [[ 9.99534558e-01 -3.01574444e-02 -4.60391840e-03 2.11513983e+02] [ 3.01573485e-02 9.99545160e-01 -9.02627077e-05 -4.15673353e-01] [ 4.60454644e-03 -4.86212760e-05 9.99989398e-01 -2.11135270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.52592 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:211.55, Y:-0.41, Z:-2.11 [[ 9.99516963e-01 -3.07352080e-02 -4.60304431e-03 2.11545596e+02] [ 3.07349106e-02 9.99527562e-01 -1.35354952e-04 -4.12760853e-01] [ 4.60502982e-03 -6.18458496e-06 9.99989397e-01 -2.11028489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.55592000000001 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:211.58, Y:-0.41, Z:-2.13 [[ 9.99545858e-01 -2.97807052e-02 -4.60298126e-03 2.11577773e+02] [ 2.97803824e-02 9.99556456e-01 -1.38664271e-04 -4.09153074e-01] [ 4.60506915e-03 1.52275533e-06 9.99989397e-01 -2.12558975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.58592000000002 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:211.60, Y:-0.41, Z:-2.11 [[ 9.99413016e-01 -3.39474167e-02 -4.60396827e-03 2.11604274e+02] [ 3.39473828e-02 9.99423618e-01 -8.55427540e-05 -4.09186389e-01] [ 4.60421858e-03 -7.08001316e-05 9.99989398e-01 -2.11046532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.61592000000002 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:211.64, Y:-0.41, Z:-2.11 [[ 9.99474059e-01 -3.21002131e-02 -4.60235360e-03 2.11637501e+02] [ 3.20997493e-02 9.99484655e-01 -1.74634515e-04 -4.07813319e-01] [ 4.60558761e-03 2.68082709e-05 9.99989394e-01 -2.10757743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.64592000000002 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:211.67, Y:-0.40, Z:-2.12 [[ 9.99560193e-01 -2.92956081e-02 -4.60295466e-03 2.11670196e+02] [ 2.92952710e-02 9.99570792e-01 -1.40644419e-04 -4.04341268e-01] [ 4.60509930e-03 5.73775846e-06 9.99989396e-01 -2.12468315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.67592000000002 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:211.70, Y:-0.40, Z:-2.13 [[ 9.99518362e-01 -3.06895253e-02 -4.60401347e-03 2.11702357e+02] [ 3.06894882e-02 9.99528964e-01 -7.87181291e-05 -4.03683078e-01] [ 4.60426064e-03 -6.26146017e-05 9.99989398e-01 -2.12500711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.70592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:211.73, Y:-0.40, Z:-2.12 [[ 9.99498870e-01 -3.13178980e-02 -4.60404632e-03 2.11734171e+02] [ 3.13178767e-02 9.99509472e-01 -7.67473872e-05 -4.03116144e-01] [ 4.60419148e-03 -6.74800281e-05 9.99989398e-01 -2.12475194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.73592 meters Centerline goodness : 0.998958 Centerline is valid? [True, True] Translation: X:211.76, Y:-0.40, Z:-2.11 [[ 9.99416812e-01 -3.38354747e-02 -4.60407837e-03 2.11762611e+02] [ 3.38354891e-02 9.99427413e-01 -7.47743420e-05 -4.02990077e-01] [ 4.60397216e-03 -8.10505091e-05 9.99989398e-01 -2.10882250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.76592 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:211.80, Y:-0.40, Z:-2.11 [[ 9.99415292e-01 -3.38804476e-02 -4.60317990e-03 2.11795816e+02] [ 3.38802016e-02 9.99425893e-01 -1.31418912e-04 -4.02859203e-01] [ 4.60498972e-03 -2.46145925e-05 9.99989397e-01 -2.10942042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.79592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:211.83, Y:-0.40, Z:-2.13 [[ 9.99421457e-01 -3.36980501e-02 -4.60346634e-03 2.11829828e+02] [ 3.36978889e-02 9.99432059e-01 -1.12599802e-04 -4.04440678e-01] [ 4.60464623e-03 -4.25924385e-05 9.99989398e-01 -2.12654007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.82592 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:211.86, Y:-0.40, Z:-2.13 [[ 9.99412239e-01 -3.39702628e-02 -4.60412773e-03 2.11862890e+02] [ 3.39703124e-02 9.99422840e-01 -6.74611805e-05 -4.04495374e-01] [ 4.60376208e-03 -8.89821278e-05 9.99989399e-01 -2.12535490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.85592 meters Centerline goodness : 0.998859 Centerline is valid? [True, True] Translation: X:211.89, Y:-0.40, Z:-2.11 [[ 9.99370076e-01 -3.51888302e-02 -4.60415909e-03 2.11891796e+02] [ 3.51889029e-02 9.99380677e-01 -6.52477930e-05 -4.04640748e-01] [ 4.60360362e-03 -9.68086155e-05 9.99989399e-01 -2.10900918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.88592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:211.93, Y:-0.41, Z:-2.12 [[ 9.99373927e-01 -3.50793838e-02 -4.60337157e-03 2.11925885e+02] [ 3.50791943e-02 9.99384528e-01 -1.21926426e-04 -4.05002234e-01] [ 4.60481543e-03 -3.96324748e-05 9.99989397e-01 -2.12489085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.91592 meters Centerline goodness : 0.998956 Centerline is valid? [True, True] Translation: X:211.95, Y:-0.41, Z:-2.11 [[ 9.99190644e-01 -3.99607114e-02 -4.60417871e-03 2.11952925e+02] [ 3.99608519e-02 9.99201244e-01 -6.15217372e-05 -4.06835451e-01] [ 4.60295955e-03 -1.22514959e-04 9.99989399e-01 -2.11067434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.94592 meters Centerline goodness : 0.997865 Centerline is valid? [True, True] Translation: X:211.99, Y:-0.40, Z:-2.11 [[ 9.99774982e-01 -2.07074550e-02 -4.60286823e-03 2.11985876e+02] [ 2.07069346e-02 9.99785576e-01 -1.60672535e-04 -3.99464122e-01] [ 4.60520839e-03 6.53250888e-05 9.99989394e-01 -2.11485348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.97592 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:212.02, Y:-0.41, Z:-2.13 [[ 9.99157621e-01 -4.07781170e-02 -4.60355459e-03 2.12017149e+02] [ 4.07780627e-02 9.99168223e-01 -1.05692690e-04 -4.09179535e-01] [ 4.60403541e-03 -8.21203816e-05 9.99989398e-01 -2.12523660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.00592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:212.05, Y:-0.41, Z:-2.13 [[ 9.99095269e-01 -4.22781789e-02 -4.60415931e-03 2.12049306e+02] [ 4.22783704e-02 9.99105868e-01 -5.57705698e-05 -4.11389721e-01] [ 4.60240047e-03 -1.38936240e-04 9.99989399e-01 -2.12553080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.03592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:212.08, Y:-0.41, Z:-2.12 [[ 9.99099677e-01 -4.21738860e-02 -4.60418183e-03 2.12082714e+02] [ 4.21740853e-02 9.99110276e-01 -5.38447545e-05 -4.12449623e-01] [ 4.60235622e-03 -1.40380881e-04 9.99989399e-01 -2.12484929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.06592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:212.12, Y:-0.41, Z:-2.12 [[ 9.99100517e-01 -4.21539787e-02 -4.60420637e-03 2.12115643e+02] [ 4.21541878e-02 9.99111116e-01 -5.16582727e-05 -4.13765302e-01] [ 4.60229136e-03 -1.42474773e-04 9.99989399e-01 -2.12452362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.09592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.15, Y:-0.41, Z:-2.12 [[ 9.99067671e-01 -4.29254017e-02 -4.60422981e-03 2.12148325e+02] [ 4.29256290e-02 9.99078269e-01 -4.94767266e-05 -4.14235928e-01] [ 4.60210976e-03 -1.48208863e-04 9.99989399e-01 -2.12460017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.12592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.18, Y:-0.42, Z:-2.13 [[ 9.98997662e-01 -4.45249665e-02 -4.60423701e-03 2.12180605e+02] [ 4.45252139e-02 9.99008260e-01 -4.87969832e-05 -4.17070121e-01] [ 4.60184349e-03 -1.56256566e-04 9.99989399e-01 -2.12528824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.15592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.21, Y:-0.42, Z:-2.12 [[ 9.98947596e-01 -4.56344393e-02 -4.60425631e-03 2.12214101e+02] [ 4.56347072e-02 9.98958193e-01 -4.69028600e-05 -4.18839815e-01] [ 4.60159995e-03 -1.63260389e-04 9.99989399e-01 -2.12463822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.18592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.25, Y:-0.42, Z:-2.12 [[ 9.98903098e-01 -4.65983069e-02 -4.60427721e-03 2.12246988e+02] [ 4.65985949e-02 9.98913694e-01 -4.47517998e-05 -4.20770712e-01] [ 4.60136092e-03 -1.69850138e-04 9.99989399e-01 -2.12457799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.21592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:212.27, Y:-0.43, Z:-2.11 [[ 9.98595853e-01 -5.27742687e-02 -4.60429714e-03 2.12272449e+02] [ 5.27746322e-02 9.98606447e-01 -4.25976812e-05 -4.26169866e-01] [ 4.60012887e-03 -2.00452221e-04 9.99989399e-01 -2.11008461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.24592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:212.30, Y:-0.43, Z:-2.11 [[ 9.98647728e-01 -5.17834352e-02 -4.60339466e-03 2.12304511e+02] [ 5.17833410e-02 9.98658333e-01 -1.39731231e-04 -4.26795516e-01] [ 4.60445420e-03 -9.88368787e-05 9.99989395e-01 -2.11026863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.27592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.34, Y:-0.43, Z:-2.11 [[ 9.98719974e-01 -5.03708385e-02 -4.60347941e-03 2.12336860e+02] [ 5.03707762e-02 9.98730578e-01 -1.29539126e-04 -4.30811609e-01] [ 4.60416065e-03 -1.02507518e-04 9.99989396e-01 -2.11103405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.30592000000001 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:212.37, Y:-0.43, Z:-2.11 [[ 9.98833548e-01 -4.80661038e-02 -4.60357491e-03 2.12370264e+02] [ 4.80660740e-02 9.98844151e-01 -1.17176141e-04 -4.31065632e-01] [ 4.60388607e-03 -1.04236311e-04 9.99989397e-01 -2.11045764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.33592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.40, Y:-0.43, Z:-2.11 [[ 9.99173551e-01 -4.03858938e-02 -4.60376254e-03 2.12404187e+02] [ 4.03858995e-02 9.99184153e-01 -9.17695772e-05 -4.33408925e-01] [ 4.60371277e-03 -9.42333569e-05 9.99989398e-01 -2.11061289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.36592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.43, Y:-0.44, Z:-2.11 [[ 9.99062480e-01 -4.30460460e-02 -4.60421993e-03 2.12431628e+02] [ 4.30463836e-02 9.99073075e-01 -2.57806901e-05 -4.36079640e-01] [ 4.60106191e-03 -1.72438497e-04 9.99989400e-01 -2.11454108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.39592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.47, Y:-0.44, Z:-2.11 [[ 9.99469605e-01 -3.22384172e-02 -4.60370853e-03 2.12466028e+02] [ 3.22382546e-02 9.99480206e-01 -1.09544195e-04 -4.39076046e-01] [ 4.60484709e-03 -3.89294339e-05 9.99989397e-01 -2.11002924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.42592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.50, Y:-0.44, Z:-2.11 [[ 9.99447266e-01 -3.29235967e-02 -4.60425855e-03 2.12495840e+02] [ 3.29239218e-02 9.99457861e-01 -5.18621748e-06 -4.40895748e-01] [ 4.60193315e-03 -1.46406897e-04 9.99989400e-01 -2.11309674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.45592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.53, Y:-0.44, Z:-2.13 [[ 9.99469333e-01 -3.22467708e-02 -4.60415175e-03 2.12526827e+02] [ 3.22469935e-02 9.99479930e-01 -2.58645931e-05 -4.44348303e-01] [ 4.60259132e-03 -1.22619184e-04 9.99989401e-01 -2.12539174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.48592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.56, Y:-0.44, Z:-2.13 [[ 9.99471260e-01 -3.21869724e-02 -4.60416835e-03 2.12558666e+02] [ 3.21872102e-02 9.99481857e-01 -2.24622151e-05 -4.44178395e-01] [ 4.60250572e-03 -1.25744996e-04 9.99989401e-01 -2.12524565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.51592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.59, Y:-0.45, Z:-2.11 [[ 9.99412413e-01 -3.39651276e-02 -4.60416968e-03 2.12587021e+02] [ 3.39653855e-02 9.99423010e-01 -2.21868165e-05 -4.45395465e-01] [ 4.60226669e-03 -1.34208618e-04 9.99989401e-01 -2.11053524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.54592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.62, Y:-0.45, Z:-2.13 [[ 9.99564720e-01 -2.91405945e-02 -4.60392004e-03 2.12620506e+02] [ 2.91405544e-02 9.99575321e-01 -7.57970586e-05 -4.47974372e-01] [ 4.60417363e-03 -5.83967170e-05 9.99989399e-01 -2.12520539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.57592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.65, Y:-0.45, Z:-2.12 [[ 9.99617676e-01 -2.72635887e-02 -4.60415230e-03 2.12651345e+02] [ 2.72637914e-02 9.99628274e-01 -1.87420723e-05 -4.49823401e-01] [ 4.60295180e-03 -1.06791741e-04 9.99989401e-01 -2.12461752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.60592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:212.68, Y:-0.45, Z:-2.11 [[ 9.99664205e-01 -2.55005647e-02 -4.60415230e-03 2.12680784e+02] [ 2.55007488e-02 9.99674803e-01 -1.87420723e-05 -4.51428913e-01] [ 4.60313298e-03 -9.86735524e-05 9.99989401e-01 -2.11328836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.63592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.71, Y:-0.45, Z:-2.13 [[ 9.99760003e-01 -2.14181695e-02 -4.60412516e-03 2.12710887e+02] [ 2.14182786e-02 9.99770602e-01 -2.56356869e-05 -4.53163510e-01] [ 4.60361806e-03 -7.29829008e-05 9.99989401e-01 -2.12503764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.66592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:212.74, Y:-0.46, Z:-2.11 [[ 9.99845978e-01 -1.69358425e-02 -4.60415648e-03 2.12740839e+02] [ 1.69359424e-02 9.99856576e-01 -1.73006000e-05 -4.55111905e-01] [ 4.60378914e-03 -6.06777936e-05 9.99989401e-01 -2.11165433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.69592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:212.77, Y:-0.46, Z:-2.12 [[ 9.99850689e-01 -1.66553604e-02 -4.60417712e-03 2.12770617e+02] [ 1.66554837e-02 9.99861288e-01 -1.15487172e-05 -4.56107679e-01] [ 4.60373082e-03 -6.51378043e-05 9.99989401e-01 -2.12486679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.72592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:212.80, Y:-0.46, Z:-2.13 [[ 9.99862014e-01 -1.59610231e-02 -4.60416007e-03 2.12799463e+02] [ 1.59611170e-02 9.99872613e-01 -1.63500414e-05 -4.57638344e-01] [ 4.60383453e-03 -5.71397523e-05 9.99989401e-01 -2.12587946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.75592 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:212.83, Y:-0.46, Z:-2.11 [[ 9.99890010e-01 -1.40985818e-02 -4.60415796e-03 2.12829070e+02] [ 1.40986533e-02 9.99900609e-01 -1.69252861e-05 -4.60249227e-01] [ 4.60393897e-03 -4.79890022e-05 9.99989401e-01 -2.11171444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.78592 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:212.86, Y:-0.46, Z:-2.11 [[ 9.99930701e-01 -1.08349225e-02 -4.60409870e-03 2.12861542e+02] [ 1.08348887e-02 9.99941300e-01 -3.22859293e-05 -4.60897895e-01] [ 4.60417826e-03 -1.76012050e-05 9.99989401e-01 -2.11125929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.81592 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:212.89, Y:-0.46, Z:-2.11 [[ 9.99950495e-01 -8.82094449e-03 -4.60424483e-03 2.12891180e+02] [ 8.82107826e-03 9.99961093e-01 8.74596098e-06 -4.62766222e-01] [ 4.60398854e-03 -4.93599319e-05 9.99989400e-01 -2.11231312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.84592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:212.92, Y:-0.46, Z:-2.13 [[ 9.99940223e-01 -9.91723220e-03 -4.60424290e-03 2.12919982e+02] [ 9.91737528e-03 9.99950822e-01 8.24410348e-06 -4.63337242e-01] [ 4.60393472e-03 -5.39056154e-05 9.99989400e-01 -2.12615807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.87592 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:212.95, Y:-0.46, Z:-2.11 [[ 9.99955875e-01 -8.18840326e-03 -4.60413113e-03 2.12950196e+02] [ 8.18840287e-03 9.99966474e-01 -1.89347315e-05 -4.64144035e-01] [ 4.60413182e-03 -1.87665846e-05 9.99989401e-01 -2.11257391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.90592 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:212.98, Y:-0.47, Z:-2.11 [[ 9.99964309e-01 -7.08387476e-03 -4.60419789e-03 2.12979560e+02] [ 7.08393702e-03 9.99974909e-01 -2.78501720e-06 -4.65914080e-01] [ 4.60410209e-03 -2.98309301e-05 9.99989401e-01 -2.10874462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.93592 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:213.01, Y:-0.47, Z:-2.11 [[ 9.99967212e-01 -6.66155957e-03 -4.60419945e-03 2.13010075e+02] [ 6.66161900e-03 9.99977811e-01 -2.42871272e-06 -4.66992537e-01] [ 4.60411347e-03 -2.82427895e-05 9.99989401e-01 -2.11027913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.96592 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:213.04, Y:-0.47, Z:-2.11 [[ 9.99967857e-01 -6.56403068e-03 -4.60425563e-03 2.13040014e+02] [ 6.56414641e-03 9.99978456e-01 1.00241228e-05 -4.67928138e-01] [ 4.60409064e-03 -4.02468086e-05 9.99989400e-01 -2.10951963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.99592 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:213.07, Y:-0.47, Z:-2.11 [[ 9.99974925e-01 -5.38046551e-03 -4.60423553e-03 2.13070293e+02] [ 5.38054911e-03 9.99985525e-01 5.77176768e-06 -4.67789578e-01] [ 4.60413782e-03 -3.05449383e-05 9.99989400e-01 -2.11141751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.02592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:213.10, Y:-0.47, Z:-2.13 [[ 9.99976322e-01 -5.11431826e-03 -4.60426961e-03 2.13098493e+02] [ 5.11443026e-03 9.99986921e-01 1.25518464e-05 -4.67381592e-01] [ 4.60414519e-03 -3.60997650e-05 9.99989400e-01 -2.12569475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.05592000000001 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:213.13, Y:-0.47, Z:-2.11 [[ 9.99985815e-01 -2.67812906e-03 -4.60408201e-03 2.13128912e+02] [ 2.67804798e-03 9.99996414e-01 -2.37759206e-05 -4.67346182e-01] [ 4.60412917e-03 1.14456309e-05 9.99989401e-01 -2.11095027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.08592000000002 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:213.16, Y:-0.47, Z:-2.11 [[ 9.99987076e-01 -2.15613381e-03 -4.60420939e-03 2.13156506e+02] [ 2.15615709e-03 9.99997675e-01 9.19823159e-08 -4.66304963e-01] [ 4.60419849e-03 -1.00193799e-05 9.99989401e-01 -2.11192039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.11592000000002 meters Centerline goodness : 0.998907 Centerline is valid? [True, True] Translation: X:213.18, Y:-0.47, Z:-2.11 [[ 9.99981966e-01 -3.85615068e-03 -4.60411916e-03 2.13183623e+02] [ 3.85611875e-03 9.99992565e-01 -1.58120522e-05 -4.65852930e-01] [ 4.60414590e-03 -1.94226321e-06 9.99989401e-01 -2.11063409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.14592000000002 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:213.22, Y:-0.46, Z:-2.12 [[ 9.99988864e-01 -1.03730349e-03 -4.60381742e-03 2.13215489e+02] [ 1.03700279e-03 9.99999460e-01 -6.77029196e-05 -4.64884273e-01] [ 4.60388516e-03 6.29279942e-05 9.99989400e-01 -2.12496017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.17592000000002 meters Centerline goodness : 0.997269 Centerline is valid? [True, True] Translation: X:213.25, Y:-0.43, Z:-2.12 [[ 9.97789437e-01 6.62951190e-02 -4.60405143e-03 2.13254826e+02] [-6.62959391e-02 9.97800004e-01 -2.55734498e-05 -4.34549782e-01] [ 4.59222714e-03 3.30746832e-04 9.99989401e-01 -2.12325145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.20592 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:213.27, Y:-0.46, Z:-2.12 [[ 9.99989330e-01 3.66169836e-04 -4.60503483e-03 2.13273893e+02] [-3.65214036e-04 9.99999912e-01 2.08394541e-04 -4.61995291e-01] [ 4.60511073e-03 -2.06710494e-04 9.99989375e-01 -2.12423054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.23592 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:213.30, Y:-0.46, Z:-2.11 [[ 9.99988494e-01 1.34855972e-03 -4.60358224e-03 2.13302460e+02] [-1.34870411e-03 9.99999090e-01 -2.82595175e-05 -4.57252484e-01] [ 4.60353994e-03 3.44680626e-05 9.99989403e-01 -2.11137271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.26592 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:213.33, Y:-0.45, Z:-2.11 [[ 9.99987350e-01 2.02676436e-03 -4.60355674e-03 2.13330892e+02] [-2.02693384e-03 9.99997945e-01 -3.21496888e-05 -4.54808960e-01] [ 4.60348212e-03 4.14803871e-05 9.99989403e-01 -2.11173633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.29592 meters Centerline goodness : 0.998661 Centerline is valid? [True, True] Translation: X:213.36, Y:-0.45, Z:-2.11 [[ 9.99988651e-01 1.22619398e-03 -4.60362294e-03 2.13358539e+02] [-1.22631104e-03 9.99999248e-01 -2.26034594e-05 -4.50302174e-01] [ 4.60359176e-03 2.82486764e-05 9.99989403e-01 -2.11038467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.32592 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:213.39, Y:-0.45, Z:-2.12 [[ 9.99988026e-01 1.66032287e-03 -4.60343490e-03 2.13389673e+02] [-1.66056541e-03 9.99998620e-01 -4.88649266e-05 -4.47829013e-01] [ 4.60334742e-03 5.65086462e-05 9.99989403e-01 -2.12334854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.35592 meters Centerline goodness : 0.998810 Centerline is valid? [True, True] Translation: X:213.42, Y:-0.44, Z:-2.11 [[ 9.99989128e-01 7.42804511e-04 -4.60354930e-03 2.13418373e+02] [-7.42963462e-04 9.99999723e-01 -3.28178006e-05 -4.43837212e-01] [ 4.60352365e-03 3.62377127e-05 9.99989403e-01 -2.10926577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.38592 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:213.45, Y:-0.44, Z:-2.11 [[ 9.99989391e-01 -1.59103433e-04 -4.60351418e-03 2.13446714e+02] [ 1.58931411e-04 9.99999987e-01 -3.77333773e-05 -4.41441781e-01] [ 4.60352012e-03 3.70013340e-05 9.99989403e-01 -2.10973525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.41592 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:213.48, Y:-0.44, Z:-2.12 [[ 9.99989326e-01 -3.94083468e-04 -4.60347177e-03 2.13476500e+02] [ 3.93886470e-04 9.99999921e-01 -4.37000430e-05 -4.38331965e-01] [ 4.60348863e-03 4.18863313e-05 9.99989403e-01 -2.12038149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.44592 meters Centerline goodness : 0.998860 Centerline is valid? [True, True] Translation: X:213.50, Y:-0.43, Z:-2.11 [[ 9.99986997e-01 -2.19384178e-03 -4.60355102e-03 2.13503617e+02] [ 2.19371559e-03 9.99997593e-01 -3.24612943e-05 -4.33700563e-01] [ 4.60361116e-03 2.23619905e-05 9.99989403e-01 -2.10714017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.47592 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:213.53, Y:-0.43, Z:-2.12 [[ 9.99987026e-01 -2.18127395e-03 -4.60334394e-03 2.13534519e+02] [ 2.18101535e-03 9.99997620e-01 -6.11959775e-05 -4.30888096e-01] [ 4.60346647e-03 5.11552197e-05 9.99989403e-01 -2.11983696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.50592 meters Centerline goodness : 0.897511 Centerline is valid? [True, False] Translation: X:213.53, Y:-0.42, Z:-2.12 [[ 9.99987318e-01 -2.06384003e-03 -4.59384915e-03 2.13534531e+02] [ 2.05740541e-03 9.99996897e-01 -1.40498981e-03 -4.24668500e-01] [ 4.59673457e-03 1.39552058e-03 9.99988461e-01 -2.11935736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.53592 meters Centerline goodness : 0.999653 Centerline is valid? [False, True] Translation: X:213.56, Y:-0.41, Z:-2.11 [[ 9.99941251e-01 -4.26655441e-03 -9.96451079e-03 2.13556684e+02] [ 4.11640189e-03 9.99878405e-01 -1.50409359e-02 -4.09703622e-01] [ 1.00274721e-02 1.49990344e-02 9.99837226e-01 -2.11272982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.56592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:213.58, Y:-0.42, Z:-2.12 [[ 9.99913155e-01 -8.51210495e-03 -1.00611477e-02 2.13584249e+02] [ 8.51189025e-03 9.99963771e-01 -6.41609544e-05 -4.20088880e-01] [ 1.00613294e-02 -2.14840029e-05 9.99949383e-01 -2.11536698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.59592 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:213.61, Y:-0.42, Z:-2.11 [[ 9.99883036e-01 -1.15190508e-02 -1.00611122e-02 2.13612501e+02] [ 1.15189364e-02 9.99933652e-01 -6.93193072e-05 -4.19096276e-01] [ 1.00612432e-02 -4.65821126e-05 9.99949383e-01 -2.11461963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.62592 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:213.64, Y:-0.42, Z:-2.12 [[ 9.99848895e-01 -1.41760563e-02 -1.00610955e-02 2.13640955e+02] [ 1.41760528e-02 9.99899512e-01 -7.16615293e-05 -4.18245090e-01] [ 1.00611004e-02 -7.09759203e-05 9.99949383e-01 -2.11516216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.65592 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:213.67, Y:-0.42, Z:-2.12 [[ 9.99749203e-01 -2.00076354e-02 -1.00610861e-02 2.13669483e+02] [ 2.00079142e-02 9.99799819e-01 -7.29578754e-05 -4.16929105e-01] [ 1.00605318e-02 -1.28361770e-04 9.99949383e-01 -2.11642349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.68592 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:213.70, Y:-0.42, Z:-2.12 [[ 9.99638468e-01 -2.49340768e-02 -1.00610768e-02 2.13698498e+02] [ 2.49345922e-02 9.99689082e-01 -7.42237968e-05 -4.16516722e-01] [ 1.00597993e-02 -1.76671884e-04 9.99949383e-01 -2.11637086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.71592 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:213.73, Y:-0.42, Z:-2.12 [[ 9.99576321e-01 -2.73121592e-02 -1.00610675e-02 2.13726908e+02] [ 2.73127827e-02 9.99626934e-01 -7.54573307e-05 -4.16308018e-01] [ 1.00593750e-02 -1.99370389e-04 9.99949383e-01 -2.11575248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.74592 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:213.76, Y:-0.42, Z:-2.11 [[ 9.99529137e-01 -2.89875702e-02 -1.00610582e-02 2.13755955e+02] [ 2.89882662e-02 9.99579749e-01 -7.66765882e-05 -4.16170251e-01] [ 1.00590527e-02 -2.15012150e-04 9.99949383e-01 -2.11482333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.77592 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:213.79, Y:-0.42, Z:-2.11 [[ 9.99478730e-01 -3.06764347e-02 -1.00610488e-02 2.13785050e+02] [ 3.06772039e-02 9.99529341e-01 -7.78995486e-05 -4.17481345e-01] [ 1.00587031e-02 -2.30785902e-04 9.99949383e-01 -2.11455352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.80592000000001 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:213.81, Y:-0.42, Z:-2.10 [[ 9.99267034e-01 -3.69346879e-02 -1.00610391e-02 2.13811265e+02] [ 3.69357617e-02 9.99317639e-01 -7.91244741e-05 -4.19897095e-01] [ 1.00570963e-02 -2.92545665e-04 9.99949383e-01 -2.10238474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.83592000000002 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:213.84, Y:-0.42, Z:-2.11 [[ 9.99366936e-01 -3.41251556e-02 -1.00598967e-02 2.13844296e+02] [ 3.41246558e-02 9.99417560e-01 -2.21379013e-04 -4.21444622e-01] [ 1.00615920e-02 -1.22051646e-04 9.99949373e-01 -2.11412259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.86592000000002 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:213.87, Y:-0.42, Z:-2.11 [[ 9.99309331e-01 -3.57720149e-02 -1.00610023e-02 2.13873583e+02] [ 3.57730505e-02 9.99359937e-01 -7.70713760e-05 -4.23447884e-01] [ 1.00573196e-02 -2.82894597e-04 9.99949384e-01 -2.11394769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.89592000000002 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:213.90, Y:-0.43, Z:-2.10 [[ 9.99125554e-01 -4.05820577e-02 -1.00609928e-02 2.13900653e+02] [ 4.05833247e-02 9.99176154e-01 -7.82850077e-05 -4.29280834e-01] [ 1.00558811e-02 -3.30091986e-04 9.99949384e-01 -2.10201458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.92592000000002 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:213.93, Y:-0.43, Z:-2.10 [[ 9.99105030e-01 -4.10845075e-02 -1.00599226e-02 2.13929918e+02] [ 4.10844333e-02 9.99155655e-01 -2.14129928e-04 -4.31181075e-01] [ 1.00602260e-02 -1.99367930e-04 9.99949375e-01 -2.10008977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.95592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:213.96, Y:-0.43, Z:-2.11 [[ 9.99188766e-01 -3.89949806e-02 -1.00598938e-02 2.13962976e+02] [ 3.89947626e-02 9.99239391e-01 -2.17888134e-04 -4.34860331e-01] [ 1.00607387e-02 -1.74571795e-04 9.99949374e-01 -2.11234297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.98592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.99, Y:-0.44, Z:-2.10 [[ 9.99180333e-01 -3.92101926e-02 -1.00609472e-02 2.13991071e+02] [ 3.92114403e-02 9.99230933e-01 -7.32904706e-05 -4.37086683e-01] [ 1.00560834e-02 -3.21273836e-04 9.99949385e-01 -2.09929535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.01592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.02, Y:-0.44, Z:-2.11 [[ 9.99368825e-01 -3.40696676e-02 -1.00602670e-02 2.14023445e+02] [ 3.40697374e-02 9.99419444e-01 -1.64488355e-04 -4.40966053e-01] [ 1.00600306e-02 -1.78366122e-04 9.99949381e-01 -2.11227455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.04592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.05, Y:-0.44, Z:-2.11 [[ 9.99418796e-01 -3.25706591e-02 -1.00609310e-02 2.14051818e+02] [ 3.25715730e-02 9.99469403e-01 -7.30497081e-05 -4.43056236e-01] [ 1.00579720e-02 -2.54693096e-04 9.99949385e-01 -2.11228571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.07592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:214.08, Y:-0.45, Z:-2.10 [[ 9.99461145e-01 -3.12441483e-02 -1.00609220e-02 2.14079568e+02] [ 3.12449828e-02 9.99511754e-01 -7.42605415e-05 -4.45089111e-01] [ 1.00583300e-02 -2.40132811e-04 9.99949385e-01 -2.09883691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.10592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.11, Y:-0.45, Z:-2.11 [[ 9.99561253e-01 -2.78583898e-02 -1.00604045e-02 2.14110560e+02] [ 2.78583478e-02 9.99611870e-01 -1.44338659e-04 -4.49058988e-01] [ 1.00605208e-02 -1.35990917e-04 9.99949382e-01 -2.11220761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.13592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.14, Y:-0.45, Z:-2.11 [[ 9.99632290e-01 -2.51806139e-02 -1.00609221e-02 2.14138614e+02] [ 2.51811723e-02 9.99682901e-01 -7.11894506e-05 -4.52343595e-01] [ 1.00595244e-02 -1.82182539e-04 9.99949385e-01 -2.11175484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.16592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:214.17, Y:-0.45, Z:-2.10 [[ 9.99663135e-01 -2.39247745e-02 -1.00609088e-02 2.14168013e+02] [ 2.39252508e-02 9.99713748e-01 -7.30266319e-05 -4.53423729e-01] [ 1.00597760e-02 -1.67707734e-04 9.99949385e-01 -2.09979828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.19592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.20, Y:-0.45, Z:-2.11 [[ 9.99669792e-01 -2.36449748e-02 -1.00608822e-02 2.14198222e+02] [ 2.36454004e-02 9.99720405e-01 -7.66584521e-05 -4.54191195e-01] [ 1.00598819e-02 -1.61260450e-04 9.99949385e-01 -2.11013078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.22592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:214.23, Y:-0.46, Z:-2.10 [[ 9.99708200e-01 -2.19611743e-02 -1.00609007e-02 2.14226404e+02] [ 2.19615398e-02 9.99758814e-01 -7.41593019e-05 -4.57640040e-01] [ 1.00601027e-02 -1.46815208e-04 9.99949385e-01 -2.09972154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.25592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.26, Y:-0.46, Z:-2.11 [[ 9.99719597e-01 -2.14362033e-02 -1.00606279e-02 2.14257823e+02] [ 2.14361720e-02 9.99770213e-01 -1.10956606e-04 -4.59170679e-01] [ 1.00606946e-02 -1.04735858e-04 9.99949384e-01 -2.11157916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.28592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:214.29, Y:-0.46, Z:-2.10 [[ 9.99724716e-01 -2.11960067e-02 -1.00608980e-02 2.14286214e+02] [ 2.11963304e-02 9.99775330e-01 -7.44580187e-05 -4.61206976e-01] [ 1.00602159e-02 -1.38816598e-04 9.99949385e-01 -2.09876586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.31592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:214.32, Y:-0.46, Z:-2.11 [[ 9.99748358e-01 -2.00501068e-02 -1.00605582e-02 2.14317248e+02] [ 2.00499286e-02 9.99798973e-01 -1.18581141e-04 -4.64151220e-01] [ 1.00609133e-02 -8.31621729e-05 9.99949384e-01 -2.11120463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.34592 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:214.34, Y:-0.47, Z:-2.11 [[ 9.99763986e-01 -1.92548983e-02 -1.00608737e-02 2.14344820e+02] [ 1.92550906e-02 9.99814601e-01 -7.77584865e-05 -4.67658933e-01] [ 1.00605057e-02 -1.15982901e-04 9.99949385e-01 -2.11230544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.37592 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:214.37, Y:-0.47, Z:-2.11 [[ 9.99762401e-01 -1.93370215e-02 -1.00608586e-02 2.14373919e+02] [ 1.93371988e-02 9.99813016e-01 -7.96652241e-05 -4.69840709e-01] [ 1.00605179e-02 -1.14902528e-04 9.99949385e-01 -2.11034198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.40592 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:214.40, Y:-0.47, Z:-2.10 [[ 9.99773811e-01 -1.87378482e-02 -1.00608511e-02 2.14403428e+02] [ 1.87379857e-02 9.99824425e-01 -8.06114499e-05 -4.71598550e-01] [ 1.00605951e-02 -1.07926867e-04 9.99949385e-01 -2.09789253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.43592 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:214.43, Y:-0.47, Z:-2.10 [[ 9.99771118e-01 -1.88809920e-02 -1.00608024e-02 2.14431741e+02] [ 1.88810752e-02 9.99821733e-01 -8.67243618e-05 -4.71418030e-01] [ 1.00606463e-02 -1.03254254e-04 9.99949385e-01 -2.09760696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.46592 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:214.46, Y:-0.47, Z:-2.11 [[ 9.99773080e-01 -1.87768253e-02 -1.00607899e-02 2.14462817e+02] [ 1.87768877e-02 9.99823695e-01 -8.82625910e-05 -4.74591359e-01] [ 1.00606734e-02 -1.00667759e-04 9.99949385e-01 -2.11017716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.49592 meters Centerline goodness : 0.999253 Centerline is valid? [True, True] Translation: X:214.49, Y:-0.48, Z:-2.10 [[ 9.99768364e-01 -1.90262157e-02 -1.00608392e-02 2.14491252e+02] [ 1.90263515e-02 9.99818979e-01 -8.22273095e-05 -4.76259357e-01] [ 1.00605825e-02 -1.09212800e-04 9.99949385e-01 -2.09633456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.52592 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:214.52, Y:-0.48, Z:-2.10 [[ 9.99746619e-01 -2.01366896e-02 -1.00603555e-02 2.14518946e+02] [ 2.01362954e-02 9.99797234e-01 -1.40478136e-04 -4.78035245e-01] [ 1.00611444e-02 -6.21357489e-05 9.99949383e-01 -2.09764187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.55592000000001 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:214.55, Y:-0.48, Z:-2.10 [[ 9.99798409e-01 -1.73765339e-02 -1.00597325e-02 2.14551056e+02] [ 1.73752419e-02 9.99849016e-01 -2.15825565e-04 -4.78382187e-01] [ 1.00619639e-02 4.09917707e-05 9.99949376e-01 -2.09874836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.58592000000002 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:214.58, Y:-0.48, Z:-2.10 [[ 9.99793582e-01 -1.76516767e-02 -1.00603814e-02 2.14581070e+02] [ 1.76512364e-02 9.99844196e-01 -1.32567419e-04 -4.79366366e-01] [ 1.00611540e-02 -4.50381154e-05 9.99949384e-01 -2.09859432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.61592000000002 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:214.61, Y:-0.48, Z:-2.11 [[ 9.99820561e-01 -1.60510639e-02 -1.00603256e-02 2.14612025e+02] [ 1.60504722e-02 9.99871173e-01 -1.39548216e-04 -4.82027967e-01] [ 1.00612694e-02 -2.19498003e-05 9.99949384e-01 -2.11024389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.64592000000002 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:214.64, Y:-0.49, Z:-2.11 [[ 9.99829614e-01 -1.54765263e-02 -1.00608008e-02 2.14640528e+02] [ 1.54765137e-02 9.99880228e-01 -7.91131536e-05 -4.85345742e-01] [ 1.00608202e-02 -7.66064473e-05 9.99949386e-01 -2.10980772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.67592000000002 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:214.67, Y:-0.49, Z:-2.11 [[ 9.99841049e-01 -1.47192742e-02 -1.00607906e-02 2.14669541e+02] [ 1.47192104e-02 9.99891663e-01 -8.03946668e-05 -4.86979765e-01] [ 1.00608840e-02 -6.77050052e-05 9.99949386e-01 -2.10996558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.70592 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:214.70, Y:-0.49, Z:-2.11 [[ 9.99854268e-01 -1.37921393e-02 -1.00607801e-02 2.14698048e+02] [ 1.37920155e-02 9.99904882e-01 -8.16885345e-05 -4.88283887e-01] [ 1.00609498e-02 -5.70818045e-05 9.99949386e-01 -2.11000562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.73592 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:214.73, Y:-0.49, Z:-2.11 [[ 9.99869483e-01 -1.26411291e-02 -1.00607693e-02 2.14727121e+02] [ 1.26409340e-02 9.99920097e-01 -8.29890280e-05 -4.92286610e-01] [ 1.00610145e-02 -4.41993247e-05 9.99949386e-01 -2.10940290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.76592 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:214.76, Y:-0.49, Z:-2.11 [[ 9.99883407e-01 -1.14871375e-02 -1.00607586e-02 2.14755549e+02] [ 1.14868710e-02 9.99934020e-01 -8.42758319e-05 -4.94194357e-01] [ 1.00610628e-02 -3.13006297e-05 9.99949386e-01 -2.10796807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.79592 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:214.78, Y:-0.50, Z:-2.11 [[ 9.99915975e-01 -8.17466731e-03 -1.00607420e-02 2.14783883e+02] [ 8.17421373e-03 9.99966587e-01 -8.62043807e-05 -4.95386291e-01] [ 1.00611106e-02 3.95848172e-06 9.99949386e-01 -2.10711308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.82592 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:214.81, Y:-0.50, Z:-2.09 [[ 9.99917674e-01 -7.96414119e-03 -1.00607249e-02 2.14811651e+02] [ 7.96365723e-03 9.99968286e-01 -8.81645835e-05 -4.95053981e-01] [ 1.00611079e-02 8.03716106e-06 9.99949386e-01 -2.09252026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.85592 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:214.84, Y:-0.49, Z:-2.09 [[ 9.99938447e-01 -4.67946986e-03 -1.00600150e-02 2.14842336e+02] [ 4.67802447e-03 9.99989044e-01 -1.67202508e-04 -4.94680021e-01] [ 1.00606872e-02 1.20131219e-04 9.99949383e-01 -2.09421884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.88592 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:214.87, Y:-0.49, Z:-2.10 [[ 9.99948214e-01 -1.53492122e-03 -1.00604781e-02 2.14871132e+02] [ 1.53384033e-03 9.99998817e-01 -1.15154327e-04 -4.94091254e-01] [ 1.00606430e-02 9.97171968e-05 9.99949385e-01 -2.09536972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.91592 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:214.90, Y:-0.49, Z:-2.09 [[ 9.99948592e-01 -1.26456564e-03 -1.00605019e-02 2.14899047e+02] [ 1.26349762e-03 9.99999195e-01 -1.12514420e-04 -4.93040883e-01] [ 1.00606361e-02 9.97972158e-05 9.99949386e-01 -2.09492990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.94592 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:214.93, Y:-0.49, Z:-2.09 [[ 9.99948367e-01 1.43216087e-03 -1.00604052e-02 2.14928747e+02] [-1.43346873e-03 9.99998965e-01 -1.22791133e-04 -4.91180785e-01] [ 1.00602189e-02 1.37206069e-04 9.99949385e-01 -2.09365064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.97592 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:214.96, Y:-0.49, Z:-2.09 [[ 9.99948079e-01 1.62040498e-03 -1.00605201e-02 2.14956757e+02] [-1.62160096e-03 9.99998679e-01 -1.10722199e-04 -4.90347212e-01] [ 1.00603274e-02 1.27030599e-04 9.99949386e-01 -2.09461397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.00592 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:214.99, Y:-0.49, Z:-2.09 [[ 9.99944282e-01 3.19739880e-03 -1.00602609e-02 2.14985287e+02] [-3.19894174e-03 9.99994874e-01 -1.37282428e-04 -4.88031390e-01] [ 1.00597704e-02 1.69456968e-04 9.99949385e-01 -2.09298354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.03592 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:215.02, Y:-0.49, Z:-2.10 [[ 9.99937247e-01 4.92899247e-03 -1.00601647e-02 2.15015931e+02] [-4.93071929e-03 9.99987833e-01 -1.46854043e-04 -4.86577735e-01] [ 1.00593185e-02 1.96448676e-04 9.99949384e-01 -2.10459253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.06592 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:215.04, Y:-0.48, Z:-2.09 [[ 9.99939960e-01 4.34278069e-03 -1.00606202e-02 2.15044053e+02] [-4.34402545e-03 9.99990559e-01 -1.01876527e-04 -4.83364585e-01] [ 1.00600828e-02 1.45574000e-04 9.99949385e-01 -2.09314303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.09592 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:215.07, Y:-0.48, Z:-2.10 [[ 9.99941697e-01 3.92361324e-03 -1.00601966e-02 2.15074384e+02] [-3.92524133e-03 9.99992286e-01 -1.42095191e-04 -4.82858407e-01] [ 1.00595615e-02 1.81575606e-04 9.99949385e-01 -2.10361285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.12592 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:215.10, Y:-0.48, Z:-2.09 [[ 9.99941652e-01 3.93401592e-03 -1.00605744e-02 2.15103442e+02] [-3.93528506e-03 9.99992251e-01 -1.06356793e-04 -4.80626518e-01] [ 1.00600781e-02 1.45941815e-04 9.99949385e-01 -2.09241844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.15592 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:215.13, Y:-0.48, Z:-2.09 [[ 9.99948043e-01 1.64166833e-03 -1.00606047e-02 2.15131443e+02] [-1.64279303e-03 9.99998645e-01 -1.03529160e-04 -4.79353942e-01] [ 1.00604211e-02 1.20051273e-04 9.99949385e-01 -2.09107314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.18592 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:215.16, Y:-0.48, Z:-2.09 [[ 9.99945440e-01 2.81413291e-03 -1.00596860e-02 2.15163126e+02] [-2.81617600e-03 9.99996017e-01 -1.88936896e-04 -4.77929634e-01] [ 1.00591142e-02 2.17256434e-04 9.99949382e-01 -2.09105778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.21592 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:215.19, Y:-0.48, Z:-2.09 [[ 9.99948443e-01 -1.37654072e-03 -1.00605991e-02 2.15191594e+02] [ 1.37558583e-03 9.99999049e-01 -1.01832238e-04 -4.75940050e-01] [ 1.00607297e-02 8.79877699e-05 9.99949386e-01 -2.09060138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.24592 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:215.22, Y:-0.47, Z:-2.09 [[ 9.99947062e-01 -2.16106687e-03 -1.00599496e-02 2.15221713e+02] [ 2.15952886e-03 9.99997655e-01 -1.63744028e-04 -4.74604926e-01] [ 1.00602799e-02 1.42010608e-04 9.99949384e-01 -2.09004597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.27592 meters Centerline goodness : 0.999405 Centerline is valid? [True, True] Translation: X:215.25, Y:-0.48, Z:-2.10 [[ 9.99929220e-01 -6.35222707e-03 -1.00600548e-02 2.15252867e+02] [ 6.35100352e-03 9.99979820e-01 -1.53566543e-04 -4.76951257e-01] [ 1.00608273e-02 8.96642299e-05 9.99949385e-01 -2.10211148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.30592000000001 meters Centerline goodness : 0.998955 Centerline is valid? [True, True] Translation: X:215.28, Y:-0.48, Z:-2.09 [[ 9.99905537e-01 -9.36490312e-03 -1.00605637e-02 2.15281127e+02] [ 9.36432422e-03 9.99956148e-01 -1.04647684e-04 -4.78205690e-01] [ 1.00611025e-02 1.04274187e-05 9.99949386e-01 -2.09211349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.33592000000002 meters Centerline goodness : 0.999253 Centerline is valid? [True, True] Translation: X:215.31, Y:-0.48, Z:-2.09 [[ 9.99845075e-01 -1.44436797e-02 -1.00601741e-02 2.15310272e+02] [ 1.44429877e-02 9.99895685e-01 -1.41438139e-04 -4.78564022e-01] [ 1.00611676e-02 -3.88274444e-06 9.99949385e-01 -2.08905387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.36592000000002 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:215.34, Y:-0.48, Z:-2.09 [[ 9.99819472e-01 -1.61189524e-02 -1.00599709e-02 2.15339486e+02] [ 1.61181528e-02 9.99870081e-01 -1.60566651e-04 -4.78568185e-01] [ 1.00612521e-02 -1.61048448e-06 9.99949384e-01 -2.08724790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.39592000000002 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:215.37, Y:-0.48, Z:-2.10 [[ 9.99731493e-01 -2.08742888e-02 -1.00601209e-02 2.15370027e+02] [ 2.08738690e-02 9.99782106e-01 -1.46740877e-04 -4.82178163e-01] [ 1.00609920e-02 -6.32921710e-05 9.99949385e-01 -2.10050510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.42592 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:215.40, Y:-0.48, Z:-2.10 [[ 9.99695653e-01 -2.25252354e-02 -1.00605288e-02 2.15398508e+02] [ 2.25252774e-02 9.99746268e-01 -1.09151803e-04 -4.84562031e-01] [ 1.00604348e-02 -1.17497618e-04 9.99949386e-01 -2.10014768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.45592 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:215.43, Y:-0.49, Z:-2.10 [[ 9.99596721e-01 -2.65552419e-02 -1.00605074e-02 2.15427146e+02] [ 2.65554685e-02 9.99647335e-01 -1.11083215e-04 -4.89379411e-01] [ 1.00599093e-02 -1.56123071e-04 9.99949386e-01 -2.10113528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.48592 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:215.46, Y:-0.49, Z:-2.10 [[ 9.99546153e-01 -2.83949811e-02 -1.00604931e-02 2.15456211e+02] [ 2.83952879e-02 9.99596766e-01 -1.12367815e-04 -4.91947523e-01] [ 1.00596270e-02 -1.73353780e-04 9.99949386e-01 -2.10051605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.51592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:215.48, Y:-0.50, Z:-2.09 [[ 9.99499838e-01 -2.99810141e-02 -1.00604787e-02 2.15484923e+02] [ 2.99813884e-02 9.99550451e-01 -1.13638828e-04 -4.95058507e-01] [ 1.00593631e-02 -1.88045130e-04 9.99949386e-01 -2.08730098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.54592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:215.52, Y:-0.50, Z:-2.10 [[ 9.99428610e-01 -3.22682127e-02 -1.00606584e-02 2.15515353e+02] [ 3.22688643e-02 9.99479220e-01 -9.75967168e-05 -5.01317978e-01] [ 1.00585683e-02 -2.27105071e-04 9.99949386e-01 -2.10068823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.57592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:215.55, Y:-0.51, Z:-2.09 [[ 9.99428610e-01 -3.22682641e-02 -1.00604630e-02 2.15545370e+02] [ 3.22687432e-02 9.99479222e-01 -1.14735771e-04 -5.05315516e-01] [ 1.00589260e-02 -2.09968284e-04 9.99949386e-01 -2.08501410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.60592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.57, Y:-0.51, Z:-2.09 [[ 9.99364600e-01 -3.41932694e-02 -1.00606603e-02 2.15574076e+02] [ 3.41940174e-02 9.99415209e-01 -9.77098355e-05 -5.12473596e-01] [ 1.00581179e-02 -2.46366641e-04 9.99949386e-01 -2.08668950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.63592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.60, Y:-0.52, Z:-2.09 [[ 9.99413203e-01 -3.27421339e-02 -1.00599340e-02 2.15604898e+02] [ 3.27421772e-02 9.99463818e-01 -1.60443308e-04 -5.16062128e-01] [ 1.00597933e-02 -1.69034982e-04 9.99949385e-01 -2.08643172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.66592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.64, Y:-0.52, Z:-2.08 [[ 9.99498585e-01 -3.00227571e-02 -1.00604706e-02 2.15635176e+02] [ 3.00231377e-02 9.99549198e-01 -1.13227089e-04 -5.24198321e-01] [ 1.00593347e-02 -1.88876578e-04 9.99949386e-01 -2.08458773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.69592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.66, Y:-0.53, Z:-2.08 [[ 9.99486474e-01 -3.04232589e-02 -1.00604498e-02 2.15663993e+02] [ 3.04236414e-02 9.99537087e-01 -1.15054788e-04 -5.27879904e-01] [ 1.00592931e-02 -1.91079814e-04 9.99949386e-01 -2.08495204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.72592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.70, Y:-0.53, Z:-2.10 [[ 9.99547790e-01 -2.83375379e-02 -1.00597560e-02 2.15695848e+02] [ 2.83371949e-02 9.99598405e-01 -1.76662245e-04 -5.30499961e-01] [ 1.00607223e-02 -1.08482910e-04 9.99949384e-01 -2.09816548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.75592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:215.73, Y:-0.54, Z:-2.10 [[ 9.99629082e-01 -2.53078100e-02 -1.00604784e-02 2.15725027e+02] [ 2.53079697e-02 9.99679696e-01 -1.11454098e-04 -5.35673177e-01] [ 1.00600767e-02 -1.43197526e-04 9.99949386e-01 -2.09742560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.78592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.75, Y:-0.54, Z:-2.10 [[ 9.99670795e-01 -2.36027290e-02 -1.00604642e-02 2.15753766e+02] [ 2.36027896e-02 9.99721409e-01 -1.12728413e-04 -5.37830208e-01] [ 1.00603221e-02 -1.24763717e-04 9.99949386e-01 -2.09776590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.81592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.78, Y:-0.54, Z:-2.10 [[ 9.99760570e-01 -1.94316551e-02 -1.00604496e-02 2.15782621e+02] [ 1.94314916e-02 9.99811184e-01 -1.14012041e-04 -5.42494348e-01] [ 1.00607655e-02 -8.15047987e-05 9.99949386e-01 -2.09773914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.84592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.80, Y:-0.56, Z:-2.09 [[ 9.98922155e-01 -4.53135376e-02 -1.00604349e-02 2.15804972e+02] [ 4.53146719e-02 9.98972756e-01 -1.15292316e-04 -5.56303393e-01] [ 1.00553247e-02 -3.40717260e-04 9.99949386e-01 -2.09250685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.87592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.84, Y:-0.54, Z:-2.10 [[ 9.99858789e-01 -1.34640792e-02 -1.00558650e-02 2.15842171e+02] [ 1.34598342e-02 9.99909292e-01 -4.89701824e-04 -5.43913083e-01] [ 1.00615462e-02 3.54282397e-04 9.99949319e-01 -2.09596853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.90592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.87, Y:-0.55, Z:-2.10 [[ 9.99903760e-01 -9.55342395e-03 -1.00599961e-02 2.15869682e+02] [ 9.55280875e-03 9.99954365e-01 -1.09204368e-04 -5.45913629e-01] [ 1.00605803e-02 1.30926391e-05 9.99949391e-01 -2.09500041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.93592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:215.90, Y:-0.55, Z:-2.09 [[ 9.99926171e-01 -6.81532503e-03 -1.00599740e-02 2.15897674e+02] [ 6.81455113e-03 9.99976774e-01 -1.11204490e-04 -5.45661003e-01] [ 1.00604982e-02 4.26420724e-05 9.99949391e-01 -2.08545664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.96592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.93, Y:-0.55, Z:-2.08 [[ 9.99944670e-01 -3.07574014e-03 -1.00596459e-02 2.15928615e+02] [ 3.07448244e-03 9.99995264e-01 -1.40486455e-04 -5.45043473e-01] [ 1.00600304e-02 1.09550477e-04 9.99949391e-01 -2.08280281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.99592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.96, Y:-0.55, Z:-2.08 [[ 9.99947184e-01 -2.10192720e-03 -1.00603853e-02 2.15957838e+02] [ 2.10128358e-03 9.99997790e-01 -7.45458306e-05 -5.45288353e-01] [ 1.00605198e-02 5.34021709e-05 9.99949390e-01 -2.08290019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.02592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.99, Y:-0.55, Z:-2.10 [[ 9.99948181e-01 -1.55564942e-03 -1.00606114e-02 2.15985192e+02] [ 1.55517456e-03 9.99998789e-01 -5.50232382e-05 -5.45414846e-01] [ 1.00606848e-02 3.93743801e-05 9.99949389e-01 -2.09523015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.05592000000001 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:216.02, Y:-0.54, Z:-2.08 [[ 9.99949375e-01 -2.16821593e-04 -1.00598369e-02 2.16015669e+02] [ 2.15625640e-04 9.99999970e-01 -1.19968369e-04 -5.43955354e-01] [ 1.00598626e-02 1.17793137e-04 9.99949391e-01 -2.08412484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.08592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.04, Y:-0.54, Z:-2.08 [[ 9.99948788e-01 -1.09846481e-03 -1.00605175e-02 2.16044022e+02] [ 1.09786919e-03 9.99999395e-01 -6.47268588e-05 -5.43614575e-01] [ 1.00605826e-02 5.36784118e-05 9.99949390e-01 -2.08364013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.11592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.07, Y:-0.54, Z:-2.08 [[ 9.99945808e-01 -2.67757674e-03 -1.00604181e-02 2.16072416e+02] [ 2.67698351e-03 9.99996414e-01 -7.24321615e-05 -5.43065879e-01] [ 1.00605760e-02 4.54966628e-05 9.99949390e-01 -2.08373519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.14592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.10, Y:-0.54, Z:-2.08 [[ 9.99934391e-01 -5.47821919e-03 -1.00599917e-02 2.16100637e+02] [ 5.47744364e-03 9.99984993e-01 -1.04642987e-04 -5.43341047e-01] [ 1.00604140e-02 4.95330844e-05 9.99949392e-01 -2.08308302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.17592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.13, Y:-0.54, Z:-2.08 [[ 9.99920847e-01 -7.55663957e-03 -1.00597061e-02 2.16129154e+02] [ 7.55575913e-03 9.99971447e-01 -1.25524400e-04 -5.43766389e-01] [ 1.00603674e-02 4.95057482e-05 9.99949392e-01 -2.08306537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.20592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.16, Y:-0.55, Z:-2.09 [[ 9.99878051e-01 -1.19452588e-02 -1.00595568e-02 2.16159682e+02] [ 1.19444940e-02 9.99928653e-01 -1.36104356e-04 -5.45854044e-01] [ 1.00604648e-02 1.59314423e-05 9.99949392e-01 -2.09468595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.23592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.19, Y:-0.55, Z:-2.10 [[ 9.99856976e-01 -1.35953831e-02 -1.00594753e-02 2.16188929e+02] [ 1.35946437e-02 9.99907578e-01 -1.41879012e-04 -5.46965377e-01] [ 1.00604745e-02 5.10373615e-06 9.99949392e-01 -2.09510781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.26592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.22, Y:-0.55, Z:-2.09 [[ 9.99836551e-01 -1.50225779e-02 -1.00594563e-02 2.16218056e+02] [ 1.50218973e-02 9.99887155e-01 -1.43216681e-04 -5.48247545e-01] [ 1.00604726e-02 -7.91884684e-06 9.99949392e-01 -2.09445098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.29592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.25, Y:-0.55, Z:-2.09 [[ 9.99833553e-01 -1.52208290e-02 -1.00594371e-02 2.16246536e+02] [ 1.52201450e-02 9.99884156e-01 -1.44552003e-04 -5.47889006e-01] [ 1.00604720e-02 -8.57814849e-06 9.99949392e-01 -2.09416439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.32592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.28, Y:-0.55, Z:-2.09 [[ 9.99832271e-01 -1.53048648e-02 -1.00594080e-02 2.16275199e+02] [ 1.53041649e-02 9.99882874e-01 -1.46546586e-04 -5.47795866e-01] [ 1.00604727e-02 -7.42883362e-06 9.99949392e-01 -2.09452627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.35592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.30, Y:-0.55, Z:-2.09 [[ 9.99823443e-01 -1.58711225e-02 -1.00593885e-02 2.16303844e+02] [ 1.58704380e-02 9.99874046e-01 -1.47874132e-04 -5.49254970e-01] [ 1.00604684e-02 -1.17988776e-05 9.99949392e-01 -2.09485414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.38592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.33, Y:-0.55, Z:-2.09 [[ 9.99811031e-01 -1.66346198e-02 -1.00593688e-02 2.16332167e+02] [ 1.66339606e-02 9.99861635e-01 -1.49200644e-04 -5.50997666e-01] [ 1.00604589e-02 -1.81546956e-05 9.99949392e-01 -2.09486256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.41592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.36, Y:-0.55, Z:-2.09 [[ 9.99804890e-01 -1.69997313e-02 -1.00593392e-02 2.16360691e+02] [ 1.69990707e-02 9.99855494e-01 -1.51170716e-04 -5.52425174e-01] [ 1.00604555e-02 -1.98581979e-05 9.99949392e-01 -2.09396080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.44592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.39, Y:-0.55, Z:-2.09 [[ 9.99816809e-01 -1.62837171e-02 -1.00593192e-02 2.16388311e+02] [ 1.62830070e-02 9.99867411e-01 -1.52490326e-04 -5.54516652e-01] [ 1.00604686e-02 -1.13335750e-05 9.99949392e-01 -2.09417765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.47592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.42, Y:-0.56, Z:-2.08 [[ 9.99812765e-01 -1.65301548e-02 -1.00592888e-02 2.16416591e+02] [ 1.65294372e-02 9.99863368e-01 -1.54474865e-04 -5.55641943e-01] [ 1.00604678e-02 -1.18284400e-05 9.99949392e-01 -2.08168270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.50592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:216.45, Y:-0.56, Z:-2.08 [[ 9.99861249e-01 -1.32780799e-02 -1.00585664e-02 2.16445559e+02] [ 1.32767341e-02 9.99911840e-01 -2.00563811e-04 -5.57843946e-01] [ 1.00603427e-02 6.69910716e-05 9.99949391e-01 -2.08277184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.53592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.47, Y:-0.56, Z:-2.08 [[ 9.99877998e-01 -1.19505763e-02 -1.00585087e-02 2.16474100e+02] [ 1.19491261e-02 9.99928586e-01 -2.04256916e-04 -5.57956656e-01] [ 1.00602314e-02 8.40416072e-05 9.99949391e-01 -2.08232054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.56592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.51, Y:-0.56, Z:-2.09 [[ 9.99931682e-01 -5.95542385e-03 -1.00580857e-02 2.16505298e+02] [ 5.95339971e-03 9.99982252e-01 -2.31174091e-04 -5.57635969e-01] [ 1.00592839e-02 1.71278493e-04 9.99949389e-01 -2.09277232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.59592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.53, Y:-0.56, Z:-2.08 [[ 9.99939351e-01 -4.48388196e-03 -1.00592362e-02 2.16534046e+02] [ 4.48252074e-03 9.99989941e-01 -1.57862547e-04 -5.57769723e-01] [ 1.00598429e-02 1.12762238e-04 9.99949392e-01 -2.08126784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.62592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.56, Y:-0.56, Z:-2.08 [[ 9.99948012e-01 -1.67198897e-03 -1.00587580e-02 2.16562336e+02] [ 1.67018202e-03 9.99998588e-01 -1.88037430e-04 -5.59922330e-01] [ 1.00590582e-02 1.71227697e-04 9.99949392e-01 -2.08323003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.65592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.59, Y:-0.56, Z:-2.08 [[ 9.99949416e-01 2.13826049e-05 -1.00581268e-02 2.16591819e+02] [-2.36658865e-05 9.99999974e-01 -2.26889658e-04 -5.59793989e-01] [ 1.00581217e-02 2.27116215e-04 9.99949390e-01 -2.08236755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.68592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:216.62, Y:-0.57, Z:-2.09 [[ 9.99618239e-01 -2.57332976e-02 -1.00584629e-02 2.16616563e+02] [ 2.57325243e-02 9.99668842e-01 -2.06320420e-04 -5.70346352e-01] [ 1.00604413e-02 -5.25879856e-05 9.99949391e-01 -2.08827783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.71592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:216.65, Y:-0.56, Z:-2.08 [[ 9.99941724e-01 3.92975621e-03 -1.00551131e-02 2.16649204e+02] [-3.93409113e-03 9.99992177e-01 -4.11372657e-04 -5.55664750e-01] [ 1.00534178e-02 4.50906415e-04 9.99949361e-01 -2.08073959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.74592 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:216.67, Y:-0.57, Z:-2.09 [[ 9.99076827e-01 -4.17651435e-02 -1.00581876e-02 2.16674054e+02] [ 4.17650833e-02 9.99127435e-01 -2.16123644e-04 -5.74476712e-01] [ 1.00584376e-02 -2.04156919e-04 9.99949392e-01 -2.09026115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.77592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.71, Y:-0.55, Z:-2.09 [[ 9.99904586e-01 9.47329161e-03 -1.00536005e-02 2.16708838e+02] [-9.47875535e-03 9.99954953e-01 -4.95950059e-04 -5.52683907e-01] [ 1.00484493e-02 5.91198358e-04 9.99949338e-01 -2.08995791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.80592000000001 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:216.74, Y:-0.55, Z:-2.08 [[ 9.99911684e-01 8.68583949e-03 -1.00588371e-02 2.16736941e+02] [-8.68782833e-03 9.99962248e-01 -1.54041088e-04 -5.50084208e-01] [ 1.00571194e-02 2.41416933e-04 9.99949397e-01 -2.08037523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.83592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.77, Y:-0.55, Z:-2.09 [[ 9.99900277e-01 9.91270018e-03 -1.00585746e-02 2.16766585e+02] [-9.91491979e-03 9.99950831e-01 -1.70824572e-04 -5.47330717e-01] [ 1.00563867e-02 2.70537498e-04 9.99949397e-01 -2.09030949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.86592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.79, Y:-0.55, Z:-2.08 [[ 9.99911046e-01 8.75912059e-03 -1.00587609e-02 2.16794359e+02] [-8.76116345e-03 9.99961608e-01 -1.59045955e-04 -5.45466820e-01] [ 1.00569816e-02 2.47158256e-04 9.99949397e-01 -2.08041410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.89592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.82, Y:-0.54, Z:-2.08 [[ 9.99903386e-01 9.59439540e-03 -1.00580943e-02 2.16823545e+02] [-9.59689443e-03 9.99953929e-01 -2.00223891e-04 -5.41444934e-01] [ 1.00557099e-02 2.96731016e-04 9.99949396e-01 -2.08434472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.92592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:216.85, Y:-0.54, Z:-2.08 [[ 9.99918841e-01 7.81984298e-03 -1.00578932e-02 2.16851704e+02] [-7.82237517e-03 9.99969382e-01 -2.12445790e-04 -5.37999708e-01] [ 1.00559240e-02 2.91105162e-04 9.99949396e-01 -2.07619926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.95592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.88, Y:-0.53, Z:-2.08 [[ 9.99932271e-01 5.85607922e-03 -1.00577748e-02 2.16880605e+02] [-5.85858337e-03 9.99982814e-01 -2.19531397e-04 -5.33964199e-01] [ 1.00563164e-02 2.78440840e-04 9.99949395e-01 -2.07700304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.98592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.91, Y:-0.53, Z:-2.08 [[ 9.99938498e-01 4.67313365e-03 -1.00578990e-02 2.16910871e+02] [-4.67550363e-03 9.99989047e-01 -2.12132244e-04 -5.32568924e-01] [ 1.00567975e-02 2.59144941e-04 9.99949396e-01 -2.07805543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.01592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.94, Y:-0.53, Z:-2.08 [[ 9.99946793e-01 2.29036497e-03 -1.00580573e-02 2.16939383e+02] [-2.29251984e-03 9.99997352e-01 -2.02718698e-04 -5.31013025e-01] [ 1.00575663e-02 2.25766207e-04 9.99949396e-01 -2.07689516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.04592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:216.97, Y:-0.53, Z:-2.08 [[ 9.99946692e-01 -2.33553434e-03 -1.00577859e-02 2.16966998e+02] [ 2.33345279e-03 9.99997254e-01 -2.18689252e-04 -5.26607883e-01] [ 1.00582690e-02 1.95208225e-04 9.99949395e-01 -2.07603243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.07592 meters Centerline goodness : 0.998461 Centerline is valid? [True, True] Translation: X:217.00, Y:-0.50, Z:-2.09 [[ 9.98650374e-01 5.09536588e-02 -1.00576370e-02 2.17002342e+02] [-5.09585187e-02 9.98700745e-01 -2.27368348e-04 -5.00315246e-01] [ 1.00329843e-02 7.39583769e-04 9.99949395e-01 -2.08801247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.10592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.02, Y:-0.52, Z:-2.07 [[ 9.99900215e-01 -9.91364119e-03 -1.00637599e-02 2.17024759e+02] [ 9.91561195e-03 9.99950828e-01 1.45949856e-04 -5.24522497e-01] [ 1.00618181e-02 -2.45723631e-04 9.99949348e-01 -2.07202945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.13592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.05, Y:-0.52, Z:-2.07 [[ 9.99885057e-01 -1.13454575e-02 -1.00574790e-02 2.17053493e+02] [ 1.13438948e-02 9.99935633e-01 -2.12410886e-04 -5.22428127e-01] [ 1.00592415e-02 9.82954872e-05 9.99949400e-01 -2.07378608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.16592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.08, Y:-0.52, Z:-2.09 [[ 9.99845634e-01 -1.44065817e-02 -1.00577715e-02 2.17083659e+02] [ 1.44053396e-02 9.99896219e-01 -1.95932624e-04 -5.20718747e-01] [ 1.00595504e-02 5.10167650e-05 9.99949400e-01 -2.08529351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.19592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.11, Y:-0.52, Z:-2.08 [[ 9.99814179e-01 -1.64451656e-02 -1.00580747e-02 2.17112003e+02] [ 1.64441982e-02 9.99864769e-01 -1.78882064e-04 -5.20984789e-01] [ 1.00596563e-02 1.34518499e-05 9.99949400e-01 -2.08430367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.22592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.14, Y:-0.52, Z:-2.07 [[ 9.99747617e-01 -2.00882294e-02 -1.00580507e-02 2.17140146e+02] [ 2.00874328e-02 9.99798211e-01 -1.80225062e-04 -5.21946464e-01] [ 1.00596414e-02 -2.18608403e-05 9.99949400e-01 -2.07384753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.25592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.17, Y:-0.52, Z:-2.07 [[ 9.99710873e-01 -2.18407597e-02 -1.00574643e-02 2.17169345e+02] [ 2.18397258e-02 9.99761462e-01 -2.12627331e-04 -5.21925001e-01] [ 1.00597092e-02 -7.08640970e-06 9.99949400e-01 -2.07250294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.28592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.20, Y:-0.52, Z:-2.08 [[ 9.99686386e-01 -2.29340815e-02 -1.00577250e-02 2.17199630e+02] [ 2.29332468e-02 9.99736979e-01 -1.98325634e-04 -5.21229390e-01] [ 1.00596280e-02 -3.23928524e-05 9.99949400e-01 -2.08300355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.31592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:217.23, Y:-0.52, Z:-2.07 [[ 9.99653996e-01 -2.43048470e-02 -1.00579677e-02 2.17228052e+02] [ 2.43042144e-02 9.99704592e-01 -1.85135160e-04 -5.21267273e-01] [ 1.00594962e-02 -5.93799021e-05 9.99949400e-01 -2.07246858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.34592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.26, Y:-0.52, Z:-2.08 [[ 9.99635059e-01 -2.50716904e-02 -1.00578033e-02 2.17257243e+02] [ 2.50710070e-02 9.99685654e-01 -1.94042214e-04 -5.21991156e-01] [ 1.00595066e-02 -5.81878564e-05 9.99949400e-01 -2.08131085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.37592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.29, Y:-0.52, Z:-2.07 [[ 9.99627126e-01 -2.53859500e-02 -1.00579227e-02 2.17285515e+02] [ 2.53853469e-02 9.99677723e-01 -1.87641511e-04 -5.22183726e-01] [ 1.00594447e-02 -6.77523121e-05 9.99949400e-01 -2.06884094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.40592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.32, Y:-0.52, Z:-2.08 [[ 9.99687359e-01 -2.28919922e-02 -1.00568411e-02 2.17317041e+02] [ 2.28906805e-02 9.99737944e-01 -2.45523665e-04 -5.21326815e-01] [ 1.00598262e-02 1.52389675e-05 9.99949399e-01 -2.07991890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.43592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.35, Y:-0.52, Z:-2.07 [[ 9.99737966e-01 -2.05630147e-02 -1.00579453e-02 2.17346916e+02] [ 2.05621868e-02 9.99788559e-01 -1.85726274e-04 -5.20733353e-01] [ 1.00596378e-02 -2.11357432e-05 9.99949400e-01 -2.06684733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.46592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.38, Y:-0.52, Z:-2.07 [[ 9.99776787e-01 -1.85800681e-02 -1.00576525e-02 2.17378009e+02] [ 1.85789823e-02 9.99827376e-01 -2.01386699e-04 -5.19462403e-01] [ 1.00596581e-02 1.44807979e-05 9.99949400e-01 -2.06749346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.49592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.41, Y:-0.51, Z:-2.08 [[ 9.99814119e-01 -1.64486148e-02 -1.00583135e-02 2.17406671e+02] [ 1.64477773e-02 9.99864712e-01 -1.65989433e-04 -5.14572307e-01] [ 1.00596830e-02 5.21678676e-07 9.99949400e-01 -2.07801808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.52592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.43, Y:-0.51, Z:-2.08 [[ 9.99822166e-01 -1.59523286e-02 -1.00578509e-02 2.17434641e+02] [ 1.59512201e-02 9.99872753e-01 -1.90422475e-04 -5.11826898e-01] [ 1.00596088e-02 2.99536180e-05 9.99949400e-01 -2.07839597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.55592000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.46, Y:-0.51, Z:-2.07 [[ 9.99820768e-01 -1.60397232e-02 -1.00578132e-02 2.17464174e+02] [ 1.60385993e-02 9.99871355e-01 -1.92395650e-04 -5.11246576e-01] [ 1.00596052e-02 3.10479313e-05 9.99949400e-01 -2.06907866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.58592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.49, Y:-0.51, Z:-2.08 [[ 9.99792475e-01 -1.77152787e-02 -1.00586215e-02 2.17492072e+02] [ 1.77146623e-02 9.99843072e-01 -1.50379422e-04 -5.11533792e-01] [ 1.00597071e-02 -2.78368694e-05 9.99949399e-01 -2.07736747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.61592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.52, Y:-0.51, Z:-2.07 [[ 9.99787346e-01 -1.80029352e-02 -1.00576740e-02 2.17521759e+02] [ 1.80018501e-02 9.99837934e-01 -1.98411050e-04 -5.10559791e-01] [ 1.00596160e-02 1.73121163e-05 9.99949401e-01 -2.06525686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.64592000000002 meters Centerline goodness : 0.890163 Centerline is valid? [True, False] Translation: X:217.52, Y:-0.49, Z:-2.06 [[ 9.99823576e-01 -1.66079847e-02 -8.77445510e-03 2.17519093e+02] [ 1.64106650e-02 9.99621053e-01 -2.21006788e-02 -4.88864254e-01] [ 9.13817778e-03 2.19527851e-02 9.99717244e-01 -2.06285990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.67592 meters Centerline goodness : 1.000000 Centerline is valid? [False, True] Translation: X:217.54, Y:-0.48, Z:-2.06 [[ 9.99892075e-01 -1.10479973e-02 -9.68397386e-03 2.17541615e+02] [ 1.07762029e-02 9.99558665e-01 -2.76830120e-02 -4.83385388e-01] [ 9.98554182e-03 2.75756679e-02 9.99569843e-01 -2.06201525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.70592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.57, Y:-0.51, Z:-2.06 [[ 9.99862130e-01 -1.33259597e-02 -9.90650327e-03 2.17569617e+02] [ 1.33258359e-02 9.99911204e-01 -7.85047576e-05 -5.10783397e-01] [ 9.90666977e-03 -5.35185028e-05 9.99950926e-01 -2.06425051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.73592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.60, Y:-0.51, Z:-2.06 [[ 9.99847544e-01 -1.43788597e-02 -9.90645956e-03 2.17598099e+02] [ 1.43787363e-02 9.99896617e-01 -8.36794297e-05 -5.11323304e-01] [ 9.90663862e-03 -5.87756979e-05 9.99950926e-01 -2.06422496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.76592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.63, Y:-0.51, Z:-2.06 [[ 9.99833003e-01 -1.53567114e-02 -9.90644850e-03 2.17627148e+02] [ 1.53566232e-02 9.99882076e-01 -8.49695281e-05 -5.12133723e-01] [ 9.90658515e-03 -6.71742589e-05 9.99950926e-01 -2.06460592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.79592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.65, Y:-0.52, Z:-2.06 [[ 9.99785706e-01 -1.81770489e-02 -9.90643735e-03 2.17654913e+02] [ 1.81770865e-02 9.99834779e-01 -8.62498340e-05 -5.15592257e-01] [ 9.90636837e-03 -9.38388175e-05 9.99950926e-01 -2.06344333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.82592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:217.68, Y:-0.52, Z:-2.06 [[ 9.99746002e-01 -2.02433924e-02 -9.90642005e-03 2.17684226e+02] [ 2.02435122e-02 9.99795075e-01 -8.81929444e-05 -5.19456955e-01] [ 9.90617531e-03 -1.12370191e-04 9.99950926e-01 -2.06036285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.85592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.71, Y:-0.52, Z:-2.05 [[ 9.99720235e-01 -2.14781912e-02 -9.90647728e-03 2.17712954e+02] [ 2.14784339e-02 9.99769308e-01 -8.19023887e-05 -5.21722090e-01] [ 9.90595105e-03 -1.30896143e-04 9.99950926e-01 -2.05030221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.88592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.74, Y:-0.52, Z:-2.05 [[ 9.99708695e-01 -2.20089280e-02 -9.90617263e-03 2.17742180e+02] [ 2.20088675e-02 9.99757769e-01 -1.15133342e-04 -5.24113363e-01] [ 9.90630701e-03 -1.02923838e-04 9.99950926e-01 -2.05011075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.91592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.77, Y:-0.53, Z:-2.05 [[ 9.99663679e-01 -2.39665348e-02 -9.90627441e-03 2.17771896e+02] [ 2.39666778e-02 9.99712752e-01 -1.04295318e-04 -5.28925772e-01] [ 9.90592845e-03 -1.33160246e-04 9.99950926e-01 -2.04948458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.94592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.80, Y:-0.53, Z:-2.06 [[ 9.99657120e-01 -2.42385574e-02 -9.90634172e-03 2.17802371e+02] [ 2.42387836e-02 9.99706193e-01 -9.72454628e-05 -5.31285075e-01] [ 9.90578825e-03 -1.42905554e-04 9.99950926e-01 -2.06345712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.97592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.83, Y:-0.54, Z:-2.06 [[ 9.99668055e-01 -2.37832780e-02 -9.90636376e-03 2.17831528e+02] [ 2.37835047e-02 9.99717128e-01 -9.49450087e-05 -5.36360796e-01] [ 9.90581963e-03 -1.40694557e-04 9.99950926e-01 -2.06387336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.00592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.86, Y:-0.54, Z:-2.06 [[ 9.99682485e-01 -2.31687821e-02 -9.90635148e-03 2.17860630e+02] [ 2.31689661e-02 9.99731559e-01 -9.62096951e-05 -5.38213746e-01] [ 9.90592127e-03 -1.33340774e-04 9.99950926e-01 -2.06288943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.03592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.89, Y:-0.54, Z:-2.06 [[ 9.99739054e-01 -2.05836865e-02 -9.90634218e-03 2.17889057e+02] [ 2.05837341e-02 9.99788128e-01 -9.71581589e-05 -5.41807853e-01] [ 9.90624317e-03 -1.06776708e-04 9.99950926e-01 -2.06335519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.06592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:217.92, Y:-0.54, Z:-2.05 [[ 9.99764737e-01 -1.92960018e-02 -9.90632937e-03 2.17918606e+02] [ 1.92959735e-02 9.99813811e-01 -9.84470140e-05 -5.43737339e-01] [ 9.90638455e-03 -9.27284155e-05 9.99950926e-01 -2.05024720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.09592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.95, Y:-0.55, Z:-2.06 [[ 9.99770480e-01 -1.89961412e-02 -9.90623048e-03 2.17948910e+02] [ 1.89960026e-02 9.99819554e-01 -1.08095809e-04 -5.45988340e-01] [ 9.90649634e-03 -8.01077805e-05 9.99950926e-01 -2.06141163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.12592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.98, Y:-0.55, Z:-2.06 [[ 9.99845475e-01 -1.45223217e-02 -9.90600902e-03 2.17978461e+02] [ 1.45217511e-02 9.99894545e-01 -1.29533377e-04 -5.48160075e-01] [ 9.90684551e-03 -1.43392366e-05 9.99950926e-01 -2.06305705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.15592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.01, Y:-0.55, Z:-2.05 [[ 9.99901838e-01 -9.90858401e-03 -9.90629124e-03 2.18007116e+02] [ 9.90805805e-03 9.99950909e-01 -1.02170176e-04 -5.48224705e-01] [ 9.90681729e-03 4.00803774e-06 9.99950926e-01 -2.04985774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.18592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.04, Y:-0.55, Z:-2.05 [[ 9.99925889e-01 -7.07737506e-03 -9.90587802e-03 2.18035888e+02] [ 7.07632823e-03 9.99974953e-01 -1.40723184e-04 -5.47542954e-01] [ 9.90662585e-03 7.06155107e-05 9.99950926e-01 -2.05226844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.21592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.07, Y:-0.55, Z:-2.06 [[ 9.99941883e-01 -4.25521478e-03 -9.90570158e-03 2.18067329e+02] [ 4.25387063e-03 9.99990940e-01 -1.56760495e-04 -5.46865166e-01] [ 9.90627888e-03 1.14613811e-04 9.99950925e-01 -2.06269886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.24592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.10, Y:-0.55, Z:-2.06 [[ 9.99941011e-01 -4.45436268e-03 -9.90622344e-03 2.18095816e+02] [ 4.45349559e-03 9.99990077e-01 -1.09587311e-04 -5.46644503e-01] [ 9.90661329e-03 6.54635244e-05 9.99950926e-01 -2.06241663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.27592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:218.12, Y:-0.54, Z:-2.05 [[ 9.99950740e-01 6.19827984e-04 -9.90620117e-03 2.18124665e+02] [-6.20963634e-04 9.99999801e-01 -1.11564953e-04 -5.44834628e-01] [ 9.90613005e-03 1.17710848e-04 9.99950926e-01 -2.05084843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.30592000000001 meters Centerline goodness : 0.856610 Centerline is valid? [True, False] Translation: X:218.13, Y:-0.55, Z:-2.05 [[ 9.99938675e-01 4.71466866e-03 -1.00208434e-02 2.18125020e+02] [-4.66621507e-03 9.99977336e-01 4.85317355e-03 -5.48494764e-01] [ 1.00434974e-02 -4.80611652e-03 9.99938013e-01 -2.05097509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.33592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [False, True] Translation: X:218.15, Y:-0.55, Z:-2.05 [[ 9.99949252e-01 -4.94043328e-04 -1.00622861e-02 2.18145618e+02] [ 5.97755357e-04 9.99946707e-01 1.03066064e-02 -5.51791154e-01] [ 1.00566579e-02 -1.03120982e-02 9.99896257e-01 -2.04953590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.36592000000002 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:218.17, Y:-0.54, Z:-2.04 [[ 9.99950817e-01 -6.68238737e-04 -9.89533256e-03 2.18174348e+02] [ 6.66711364e-04 9.99999765e-01 -1.57650867e-04 -5.38919073e-01] [ 9.89543559e-03 1.51045783e-04 9.99951028e-01 -2.03787531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.39592000000002 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:218.20, Y:-0.53, Z:-2.04 [[ 9.99950323e-01 1.20027398e-03 -9.89495828e-03 2.18200096e+02] [-1.20212044e-03 9.99999261e-01 -1.80660615e-04 -5.33461575e-01] [ 9.89473413e-03 1.92546572e-04 9.99951027e-01 -2.03762707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.42592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.23, Y:-0.53, Z:-2.05 [[ 9.99949228e-01 1.91221895e-03 -9.89367475e-03 2.18231426e+02] [-1.91486878e-03 9.99998133e-01 -2.58365334e-04 -5.31770769e-01] [ 9.89316223e-03 2.77297306e-04 9.99951023e-01 -2.05031051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.45592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:218.26, Y:-0.53, Z:-2.04 [[ 9.99950077e-01 1.38801190e-03 -9.89525385e-03 2.18259625e+02] [-1.38968085e-03 9.99999021e-01 -1.61787678e-04 -5.29825425e-01] [ 9.89501960e-03 1.75530846e-04 9.99951028e-01 -2.03921210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.48592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:218.29, Y:-0.53, Z:-2.04 [[ 9.99950972e-01 -3.86497497e-04 -9.89462680e-03 2.18288406e+02] [ 3.84544817e-04 9.99999906e-01 -1.99249260e-04 -5.26450196e-01] [ 9.89470288e-03 1.95434564e-04 9.99951027e-01 -2.03705201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.51592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:218.32, Y:-0.52, Z:-2.04 [[ 9.99947672e-01 -2.59921311e-03 -9.89427686e-03 2.18318354e+02] [ 2.59716447e-03 9.99996603e-01 -2.19896423e-04 -5.23713663e-01] [ 9.89481481e-03 1.94187852e-04 9.99951026e-01 -2.03734587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.54592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.35, Y:-0.52, Z:-2.04 [[ 9.99944300e-01 -3.67370742e-03 -9.89445729e-03 2.18346920e+02] [ 3.67181773e-03 9.99993237e-01 -2.09143814e-04 -5.22551907e-01] [ 9.89515870e-03 1.72801521e-04 9.99951027e-01 -2.03578493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.57592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.38, Y:-0.52, Z:-2.04 [[ 9.99932620e-01 -6.07005098e-03 -9.89490607e-03 2.18375088e+02] [ 6.06854304e-03 9.99981570e-01 -1.82413031e-04 -5.21234454e-01] [ 9.89583096e-03 1.22353076e-04 9.99951028e-01 -2.03574515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.60592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.40, Y:-0.52, Z:-2.04 [[ 9.99908123e-01 -9.26522919e-03 -9.89449840e-03 2.18403998e+02] [ 9.26363963e-03 9.99957070e-01 -2.06470980e-04 -5.19119911e-01] [ 9.89598663e-03 1.14792942e-04 9.99951027e-01 -2.03682047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.63592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.43, Y:-0.52, Z:-2.04 [[ 9.99881733e-01 -1.17735002e-02 -9.89468056e-03 2.18432243e+02] [ 1.17721385e-02 9.99930687e-01 -1.95846435e-04 -5.18847607e-01] [ 9.89630053e-03 7.93417226e-05 9.99951027e-01 -2.03727925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.66592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.46, Y:-0.52, Z:-2.03 [[ 9.99833463e-01 -1.53346167e-02 -9.89424547e-03 2.18460845e+02] [ 1.53331792e-02 9.99882415e-01 -2.21138212e-04 -5.18744062e-01] [ 9.89647313e-03 6.93911455e-05 9.99951026e-01 -2.03451218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.69592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.49, Y:-0.52, Z:-2.03 [[ 9.99816926e-01 -1.63773729e-02 -9.89429505e-03 2.18489835e+02] [ 1.63760150e-02 9.99865880e-01 -2.18246175e-04 -5.18169860e-01] [ 9.89654233e-03 5.61770949e-05 9.99951026e-01 -2.03377955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.72592 meters Centerline goodness : 0.989590 Centerline is valid? [True, True] Translation: X:218.49, Y:-0.56, Z:-2.05 [[ 9.94601250e-01 -1.03297875e-01 -9.89452196e-03 2.18488044e+02] [ 1.03300911e-01 9.94650129e-01 -2.05083151e-04 -5.57086717e-01] [ 9.86277220e-03 -8.18137177e-04 9.99951027e-01 -2.04890113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.75592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.55, Y:-0.51, Z:-2.03 [[ 9.99808402e-01 -1.69042988e-02 -9.86936831e-03 2.18545690e+02] [ 1.68899808e-02 9.99856180e-01 -1.53230631e-03 -5.14743452e-01] [ 9.89385146e-03 1.36531928e-03 9.99950123e-01 -2.03238752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.78592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.58, Y:-0.52, Z:-2.05 [[ 9.99782061e-01 -1.83870531e-02 -9.88665855e-03 2.18576982e+02] [ 1.83860819e-02 9.99830944e-01 -1.89122259e-04 -5.16698434e-01] [ 9.88846456e-03 7.30412829e-06 9.99951108e-01 -2.04780180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.81592 meters Centerline goodness : 0.978741 Centerline is valid? [True, True] Translation: X:218.65, Y:-0.50, Z:-2.05 [[ 9.99876440e-01 -1.22205454e-02 -9.88746701e-03 2.18652071e+02] [ 1.22199032e-02 9.99925326e-01 -1.25357016e-04 -4.96017442e-01] [ 9.88826061e-03 4.51763687e-06 9.99951110e-01 -2.05462847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.84592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.63, Y:-0.53, Z:-2.04 [[ 9.99516325e-01 -2.94773000e-02 -9.90979060e-03 2.18629199e+02] [ 2.94995592e-02 9.99562571e-01 2.10753303e-03 -5.31276038e-01] [ 9.84333139e-03 -2.39884813e-03 9.99948676e-01 -2.04000858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.87592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:218.69, Y:-0.52, Z:-2.05 [[ 9.99451251e-01 -3.16207213e-02 -9.86540767e-03 2.18689807e+02] [ 3.16199127e-02 9.99499937e-01 -2.37964222e-04 -5.16416043e-01] [ 9.86799895e-03 -7.41096905e-05 9.99951307e-01 -2.04746874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.90592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.68, Y:-0.53, Z:-2.04 [[ 9.99284811e-01 -3.64960889e-02 -9.89455454e-03 2.18684669e+02] [ 3.65110319e-02 9.99332360e-01 1.33376446e-03 -5.34261937e-01] [ 9.83927135e-03 -1.69407096e-03 9.99950158e-01 -2.03696445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.93592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.72, Y:-0.54, Z:-2.04 [[ 9.99207908e-01 -3.85544818e-02 -9.85435393e-03 2.18715328e+02] [ 3.85534768e-02 9.99256496e-01 -2.91999633e-04 -5.35937918e-01] [ 9.85828507e-03 -8.81512640e-05 9.99951402e-01 -2.04446897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.96592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.74, Y:-0.54, Z:-2.04 [[ 9.98967406e-01 -4.43507609e-02 -9.85556972e-03 2.18743850e+02] [ 4.43505249e-02 9.99016002e-01 -2.42611512e-04 -5.41449247e-01] [ 9.85663186e-03 -1.94738697e-04 9.99951403e-01 -2.03823354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.99592 meters Centerline goodness : 0.998409 Centerline is valid? [True, True] Translation: X:218.82, Y:-0.54, Z:-2.05 [[ 9.98307220e-01 -5.73198255e-02 -9.85553875e-03 2.18818764e+02] [ 5.73202082e-02 9.98355815e-01 -2.43863118e-04 -5.35136104e-01] [ 9.85331261e-03 -3.21471221e-04 9.99951403e-01 -2.05111943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.02592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:218.84, Y:-0.54, Z:-2.05 [[ 9.98047535e-01 -6.16829234e-02 -9.81499836e-03 2.18841737e+02] [ 6.17065893e-02 9.98092067e-01 2.12662260e-03 -5.42008464e-01] [ 9.66509570e-03 -2.72812052e-03 9.99949570e-01 -2.05281251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.05592000000001 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:218.87, Y:-0.54, Z:-2.07 [[ 9.99950135e-01 1.82822278e-03 -9.81758344e-03 2.18865611e+02] [-1.81054101e-03 9.99996724e-01 1.80961659e-03 -5.43068599e-01] [ 9.82085966e-03 -1.79175122e-03 9.99950169e-01 -2.06771502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.08592000000002 meters Centerline goodness : 0.784238 Centerline is valid? [True, False] Translation: X:218.87, Y:-0.55, Z:-2.07 [[ 9.99950257e-01 1.78244218e-03 -9.81357932e-03 2.18865597e+02] [-1.75884450e-03 9.99995543e-01 2.41270050e-03 -5.45925124e-01] [ 9.81783607e-03 -2.39531993e-03 9.99948935e-01 -2.06797050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.11592000000002 meters Centerline goodness : 0.979937 Centerline is valid? [False, True] Translation: X:218.86, Y:-0.55, Z:-2.06 [[ 9.99958611e-01 -4.15793669e-04 -9.08866282e-03 2.18860819e+02] [ 4.21957529e-04 9.99999682e-01 6.76285112e-04 -5.48158819e-01] [ 9.08837874e-03 -6.80092151e-04 9.99958469e-01 -2.06380202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.14592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.84, Y:-0.58, Z:-2.05 [[ 9.99915374e-01 -9.33222537e-03 -9.06391518e-03 2.18840121e+02] [ 9.35088356e-03 9.99954243e-01 2.01832007e-03 -5.77742069e-01] [ 9.04466502e-03 -2.10290488e-03 9.99956885e-01 -2.05420352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.17592 meters Centerline goodness : 0.993839 Centerline is valid? [True, True] Translation: X:218.91, Y:-0.56, Z:-2.08 [[ 9.98100980e-01 6.09256744e-02 -9.08276132e-03 2.18914194e+02] [-6.09273839e-02 9.98142197e-01 8.86261241e-05 -5.61792176e-01] [ 9.07128694e-03 4.64931064e-04 9.99958747e-01 -2.08203735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.20592 meters Centerline goodness : 0.962335 Centerline is valid? [True, True] Translation: X:218.90, Y:-0.57, Z:-2.08 [[ 9.99158207e-01 -4.00670370e-02 -8.80401542e-03 2.18896773e+02] [ 4.00964914e-02 9.99190705e-01 3.19485386e-03 -5.71571093e-01] [ 8.66888204e-03 -3.54517458e-03 9.99956140e-01 -2.07978602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.23592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.91, Y:-0.57, Z:-2.05 [[ 9.99673680e-01 2.39469422e-02 -8.89253893e-03 2.18905620e+02] [-2.39390355e-02 9.99712926e-01 9.94531292e-04 -5.68112325e-01] [ 8.91380209e-03 -7.81327952e-04 9.99959966e-01 -2.05296796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.26592 meters Centerline goodness : 0.829772 Centerline is valid? [True, False] Translation: X:218.90, Y:-0.58, Z:-2.05 [[ 9.99941661e-01 1.06270656e-02 -1.93416312e-03 2.18900833e+02] [-1.06136359e-02 9.99920375e-01 6.82604596e-03 -5.76300726e-01] [ 2.00654995e-03 -6.80511923e-03 9.99974832e-01 -2.05276760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.29592 meters Centerline goodness : 1.000000 Centerline is valid? [False, True] Translation: X:218.90, Y:-0.57, Z:-2.05 [[ 9.99994971e-01 2.37155914e-03 -2.10563565e-03 2.18901058e+02] [-2.37761905e-03 9.99993026e-01 -2.88012425e-03 -5.70261358e-01] [ 2.09879058e-03 2.88511616e-03 9.99993636e-01 -2.05266250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.32592 meters Centerline goodness : 0.979844 Centerline is valid? [True, True] Translation: X:218.89, Y:-0.56, Z:-2.06 [[ 9.98983145e-01 4.50379321e-02 -2.06406187e-03 2.18885761e+02] [-4.50379672e-02 9.98985275e-01 2.94982912e-05 -5.62355139e-01] [ 2.06329595e-03 6.34928550e-05 9.99997869e-01 -2.05850587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.35592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.95, Y:-0.57, Z:-2.05 [[ 9.99917704e-01 1.26610541e-02 -2.06936152e-03 2.18953106e+02] [-1.26616836e-02 9.99919795e-01 -2.91377924e-04 -5.74585713e-01] [ 2.06550640e-03 3.17555545e-04 9.99997816e-01 -2.05254561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.38592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.98, Y:-0.58, Z:-2.04 [[ 9.99903973e-01 1.37038983e-02 -2.06110721e-03 2.18983622e+02] [-1.37038246e-02 9.99906097e-01 4.98578122e-05 -5.77749875e-01] [ 2.06159691e-03 -2.16079727e-05 9.99997875e-01 -2.04046602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.41592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.01, Y:-0.58, Z:-2.05 [[ 9.99941158e-01 1.06504926e-02 -2.06086373e-03 2.19011806e+02] [-1.06503914e-02 9.99943281e-01 6.00603444e-05 -5.80308123e-01] [ 2.06138651e-03 -3.81078050e-05 9.99997875e-01 -2.05177195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.44592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.04, Y:-0.59, Z:-2.04 [[ 9.99933678e-01 1.13308984e-02 -2.06140840e-03 2.19043753e+02] [-1.13308463e-02 9.99935803e-01 3.69432605e-05 -5.85370378e-01] [ 2.06169466e-03 -1.35833085e-05 9.99997875e-01 -2.04073853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.47592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.07, Y:-0.59, Z:-2.04 [[ 9.99946498e-01 1.01367538e-02 -2.06087323e-03 2.19072588e+02] [-1.01366522e-02 9.99948621e-01 5.97502783e-05 -5.92056024e-01] [ 2.06137302e-03 -3.88567264e-05 9.99997875e-01 -2.04190698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.50592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:219.10, Y:-0.60, Z:-2.04 [[ 9.99966714e-01 7.89445212e-03 -2.06121674e-03 2.19102393e+02] [-7.89437649e-03 9.99968838e-01 4.48268501e-05 -5.96592775e-01] [ 2.06150639e-03 -2.85533370e-05 9.99997875e-01 -2.04232198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.53592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.13, Y:-0.60, Z:-2.05 [[ 9.99974685e-01 6.81054963e-03 -2.06076356e-03 2.19130942e+02] [-6.81043101e-03 9.99976807e-01 6.45723552e-05 -6.00259905e-01] [ 2.06115554e-03 -5.05360324e-05 9.99997875e-01 -2.05323327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.56592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.16, Y:-0.61, Z:-2.04 [[ 9.99970170e-01 7.44381400e-03 -2.06117039e-03 2.19159812e+02] [-7.44373383e-03 9.99972294e-01 4.65642199e-05 -6.07114685e-01] [ 2.06145990e-03 -3.12200271e-05 9.99997875e-01 -2.04048928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.59592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.19, Y:-0.61, Z:-2.04 [[ 9.99961795e-01 8.49471537e-03 -2.06130999e-03 2.19189739e+02] [-8.49465021e-03 9.99963919e-01 4.03650861e-05 -6.10675001e-01] [ 2.06157851e-03 -2.28534366e-05 9.99997875e-01 -2.03823275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.62592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.22, Y:-0.62, Z:-2.04 [[ 9.99942614e-01 1.05128526e-02 -2.06114487e-03 2.19219795e+02] [-1.05127765e-02 9.99944738e-01 4.77178199e-05 -6.16514672e-01] [ 2.06153262e-03 -2.60467261e-05 9.99997875e-01 -2.03916262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.65592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.25, Y:-0.62, Z:-2.04 [[ 9.99928232e-01 1.18017590e-02 -2.06119435e-03 2.19249289e+02] [-1.18016903e-02 9.99930357e-01 4.54834172e-05 -6.19571895e-01] [ 2.06158759e-03 -2.11545756e-05 9.99997875e-01 -2.03872624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.68592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.28, Y:-0.62, Z:-2.04 [[ 9.99885949e-01 1.49613079e-02 -2.06114594e-03 2.19278988e+02] [-1.49612414e-02 9.99888073e-01 4.76917096e-05 -6.24420141e-01] [ 2.06162878e-03 -1.68489683e-05 9.99997875e-01 -2.03982311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.71592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.31, Y:-0.63, Z:-2.04 [[ 9.99849372e-01 1.72332307e-02 -2.06120393e-03 2.19308988e+02] [-1.72331745e-02 9.99851497e-01 4.50075272e-05 -6.27417728e-01] [ 2.06167346e-03 -9.47966081e-06 9.99997875e-01 -2.03880288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.74592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.34, Y:-0.63, Z:-2.04 [[ 9.99812108e-01 1.92743305e-02 -2.06106403e-03 2.19338534e+02] [-1.92742653e-02 9.99814233e-01 5.15310280e-05 -6.29830351e-01] [ 2.06167438e-03 -1.17958509e-05 9.99997875e-01 -2.03836111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.77592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.37, Y:-0.63, Z:-2.04 [[ 9.99713592e-01 2.38429558e-02 -2.06105449e-03 2.19368407e+02] [-2.38428993e-02 9.99715716e-01 5.19813035e-05 -6.31912874e-01] [ 2.06170795e-03 -2.82490098e-06 9.99997875e-01 -2.04124468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.80592000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.40, Y:-0.63, Z:-2.04 [[ 9.99663316e-01 2.58651750e-02 -2.06110251e-03 2.19399029e+02] [-2.58651275e-02 9.99665440e-01 4.96645401e-05 -6.32935319e-01] [ 2.06169753e-03 3.66286047e-06 9.99997875e-01 -2.03972869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.83592000000002 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:219.42, Y:-0.65, Z:-2.05 [[ 9.99926633e-01 -1.19365525e-02 -2.06105691e-03 2.19419130e+02] [ 1.19366848e-02 9.99928754e-01 5.18975729e-05 -6.52132142e-01] [ 2.06029059e-03 -7.64959520e-05 9.99997875e-01 -2.04626826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.86592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.46, Y:-0.63, Z:-2.04 [[ 9.99400703e-01 3.45540039e-02 -2.06313783e-03 2.19460165e+02] [-3.45541837e-02 9.99402825e-01 -5.15988640e-05 -6.34707270e-01] [ 2.06012283e-03 1.22857985e-04 9.99997870e-01 -2.03744676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.89592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.49, Y:-0.63, Z:-2.05 [[ 9.99298163e-01 3.74023409e-02 -2.06058353e-03 2.19490600e+02] [-3.74022854e-02 9.99300288e-01 6.54750925e-05 -6.34620402e-01] [ 2.06159064e-03 1.16413938e-05 9.99997875e-01 -2.04749691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.92592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.52, Y:-0.64, Z:-2.04 [[ 9.99231267e-01 3.91487806e-02 -2.06091306e-03 2.19521553e+02] [-3.91487601e-02 9.99233392e-01 5.02637812e-05 -6.35107528e-01] [ 2.06130092e-03 3.04570494e-05 9.99997875e-01 -2.03617072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.95592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.55, Y:-0.64, Z:-2.04 [[ 9.99154348e-01 4.10651087e-02 -2.06064164e-03 2.19552104e+02] [-4.10650664e-02 9.99156472e-01 6.28523387e-05 -6.35006604e-01] [ 2.06148447e-03 2.18211983e-05 9.99997875e-01 -2.04004736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.98592 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:219.56, Y:-0.67, Z:-2.05 [[ 9.99644967e-01 -2.65649091e-02 -2.06066580e-03 2.19560816e+02] [ 2.65650925e-02 9.99647084e-01 6.16924876e-05 -6.66550610e-01] [ 2.05829970e-03 -1.16412362e-04 9.99997875e-01 -2.04986309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.01592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.61, Y:-0.63, Z:-2.05 [[ 9.98971911e-01 4.52864072e-02 -2.06432351e-03 2.19610432e+02] [-4.52867836e-02 9.98974018e-01 -1.35919871e-04 -6.34839029e-01] [ 2.05605023e-03 2.29266705e-04 9.99997860e-01 -2.04666433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.04592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:219.64, Y:-0.63, Z:-2.04 [[ 9.98928350e-01 4.62375125e-02 -2.06005966e-03 2.19642077e+02] [-4.62374962e-02 9.98930473e-01 5.55919743e-05 -6.34692621e-01] [ 2.06042680e-03 3.97196013e-05 9.99997877e-01 -2.03867340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.07592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.67, Y:-0.63, Z:-2.04 [[ 9.98864541e-01 4.75960616e-02 -2.05986592e-03 2.19674004e+02] [-4.75960297e-02 9.98866665e-01 6.45089582e-05 -6.31745678e-01] [ 2.06060177e-03 3.36057285e-05 9.99997876e-01 -2.03782073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.10592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.70, Y:-0.63, Z:-2.04 [[ 9.98880202e-01 4.72662522e-02 -2.05979886e-03 2.19704846e+02] [-4.72662131e-02 9.98882326e-01 6.76618756e-05 -6.32555760e-01] [ 2.06069480e-03 2.97727839e-05 9.99997876e-01 -2.03775697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.13592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.73, Y:-0.63, Z:-2.05 [[ 9.98944994e-01 4.58765321e-02 -2.05980590e-03 2.19733917e+02] [-4.58764907e-02 9.98947117e-01 6.73270892e-05 -6.31648758e-01] [ 2.06072589e-03 2.72406074e-05 9.99997876e-01 -2.05066471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.16592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.77, Y:-0.63, Z:-2.04 [[ 9.98891068e-01 4.70360509e-02 -2.06031675e-03 2.19765363e+02] [-4.70360629e-02 9.98893191e-01 4.26473932e-05 -6.28182858e-01] [ 2.06004234e-03 5.43090883e-05 9.99997877e-01 -2.04275229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.19592 meters Centerline goodness : 0.912743 Centerline is valid? [True, False] Translation: X:219.77, Y:-0.63, Z:-2.04 [[ 9.99386637e-01 3.49760734e-02 -1.73921843e-03 2.19765518e+02] [-3.49612818e-02 9.99357358e-01 7.91071930e-03 -6.34798130e-01] [ 2.01478664e-03 -7.84506184e-03 9.99967197e-01 -2.04356393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.22592 meters Centerline goodness : 1.000000 Centerline is valid? [False, True] Translation: X:219.77, Y:-0.64, Z:-2.05 [[ 9.99805460e-01 1.97236044e-02 -1.43855066e-04 2.19765535e+02] [-1.97207182e-02 9.99741613e-01 1.13049030e-02 -6.35449467e-01] [ 3.66791331e-04 -1.12998669e-02 9.99936087e-01 -2.04533986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.25592 meters Centerline goodness : 0.989015 Centerline is valid? [True, True] Translation: X:219.77, Y:-0.66, Z:-2.06 [[ 9.97615295e-01 -6.90196513e-02 -1.01529938e-04 2.19765569e+02] [ 6.90196420e-02 9.97615297e-01 -9.21013869e-05 -6.62856311e-01] [ 1.07644625e-04 8.48741923e-05 9.99999991e-01 -2.05795794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.28592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:219.82, Y:-0.61, Z:-2.04 [[ 9.99756883e-01 2.20491327e-02 -1.01742233e-04 2.19821477e+02] [-2.20491356e-02 9.99756888e-01 -2.68088765e-05 -6.14646722e-01] [ 1.01126386e-04 2.90456871e-05 9.99999994e-01 -2.04477218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.31592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.85, Y:-0.61, Z:-2.04 [[ 9.99765704e-01 2.16454579e-02 -1.01686024e-04 2.19852833e+02] [-2.16454579e-02 9.99765710e-01 8.13612373e-07 -6.11921901e-01] [ 1.01679811e-04 1.38761881e-06 9.99999995e-01 -2.04365102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.34592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.88, Y:-0.61, Z:-2.04 [[ 9.99783634e-01 2.08008578e-02 -1.01686198e-04 2.19884050e+02] [-2.08008578e-02 9.99783639e-01 7.24715054e-07 -6.10241159e-01] [ 1.01679272e-04 1.39060190e-06 9.99999995e-01 -2.04196535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.37592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.91, Y:-0.61, Z:-2.05 [[ 9.99826991e-01 1.86004958e-02 -1.01685982e-04 2.19914592e+02] [-1.86004958e-02 9.99826996e-01 8.61685453e-07 -6.07227217e-01] [ 1.01684417e-04 1.02987330e-06 9.99999995e-01 -2.05002529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.40592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.95, Y:-0.60, Z:-2.05 [[ 9.99874220e-01 1.58598200e-02 -1.01687109e-04 2.19945479e+02] [-1.58598201e-02 9.99874225e-01 2.87947499e-08 -6.03341236e-01] [ 1.01674776e-04 1.58394812e-06 9.99999995e-01 -2.05493526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.43592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:219.98, Y:-0.60, Z:-2.04 [[ 9.99871733e-01 1.60158447e-02 -1.01686977e-04 2.19976328e+02] [-1.60158448e-02 9.99871738e-01 1.31240284e-07 -6.01095830e-01] [ 1.01676036e-04 1.49737939e-06 9.99999995e-01 -2.04346295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.46592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.01, Y:-0.60, Z:-2.04 [[ 9.99898190e-01 1.42688355e-02 -1.01686598e-04 2.20006545e+02] [-1.42688355e-02 9.99898195e-01 4.28141502e-07 -5.99987622e-01] [ 1.01682355e-04 1.02285143e-06 9.99999995e-01 -2.04329074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.49592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:220.04, Y:-0.60, Z:-2.05 [[ 9.99899125e-01 1.42031210e-02 -1.01687177e-04 2.20037579e+02] [-1.42031211e-02 9.99899131e-01 -9.66069962e-08 -5.97465254e-01] [ 1.01675548e-04 1.54087254e-06 9.99999995e-01 -2.05095247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.52592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.07, Y:-0.60, Z:-2.04 [[ 9.99897124e-01 1.43433178e-02 -1.01687149e-04 2.20067705e+02] [-1.43433179e-02 9.99897129e-01 -7.34656508e-08 -5.95224371e-01] [ 1.01675635e-04 1.53198920e-06 9.99999995e-01 -2.04255378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.55592000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.10, Y:-0.59, Z:-2.04 [[ 9.99900366e-01 1.41155323e-02 -1.01687066e-04 2.20098370e+02] [-1.41155324e-02 9.99900371e-01 -2.81122810e-09 -5.88636226e-01] [ 1.01676895e-04 1.43817803e-06 9.99999995e-01 -2.04044230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.58592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.13, Y:-0.58, Z:-2.05 [[ 9.99913402e-01 1.31597080e-02 -1.01686895e-04 2.20129044e+02] [-1.31597080e-02 9.99913407e-01 1.68794872e-07 -5.84524273e-01] [ 1.01680311e-04 1.16938959e-06 9.99999995e-01 -2.05046431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.61592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.16, Y:-0.58, Z:-2.05 [[ 9.99907958e-01 1.35670618e-02 -1.01687279e-04 2.20159516e+02] [-1.35670619e-02 9.99907963e-01 -2.81624501e-07 -5.82648354e-01] [ 1.01674099e-04 1.66119618e-06 9.99999995e-01 -2.05120155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.64592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.19, Y:-0.58, Z:-2.05 [[ 9.99901627e-01 1.40258752e-02 -1.01687286e-04 2.20190502e+02] [-1.40258753e-02 9.99901633e-01 -2.89459332e-07 -5.80704032e-01] [ 1.01673224e-04 1.71568405e-06 9.99999995e-01 -2.04987567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.67592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:220.22, Y:-0.57, Z:-2.05 [[ 9.99890973e-01 1.47658992e-02 -1.01687225e-04 2.20221039e+02] [-1.47658993e-02 9.99890978e-01 -2.32042946e-07 -5.74892865e-01] [ 1.01672712e-04 1.73352097e-06 9.99999995e-01 -2.04695077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.70592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:220.25, Y:-0.57, Z:-2.05 [[ 9.99845927e-01 1.75531044e-02 -1.01687137e-04 2.20251619e+02] [-1.75531045e-02 9.99845932e-01 -1.48587549e-07 -5.68399704e-01] [ 1.01668863e-04 1.93348961e-06 9.99999995e-01 -2.05078869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.73592 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:220.28, Y:-0.56, Z:-2.05 [[ 9.99823807e-01 1.87708383e-02 -1.01686831e-04 2.20281574e+02] [-1.87708384e-02 9.99823812e-01 1.17337799e-07 -5.63963788e-01] [ 1.01671117e-04 1.79142994e-06 9.99999995e-01 -2.04734720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.76592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:220.31, Y:-0.56, Z:-2.05 [[ 9.99805962e-01 1.96984110e-02 -1.01687057e-04 2.20312045e+02] [-1.96984111e-02 9.99805967e-01 -1.01832369e-07 -5.60232774e-01] [ 1.01665321e-04 2.10488607e-06 9.99999995e-01 -2.05132246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.79592 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:220.34, Y:-0.55, Z:-2.05 [[ 9.99798485e-01 2.00743330e-02 -1.01686897e-04 2.20341744e+02] [-2.00743331e-02 9.99798490e-01 8.66007547e-08 -5.52959773e-01] [ 1.01668145e-04 1.95471333e-06 9.99999995e-01 -2.05145752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.82592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:220.37, Y:-0.55, Z:-2.05 [[ 9.99810804e-01 1.94511015e-02 -1.01686902e-04 2.20371469e+02] [-1.94511016e-02 9.99810809e-01 7.99254204e-08 -5.49562190e-01] [ 1.01669219e-04 1.89801197e-06 9.99999995e-01 -2.04809595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.85592 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:220.40, Y:-0.55, Z:-2.04 [[ 9.99897691e-01 1.43037320e-02 -1.01687133e-04 2.20400508e+02] [-1.43037321e-02 9.99897696e-01 -3.39145956e-07 -5.45190948e-01] [ 1.01671879e-04 1.79361677e-06 9.99999995e-01 -2.03845363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.88592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:220.43, Y:-0.54, Z:-2.04 [[ 9.99933029e-01 1.15726630e-02 -1.01687256e-04 2.20430058e+02] [-1.15726631e-02 9.99933034e-01 -7.19745089e-07 -5.42808318e-01] [ 1.01672117e-04 1.89648925e-06 9.99999995e-01 -2.03885732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.91592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:220.46, Y:-0.54, Z:-2.05 [[ 9.99967881e-01 8.01418071e-03 -1.01687209e-04 2.20460701e+02] [-8.01418081e-03 9.99967886e-01 -6.21003991e-07 -5.38200605e-01] [ 1.01678967e-04 1.43592373e-06 9.99999995e-01 -2.05242483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.94592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:220.49, Y:-0.54, Z:-2.05 [[ 9.99984059e-01 5.64539130e-03 -1.01686818e-04 2.20490726e+02] [-5.64539132e-03 9.99984065e-01 5.84810892e-08 -5.36357418e-01] [ 1.01685528e-04 5.15581726e-07 9.99999995e-01 -2.05297453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.97592 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:220.52, Y:-0.54, Z:-2.04 [[ 9.99996282e-01 2.72511428e-03 -1.01686818e-04 2.20520393e+02] [-2.72511429e-03 9.99996287e-01 5.84810890e-08 -5.35013110e-01] [ 1.01686600e-04 2.18627331e-07 9.99999995e-01 -2.03815851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.00592 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:220.55, Y:-0.53, Z:-2.04 [[ 9.99999860e-01 -5.19647690e-04 -1.01687656e-04 2.20551314e+02] [ 5.19647603e-04 9.99999865e-01 -8.74939974e-07 -5.33213107e-01] [ 1.01688097e-04 8.22098105e-07 9.99999995e-01 -2.03793013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.03592 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:220.58, Y:-0.53, Z:-2.04 [[ 9.99991999e-01 -3.99895404e-03 -1.01687428e-04 2.20581630e+02] [ 3.99895398e-03 9.99992004e-01 -7.16171508e-07 -5.32358213e-01] [ 1.01689479e-04 3.09522432e-07 9.99999995e-01 -2.04072779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.06592 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:220.61, Y:-0.53, Z:-2.04 [[ 9.99987543e-01 -4.99032607e-03 -1.01687802e-04 2.20612641e+02] [ 4.99032600e-03 9.99987548e-01 -8.95527660e-07 -5.31676796e-01] [ 1.01691005e-04 3.88061221e-07 9.99999995e-01 -2.03520824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.09592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:220.64, Y:-0.53, Z:-2.05 [[ 9.99986463e-01 -5.20226085e-03 -1.01687245e-04 2.20643948e+02] [ 5.20226081e-03 9.99986468e-01 -6.73958960e-07 -5.32166586e-01] [ 1.01689375e-04 1.44946268e-07 9.99999995e-01 -2.05108073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.12592 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:220.67, Y:-0.53, Z:-2.05 [[ 9.99966959e-01 -8.12833489e-03 -1.01684720e-04 2.20674282e+02] [ 8.12833496e-03 9.99966965e-01 2.71507274e-07 -5.34800604e-01] [ 1.01679154e-04 -1.09802577e-06 9.99999995e-01 -2.05175734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.15592 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:220.70, Y:-0.54, Z:-2.05 [[ 9.99949053e-01 -1.00936235e-02 -1.01684720e-04 2.20704551e+02] [ 1.00936236e-02 9.99949058e-01 2.71507274e-07 -5.35752364e-01] [ 1.01676800e-04 -1.29786073e-06 9.99999995e-01 -2.05176391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.18592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:220.74, Y:-0.54, Z:-2.05 [[ 9.99918597e-01 -1.27588579e-02 -1.01684720e-04 2.20735513e+02] [ 1.27588580e-02 9.99918602e-01 2.71507274e-07 -5.37241064e-01] [ 1.01672979e-04 -1.56886608e-06 9.99999995e-01 -2.05091184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.21592 meters Centerline goodness : 0.999502 Centerline is valid? [True, True] Translation: X:220.77, Y:-0.54, Z:-2.05 [[ 9.99894499e-01 -1.45251915e-02 -1.01684720e-04 2.20766282e+02] [ 1.45251916e-02 9.99894504e-01 2.71507274e-07 -5.39152476e-01] [ 1.01670049e-04 -1.74846867e-06 9.99999995e-01 -2.05032543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.24592 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:220.80, Y:-0.54, Z:-2.05 [[ 9.99852382e-01 -1.71815092e-02 -1.01684720e-04 2.20798044e+02] [ 1.71815094e-02 9.99852387e-01 2.71507274e-07 -5.44914374e-01] [ 1.01665045e-04 -2.01856417e-06 9.99999995e-01 -2.04995428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.27592 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:220.83, Y:-0.55, Z:-2.04 [[ 9.99820694e-01 -1.89359177e-02 -1.01684703e-04 2.20826996e+02] [ 1.89359178e-02 9.99820699e-01 2.77936421e-07 -5.47094046e-01] [ 1.01661208e-04 -2.20337976e-06 9.99999995e-01 -2.03891085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.30592000000001 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:220.86, Y:-0.55, Z:-2.04 [[ 9.99806304e-01 -1.96810422e-02 -1.01689028e-04 2.20858399e+02] [ 1.96810422e-02 9.99806310e-01 -1.06787776e-06 -5.52156516e-01] [ 1.01690349e-04 -9.33675146e-07 9.99999995e-01 -2.03851813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.33592000000002 meters Centerline goodness : 0.998957 Centerline is valid? [True, True] Translation: X:220.89, Y:-0.56, Z:-2.03 [[ 9.99803535e-01 -1.98212136e-02 -1.01687309e-04 2.20889024e+02] [ 1.98212136e-02 9.99803540e-01 -6.48439082e-07 -5.55357819e-01] [ 1.01680184e-04 -1.36725419e-06 9.99999995e-01 -2.03189565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.36592000000002 meters Centerline goodness : 0.998956 Centerline is valid? [True, True] Translation: X:220.92, Y:-0.56, Z:-2.03 [[ 9.99820426e-01 -1.89500984e-02 -1.01687809e-04 2.20919110e+02] [ 1.89500984e-02 9.99820431e-01 -7.60283851e-07 -5.63284537e-01] [ 1.01683956e-04 -1.16684666e-06 9.99999995e-01 -2.03443259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.39592000000002 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:220.95, Y:-0.57, Z:-2.05 [[ 9.99828285e-01 -1.85307928e-02 -1.01685238e-04 2.20949974e+02] [ 1.85307929e-02 9.99828290e-01 -1.93389745e-07 -5.66759479e-01] [ 1.01671361e-04 -1.69095154e-06 9.99999995e-01 -2.04712723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.42592 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:220.98, Y:-0.57, Z:-2.03 [[ 9.99835083e-01 -1.81602808e-02 -1.01681973e-04 2.20980058e+02] [ 1.81602809e-02 9.99835089e-01 4.87493397e-07 -5.73815062e-01] [ 1.01656352e-04 -2.33398620e-06 9.99999995e-01 -2.03362972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.45592 meters Centerline goodness : 0.809566 Centerline is valid? [True, False] Translation: X:220.98, Y:-0.57, Z:-2.03 [[ 9.99977189e-01 -5.84611328e-03 3.38303181e-03 2.20977112e+02] [ 5.87128704e-03 9.99954790e-01 -7.47972027e-03 -5.68793545e-01] [-3.33915157e-03 7.49941240e-03 9.99966304e-01 -2.03347532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.48592 meters Centerline goodness : 0.998704 Centerline is valid? [False, True] Translation: X:220.98, Y:-0.58, Z:-2.03 [[ 9.99992570e-01 -1.93057065e-03 3.33673906e-03 2.20977245e+02] [ 1.93265978e-03 9.99997938e-01 -6.22988467e-04 -5.81275347e-01] [-3.33552946e-03 6.29432620e-04 9.99994239e-01 -2.03366899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.51592 meters Centerline goodness : 0.999006 Centerline is valid? [True, True] Translation: X:221.01, Y:-0.59, Z:-2.03 [[ 9.99994381e-01 -1.64597315e-04 3.34821079e-03 2.21010691e+02] [ 1.64764603e-04 9.99999985e-01 -4.96876235e-05 -5.85997283e-01] [-3.34820256e-03 5.02390109e-05 9.99994393e-01 -2.03231476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.54592 meters Centerline goodness : 0.913696 Centerline is valid? [True, False] Translation: X:221.01, Y:-0.59, Z:-2.03 [[ 9.99994492e-01 -2.73737804e-04 3.30766511e-03 2.21010778e+02] [ 2.69918427e-04 9.99999296e-01 1.15509602e-03 -5.91631524e-01] [-3.30797898e-03 -1.15419686e-03 9.99993863e-01 -2.03235958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.57592 meters Centerline goodness : 0.970585 Centerline is valid? [False, True] Translation: X:221.02, Y:-0.59, Z:-2.04 [[ 9.99994107e-01 -2.37667810e-03 2.47750655e-03 2.21015919e+02] [ 2.37890378e-03 9.99996769e-01 -8.95794726e-04 -5.92109667e-01] [-2.47536953e-03 9.01683196e-04 9.99996530e-01 -2.03687592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.60592 meters Centerline goodness : 0.999006 Centerline is valid? [True, True] Translation: X:220.99, Y:-0.63, Z:-2.02 [[ 9.99937965e-01 -1.08586421e-02 2.48114487e-03 2.20994396e+02] [ 1.08596934e-02 9.99940947e-01 -4.10642161e-04 -6.26596069e-01] [-2.47653934e-03 4.37561160e-04 9.99996838e-01 -2.01769061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.63592 meters Centerline goodness : 0.955631 Centerline is valid? [True, True] Translation: X:221.07, Y:-0.60, Z:-2.04 [[ 9.99961478e-01 8.41968216e-03 2.48040483e-03 2.21071827e+02] [-8.41973119e-03 9.99964553e-01 9.32337343e-06 -5.98691025e-01] [-2.48023841e-03 -3.02073561e-05 9.99996924e-01 -2.03773772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.66592 meters Centerline goodness : 0.870308 Centerline is valid? [True, False] Translation: X:221.07, Y:-0.60, Z:-2.03 [[ 9.99973415e-01 6.50723701e-03 3.29010814e-03 2.21067060e+02] [-6.50067657e-03 9.99976869e-01 -2.00076455e-03 -5.97610401e-01] [-3.30305149e-03 1.97932344e-03 9.99992586e-01 -2.03379853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.69592 meters Centerline goodness : 0.999252 Centerline is valid? [False, True] Translation: X:221.07, Y:-0.60, Z:-2.03 [[ 9.99973166e-01 6.56170389e-03 3.25758854e-03 2.21067202e+02] [-6.55470852e-03 9.99976199e-01 -2.15346003e-03 -5.96729235e-01] [-3.27164138e-03 2.13204970e-03 9.99992375e-01 -2.03414090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.72592 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:221.10, Y:-0.60, Z:-2.04 [[ 9.99959999e-01 8.32411272e-03 3.27248409e-03 2.21099639e+02] [-8.32407190e-03 9.99965354e-01 -2.60940572e-05 -5.98630767e-01] [-3.27258793e-03 -1.14737943e-06 9.99994645e-01 -2.03555359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.75592 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:221.13, Y:-0.60, Z:-2.03 [[ 9.99933621e-01 1.10473946e-02 3.27243492e-03 2.21130905e+02] [-1.10473458e-02 9.99938976e-01 -3.29892478e-05 -5.99439177e-01] [-3.27259966e-03 -3.16466227e-06 9.99994645e-01 -2.03499809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.78592 meters Centerline goodness : 0.970759 Centerline is valid? [True, True] Translation: X:221.13, Y:-0.58, Z:-2.05 [[ 9.97404497e-01 7.19274644e-02 3.27244705e-03 2.21127716e+02] [-7.19277473e-02 9.97409845e-01 -3.13005024e-05 -5.77238477e-01] [-3.26622227e-03 -2.04160482e-04 9.99994645e-01 -2.05153853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.81592 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:221.19, Y:-0.60, Z:-2.04 [[ 9.99837226e-01 1.77424343e-02 3.27516639e-03 2.21186989e+02] [-1.77438965e-02 9.99842477e-01 4.17927501e-04 -5.96455070e-01] [-3.26723543e-03 -4.75973687e-04 9.99994549e-01 -2.04038995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.84592 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:221.22, Y:-0.59, Z:-2.03 [[ 9.99777511e-01 2.08384019e-02 3.26957628e-03 2.21219824e+02] [-2.08383828e-02 9.99782857e-01 -3.99223000e-05 -5.94937594e-01] [-3.26969823e-03 -2.82192643e-05 9.99994654e-01 -2.02905664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.87592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:221.25, Y:-0.59, Z:-2.04 [[ 9.99797764e-01 1.98429420e-02 3.26933558e-03 2.21251382e+02] [-1.98428537e-02 9.99803109e-01 -5.94257492e-05 -5.94288194e-01] [-3.26987106e-03 -5.45921644e-06 9.99994654e-01 -2.04022595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.90592 meters Centerline goodness : 0.963095 Centerline is valid? [True, True] Translation: X:221.33, Y:-0.62, Z:-2.05 [[ 9.99232468e-01 -3.90356926e-02 3.26957240e-03 2.21331453e+02] [ 3.90360324e-02 9.99237803e-01 -4.01324475e-05 -6.15403375e-01] [-3.26551374e-03 1.67732778e-04 9.99994654e-01 -2.05065833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.93592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.30, Y:-0.59, Z:-2.04 [[ 9.99802039e-01 1.96288278e-02 3.25451550e-03 2.21299896e+02] [-1.96259556e-02 9.99806976e-01 -9.12145644e-04 -5.93190446e-01] [-3.27179165e-03 8.48092098e-04 9.99994288e-01 -2.03723800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.96592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.33, Y:-0.59, Z:-2.04 [[ 9.99802765e-01 1.95908253e-02 3.26053367e-03 2.21332140e+02] [-1.95908576e-02 9.99808080e-01 -2.20403634e-05 -5.93131388e-01] [-3.26033970e-03 -4.18406346e-05 9.99994684e-01 -2.03868911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.99592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.36, Y:-0.59, Z:-2.04 [[ 9.99808002e-01 1.93216835e-02 3.26053062e-03 2.21364049e+02] [-1.93217129e-02 9.99813318e-01 -2.24835311e-05 -5.92447242e-01] [-3.26035635e-03 -4.05198223e-05 9.99994684e-01 -2.03803905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.02592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.40, Y:-0.59, Z:-2.04 [[ 9.99846118e-01 1.72368490e-02 3.26052756e-03 2.21396112e+02] [-1.72368659e-02 9.99851434e-01 -2.29176821e-05 -5.90073730e-01] [-3.26043819e-03 -3.32871210e-05 9.99994684e-01 -2.03784347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.05592000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.43, Y:-0.59, Z:-2.04 [[ 9.99843796e-01 1.73710062e-02 3.26052444e-03 2.21428774e+02] [-1.73710224e-02 9.99849112e-01 -2.33536184e-05 -5.90274888e-01] [-3.26043814e-03 -3.32886727e-05 9.99994684e-01 -2.03794997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.08592000000002 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:221.46, Y:-0.59, Z:-2.04 [[ 9.99861288e-01 1.63332016e-02 3.26052125e-03 2.21461317e+02] [-1.63332109e-02 9.99866604e-01 -2.37911063e-05 -5.89011641e-01] [-3.26047489e-03 -2.94669750e-05 9.99994684e-01 -2.03780616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.11592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.49, Y:-0.59, Z:-2.04 [[ 9.99866939e-01 1.59835572e-02 3.26051800e-03 2.21493918e+02] [-1.59835632e-02 9.99872254e-01 -2.42288417e-05 -5.85553190e-01] [-3.26048874e-03 -2.78890777e-05 9.99994684e-01 -2.03634019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.14592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.53, Y:-0.58, Z:-2.04 [[ 9.99869424e-01 1.58273170e-02 3.26051471e-03 2.21525868e+02] [-1.58273208e-02 9.99874740e-01 -2.46629910e-05 -5.83911633e-01] [-3.26049665e-03 -2.69454416e-05 9.99994684e-01 -2.03803361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.17592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.56, Y:-0.58, Z:-2.03 [[ 9.99881886e-01 1.50194382e-02 3.26051138e-03 2.21557350e+02] [-1.50194362e-02 9.99887202e-01 -2.50960386e-05 -5.81215875e-01] [-3.26052053e-03 -2.38779684e-05 9.99994684e-01 -2.03328104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.20592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.59, Y:-0.58, Z:-2.03 [[ 9.99874514e-01 1.55024571e-02 3.26050399e-03 2.21590273e+02] [-1.55024546e-02 9.99879829e-01 -2.60519132e-05 -5.80688046e-01] [-3.26051604e-03 -2.44971710e-05 9.99994684e-01 -2.02635961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.23592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.62, Y:-0.58, Z:-2.04 [[ 9.99901271e-01 1.36681311e-02 3.26040230e-03 2.21621461e+02] [-1.36680763e-02 9.99906587e-01 -3.90927427e-05 -5.80453636e-01] [-3.26063206e-03 -5.47454438e-06 9.99994684e-01 -2.03894690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.26592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.65, Y:-0.58, Z:-2.03 [[ 9.99911783e-01 1.28761557e-02 3.26050746e-03 2.21653156e+02] [-1.28761400e-02 9.99917099e-01 -2.58058445e-05 -5.77569371e-01] [-3.26056944e-03 -1.61791826e-05 9.99994684e-01 -2.02714216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.29592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:221.69, Y:-0.58, Z:-2.03 [[ 9.99915039e-01 1.26207624e-02 3.26041953e-03 2.21685235e+02] [-1.26207096e-02 9.99920355e-01 -3.67782112e-05 -5.76017154e-01] [-3.26062402e-03 -4.37372138e-06 9.99994684e-01 -2.02639441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.32592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.72, Y:-0.57, Z:-2.03 [[ 9.99973134e-01 6.56509463e-03 3.26040378e-03 2.21722037e+02] [-6.56500327e-03 9.99978449e-01 -3.87225326e-05 -5.73230007e-01] [-3.26058773e-03 1.73169308e-05 9.99994684e-01 -2.02947526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.35592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.74, Y:-0.57, Z:-2.03 [[ 9.99980534e-01 5.32057151e-03 3.25931282e-03 2.21743295e+02] [-5.32001140e-03 9.99985832e-01 -1.80494368e-04 -5.74252181e-01] [-3.26022697e-03 1.63151273e-04 9.99994672e-01 -2.02658135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.38592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.77, Y:-0.57, Z:-2.04 [[ 9.99988874e-01 3.40925501e-03 3.26026016e-03 2.21774849e+02] [-3.40919830e-03 9.99994188e-01 -2.29497433e-05 -5.73697111e-01] [-3.26031946e-03 1.18346145e-05 9.99994685e-01 -2.03826022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.41592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:221.81, Y:-0.57, Z:-2.03 [[ 9.99993537e-01 1.51516081e-03 3.26027728e-03 2.21806507e+02] [-1.51510305e-03 9.99998852e-01 -2.01848883e-05 -5.73320585e-01] [-3.26030412e-03 1.52451019e-05 9.99994685e-01 -2.02562644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.44592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:221.84, Y:-0.57, Z:-2.04 [[ 9.99991835e-01 -2.38760268e-03 3.26023152e-03 2.21837897e+02] [ 2.38770435e-03 9.99997149e-01 -2.72937236e-05 -5.73844086e-01] [-3.26015706e-03 3.50779698e-05 9.99994685e-01 -2.03822791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.47592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.87, Y:-0.57, Z:-2.04 [[ 9.99984095e-01 -4.60225988e-03 3.26026813e-03 2.21871090e+02] [ 4.60235549e-03 9.99989409e-01 -2.18246162e-05 -5.74006907e-01] [-3.26013316e-03 3.68291820e-05 9.99994685e-01 -2.03822289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.50592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.90, Y:-0.58, Z:-2.02 [[ 9.99972647e-01 -6.63902732e-03 3.26025608e-03 2.21901723e+02] [ 6.63913921e-03 9.99977960e-01 -2.34962334e-05 -5.76310345e-01] [-3.26002823e-03 4.51408847e-05 9.99994685e-01 -2.02384170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.53592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.94, Y:-0.58, Z:-2.02 [[ 9.99978036e-01 -5.77055356e-03 3.26022546e-03 2.21935164e+02] [ 5.77067420e-03 9.99983349e-01 -2.75973141e-05 -5.77481674e-01] [-3.26001192e-03 4.64104069e-05 9.99994685e-01 -2.02488565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.56592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:221.97, Y:-0.58, Z:-2.02 [[ 9.99974549e-01 -6.34618614e-03 3.26009597e-03 2.21965855e+02] [ 6.34636447e-03 9.99979861e-01 -4.43591457e-05 -5.79386312e-01] [-3.25974880e-03 6.50477739e-05 9.99994685e-01 -2.02145033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.59592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:222.00, Y:-0.58, Z:-2.04 [[ 9.99979462e-01 -5.51773369e-03 3.26030158e-03 2.21997738e+02] [ 5.51782291e-03 9.99984777e-01 -1.83723596e-05 -5.83699784e-01] [-3.26015057e-03 3.63617490e-05 9.99994685e-01 -2.04006066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.62592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.03, Y:-0.59, Z:-2.03 [[ 9.99993185e-01 -1.73256586e-03 3.26023573e-03 2.22030128e+02] [ 1.73266139e-03 9.99998499e-01 -2.64798332e-05 -5.86468308e-01] [-3.26018495e-03 3.21285373e-05 9.99994685e-01 -2.02740807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.65592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:222.06, Y:-0.59, Z:-2.03 [[ 9.99994553e-01 -5.17494694e-04 3.25992417e-03 2.22059847e+02] [ 5.17706694e-04 9.99999864e-01 -6.41886101e-05 -5.86846502e-01] [-3.25989051e-03 6.58759450e-05 9.99994684e-01 -2.02510084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.68592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.09, Y:-0.59, Z:-2.04 [[ 9.99993909e-01 -1.24601448e-03 3.26017316e-03 2.22090633e+02] [ 1.24612915e-03 9.99999223e-01 -3.31410845e-05 -5.87247377e-01] [-3.26012933e-03 3.72034794e-05 9.99994685e-01 -2.03994705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.71592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:222.12, Y:-0.59, Z:-2.03 [[ 9.99988550e-01 3.50287449e-03 3.26022451e-03 2.22121381e+02] [-3.50280534e-03 9.99993865e-01 -2.69222948e-05 -5.89508147e-01] [-3.26029881e-03 1.55020547e-05 9.99994685e-01 -2.02660080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.74592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:222.15, Y:-0.59, Z:-2.03 [[ 9.99976343e-01 6.05669133e-03 3.26023801e-03 2.22153782e+02] [-6.05664102e-03 9.99981658e-01 -2.53064395e-05 -5.89149701e-01] [-3.26033149e-03 5.55974958e-06 9.99994685e-01 -2.02530525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.77592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:222.19, Y:-0.59, Z:-2.02 [[ 9.99966427e-01 7.51770363e-03 3.26017684e-03 2.22186966e+02] [-7.51763799e-03 9.99971742e-01 -3.23865953e-05 -5.89143315e-01] [-3.26032819e-03 7.87667872e-06 9.99994685e-01 -2.02351837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.80592000000001 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:222.22, Y:-0.59, Z:-2.02 [[ 9.99973242e-01 6.54887598e-03 3.25996751e-03 2.22216777e+02] [-6.54872451e-03 9.99978555e-01 -5.71347242e-05 -5.89203046e-01] [-3.26027177e-03 3.57845663e-05 9.99994685e-01 -2.02486517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.83592000000002 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:222.25, Y:-0.59, Z:-2.02 [[ 9.99969732e-01 7.06445932e-03 3.26017554e-03 2.22249473e+02] [-7.06439239e-03 9.99975046e-01 -3.20456658e-05 -5.89239313e-01] [-3.26032057e-03 9.01353657e-06 9.99994685e-01 -2.02473828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.86592000000002 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:222.28, Y:-0.59, Z:-2.02 [[ 9.99973182e-01 6.55805720e-03 3.26008153e-03 2.22281788e+02] [-6.55795132e-03 9.99978495e-01 -4.31648493e-05 -5.88871524e-01] [-3.26029450e-03 2.17842356e-05 9.99994685e-01 -2.02451902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.89592000000002 meters Centerline goodness : 0.846376 Centerline is valid? [True, False] Translation: X:222.28, Y:-0.58, Z:-2.02 [[ 9.99993076e-01 -1.67161789e-03 3.32483492e-03 2.22281689e+02] [ 1.70716746e-03 9.99941101e-01 -1.07181881e-02 -5.79021985e-01] [-3.30672237e-03 1.07237900e-02 9.99937031e-01 -2.02444362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.92592 meters Centerline goodness : 0.952033 Centerline is valid? [False, True] Translation: X:222.28, Y:-0.58, Z:-2.02 [[ 9.99993419e-01 -1.64427858e-03 3.23404546e-03 2.22281908e+02] [ 1.67991128e-03 9.99937576e-01 -1.10463146e-02 -5.77773386e-01] [-3.21568036e-03 1.10516748e-02 9.99933758e-01 -2.02443121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.95592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.31, Y:-0.63, Z:-2.00 [[ 9.94504132e-01 -1.04677865e-01 2.01906655e-03 2.22305572e+02] [ 1.04676383e-01 9.94505994e-01 8.26431952e-04 -6.30437254e-01] [-2.09448292e-03 -6.10541409e-04 9.99997620e-01 -1.99901244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.98592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:222.34, Y:-0.62, Z:-2.00 [[ 9.94494371e-01 -1.04769271e-01 2.08447133e-03 2.22338534e+02] [ 1.04769075e-01 9.94496556e-01 2.03181728e-04 -6.24446116e-01] [-2.09428676e-03 1.63250483e-05 9.99997807e-01 -2.00387281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.01592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:222.37, Y:-0.62, Z:-2.00 [[ 9.94639052e-01 -1.03386708e-01 2.08461960e-03 2.22370149e+02] [ 1.03386512e-01 9.94641236e-01 2.01767084e-04 -6.18386022e-01] [-2.09430865e-03 1.48361278e-05 9.99997807e-01 -1.99877002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.04592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.40, Y:-0.61, Z:-2.00 [[ 9.94635255e-01 -1.03423236e-01 2.08416167e-03 2.22402537e+02] [ 1.03423031e-01 9.94637439e-01 2.06137625e-04 -6.10769789e-01] [-2.09430464e-03 1.05185677e-05 9.99997807e-01 -2.00129018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.07592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.43, Y:-0.61, Z:-2.00 [[ 9.94582802e-01 -1.03926439e-01 2.08451494e-03 2.22434170e+02] [ 1.03926242e-01 9.94584986e-01 2.02758833e-04 -6.05918455e-01] [-2.09429926e-03 1.49753566e-05 9.99997807e-01 -2.00111939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.10592 meters Centerline goodness : 0.949228 Centerline is valid? [True, False] Translation: X:222.44, Y:-0.59, Z:-2.00 [[ 9.95204720e-01 -9.77035783e-02 -4.64503296e-03 2.22442976e+02] [ 9.76045105e-02 9.95059417e-01 -1.81691137e-02 -5.85620865e-01] [ 6.39727122e-03 1.76286116e-02 9.99824138e-01 -1.99970023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.13592 meters Centerline goodness : 0.946882 Centerline is valid? [False, False] Translation: X:222.44, Y:-0.58, Z:-2.00 [[ 9.96519198e-01 -8.32172670e-02 -4.93706899e-03 2.22443518e+02] [ 8.30746724e-02 9.96248842e-01 -2.42248738e-02 -5.76004245e-01] [ 6.93447705e-03 2.37304064e-02 9.99694344e-01 -1.99982820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.16592 meters Centerline goodness : 0.999950 Centerline is valid? [False, True] Translation: X:222.44, Y:-0.57, Z:-2.00 [[ 9.97621591e-01 -6.89238843e-02 -8.12381898e-04 2.22440154e+02] [ 6.88682081e-02 9.97170802e-01 -3.01257737e-02 -5.65066173e-01] [ 2.88646885e-03 2.99981750e-02 9.99545786e-01 -1.99922160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.19592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.47, Y:-0.59, Z:-2.00 [[ 9.97689585e-01 -6.78816701e-02 -2.75134384e-03 2.22473630e+02] [ 6.78816744e-02 9.97693375e-01 -9.19252581e-05 -5.89140180e-01] [ 2.75123757e-03 -9.50529543e-05 9.99996211e-01 -1.99946742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.22592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.50, Y:-0.58, Z:-2.02 [[ 9.97581621e-01 -6.94504611e-02 -2.74653541e-03 2.22504300e+02] [ 6.94502655e-02 9.97585401e-01 -1.66624718e-04 -5.81075478e-01] [ 2.75147580e-03 -2.45258571e-05 9.99996214e-01 -2.01519982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.25592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:222.54, Y:-0.58, Z:-2.02 [[ 9.97660003e-01 -6.83152910e-02 -2.74588151e-03 2.22536153e+02] [ 6.83150632e-02 9.97663781e-01 -1.76781542e-04 -5.76109833e-01] [ 2.75154341e-03 -1.12171955e-05 9.99996214e-01 -2.01537771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.28592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.57, Y:-0.57, Z:-2.02 [[ 9.97608664e-01 -6.90609439e-02 -2.74596180e-03 2.22567991e+02] [ 6.90607224e-02 9.97612443e-01 -1.75525477e-04 -5.69933588e-01] [ 2.75152761e-03 -1.45323687e-05 9.99996214e-01 -2.01532420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.31592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:222.60, Y:-0.57, Z:-2.00 [[ 9.97646988e-01 -6.85050892e-02 -2.74604051e-03 2.22599768e+02] [ 6.85048690e-02 9.97650767e-01 -1.74285367e-04 -5.65892616e-01] [ 2.75152885e-03 -1.42418735e-05 9.99996214e-01 -2.00209403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.34592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:222.63, Y:-0.56, Z:-2.00 [[ 9.97655407e-01 -6.83823573e-02 -2.74645443e-03 2.22630389e+02] [ 6.83821546e-02 9.97659187e-01 -1.67750004e-04 -5.60745476e-01] [ 2.75149663e-03 -2.04517727e-05 9.99996214e-01 -2.00277187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.37592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:222.66, Y:-0.55, Z:-2.00 [[ 9.97450889e-01 -7.13034677e-02 -2.74565851e-03 2.22661390e+02] [ 7.13032414e-02 9.97454668e-01 -1.80361127e-04 -5.54290163e-01] [ 2.75153027e-03 -1.58729848e-05 9.99996214e-01 -2.00183798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.40592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.69, Y:-0.55, Z:-2.02 [[ 9.97302757e-01 -7.33462553e-02 -2.74556073e-03 2.22693629e+02] [ 7.33460324e-02 9.97306536e-01 -1.81920206e-04 -5.48107492e-01] [ 2.75150883e-03 -1.99464636e-05 9.99996214e-01 -2.01564806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.43592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.72, Y:-0.54, Z:-2.01 [[ 9.97268287e-01 -7.38134284e-02 -2.74624348e-03 2.22723784e+02] [ 7.38132374e-02 9.97272068e-01 -1.70952368e-04 -5.43890769e-01] [ 2.75137049e-03 -3.22237468e-05 9.99996214e-01 -2.00966375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.46592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:222.76, Y:-0.54, Z:-2.02 [[ 9.97274111e-01 -7.37347398e-02 -2.74508226e-03 2.22756653e+02] [ 7.37344972e-02 9.97277889e-01 -1.89616840e-04 -5.39222937e-01] [ 2.75159119e-03 -1.33072947e-05 9.99996214e-01 -2.01617436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.49592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.79, Y:-0.53, Z:-2.02 [[ 9.97191236e-01 -7.48471525e-02 -2.74634031e-03 2.22789211e+02] [ 7.48469703e-02 9.97195017e-01 -1.69196542e-04 -5.33895123e-01] [ 2.75130075e-03 -3.68339431e-05 9.99996214e-01 -2.01652006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.52592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:222.82, Y:-0.53, Z:-2.00 [[ 9.97059941e-01 -7.65763122e-02 -2.74642483e-03 2.22818732e+02] [ 7.65761404e-02 9.97063722e-01 -1.67813323e-04 -5.31420340e-01] [ 2.75121109e-03 -4.29906717e-05 9.99996214e-01 -2.00218042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.55592000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.85, Y:-0.53, Z:-2.02 [[ 9.96658857e-01 -8.16307847e-02 -2.74561761e-03 2.22850028e+02] [ 8.16305956e-02 9.96662638e-01 -1.81061557e-04 -5.27644159e-01] [ 2.75123468e-03 -4.36697961e-05 9.99996214e-01 -2.01637399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.58592000000002 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:222.88, Y:-0.53, Z:-2.00 [[ 9.96127585e-01 -8.78765687e-02 -2.74649857e-03 2.22877816e+02] [ 8.78764433e-02 9.96131368e-01 -1.66532516e-04 -5.26646476e-01] [ 2.75050768e-03 -7.54648927e-05 9.99996214e-01 -1.99896009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.61592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.91, Y:-0.53, Z:-2.02 [[ 9.95914876e-01 -9.02553556e-02 -2.74429608e-03 2.22911390e+02] [ 9.02551393e-02 9.95918656e-01 -2.02822931e-04 -5.26644378e-01] [ 2.75140152e-03 -4.56924503e-05 9.99996214e-01 -2.01621134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.64592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.94, Y:-0.53, Z:-2.02 [[ 9.95714499e-01 -9.24396683e-02 -2.74656253e-03 2.22943940e+02] [ 9.24395642e-02 9.95718283e-01 -1.65124454e-04 -5.25178980e-01] [ 2.75006658e-03 -8.94742297e-05 9.99996215e-01 -2.01681738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.67592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:222.97, Y:-0.52, Z:-2.00 [[ 9.95477583e-01 -9.49570335e-02 -2.74664221e-03 2.22972782e+02] [ 9.49569426e-02 9.95481367e-01 -1.63788155e-04 -5.24111261e-01] [ 2.74978398e-03 -9.77653107e-05 9.99996215e-01 -2.00055917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.70592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.01, Y:-0.52, Z:-2.02 [[ 9.95292665e-01 -9.68760970e-02 -2.74475960e-03 2.23006147e+02] [ 9.68759267e-02 9.95296447e-01 -1.95239203e-04 -5.23639671e-01] [ 2.75076349e-03 -7.15809836e-05 9.99996214e-01 -2.01650278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.73592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:223.03, Y:-0.53, Z:-2.00 [[ 9.95088345e-01 -9.89527216e-02 -2.74669862e-03 2.23034972e+02] [ 9.89526495e-02 9.95092130e-01 -1.62455450e-04 -5.26620571e-01] [ 2.74929359e-03 -1.10135581e-04 9.99996215e-01 -1.99803213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.76592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.07, Y:-0.53, Z:-2.02 [[ 9.94999716e-01 -9.98400045e-02 -2.74557598e-03 2.23067812e+02] [ 9.98398835e-02 9.95003500e-01 -1.81438935e-04 -5.26349430e-01] [ 2.74997257e-03 -9.35862972e-05 9.99996214e-01 -2.01531473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.79592 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:223.10, Y:-0.53, Z:-2.00 [[ 9.94872173e-01 -1.01102992e-01 -2.74676065e-03 2.23098067e+02] [ 1.01102931e-01 9.94875958e-01 -1.61260315e-04 -5.26546334e-01] [ 2.74899004e-03 -1.17272153e-04 9.99996215e-01 -2.00033326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.82592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:223.15, Y:-0.54, Z:-2.02 [[ 9.93477659e-01 -1.13993858e-01 -2.74631462e-03 2.23151560e+02] [ 1.13993825e-01 9.93481444e-01 -1.68848534e-04 -5.37359673e-01] [ 2.74766031e-03 -1.45315663e-04 9.99996215e-01 -2.02014180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.85592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.16, Y:-0.53, Z:-2.01 [[ 9.93977182e-01 -1.09552400e-01 -2.76298859e-03 2.23157077e+02] [ 1.09553122e-01 9.93980936e-01 1.10895311e-04 -5.34555589e-01] [ 2.73420914e-03 -4.12921435e-04 9.99996177e-01 -2.01406772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.88592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:223.19, Y:-0.54, Z:-2.01 [[ 9.93701802e-01 -1.12023190e-01 -2.74484503e-03 2.23189513e+02] [ 1.12023134e-01 9.93705584e-01 -1.74500196e-04 -5.36354005e-01] [ 2.74711590e-03 -1.34084984e-04 9.99996218e-01 -2.01328432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.91592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:223.22, Y:-0.53, Z:-2.01 [[ 9.93753986e-01 -1.11559313e-01 -2.74491640e-03 2.23222963e+02] [ 1.11559259e-01 9.93757768e-01 -1.73370129e-04 -5.33945950e-01] [ 2.74712305e-03 -1.33933582e-04 9.99996218e-01 -2.01319214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.94592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:223.25, Y:-0.53, Z:-2.00 [[ 9.93708880e-01 -1.11960383e-01 -2.74499674e-03 2.23251337e+02] [ 1.11960333e-01 9.93712662e-01 -1.72088755e-04 -5.34760056e-01] [ 2.74700514e-03 -1.36324626e-04 9.99996218e-01 -1.99659792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.97592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.29, Y:-0.54, Z:-2.01 [[ 9.93773426e-01 -1.11386054e-01 -2.74309542e-03 2.23285661e+02] [ 1.11385919e-01 9.93777206e-01 -2.02345211e-04 -5.39059990e-01] [ 2.74856414e-03 -1.04456912e-04 9.99996217e-01 -2.01402786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.00592 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:223.31, Y:-0.54, Z:-2.00 [[ 9.93871851e-01 -1.10504336e-01 -2.74507129e-03 2.23314211e+02] [ 1.10504286e-01 9.93875633e-01 -1.70541309e-04 -5.40875086e-01] [ 2.74710502e-03 -1.33845935e-04 9.99996218e-01 -1.99718438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.03592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.35, Y:-0.54, Z:-2.01 [[ 9.93952247e-01 -1.09778886e-01 -2.74344457e-03 2.23348168e+02] [ 1.09778760e-01 9.93956028e-01 -1.96752473e-04 -5.43383477e-01] [ 2.74846253e-03 -1.05609381e-04 9.99996217e-01 -2.01284125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.06592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:223.38, Y:-0.54, Z:-2.01 [[ 9.94100382e-01 -1.08429211e-01 -2.74515620e-03 2.23381264e+02] [ 1.08429157e-01 9.94104164e-01 -1.68939659e-04 -5.44092743e-01] [ 2.74728920e-03 -1.29711993e-04 9.99996218e-01 -2.01312682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.09592 meters Centerline goodness : 0.996571 Centerline is valid? [True, True] Translation: X:223.45, Y:-0.55, Z:-2.02 [[ 9.93156281e-01 -1.16760719e-01 -2.74523505e-03 2.23446963e+02] [ 1.16760700e-01 9.93160063e-01 -1.67648488e-04 -5.53477241e-01] [ 2.74603257e-03 -1.54034417e-04 9.99996218e-01 -2.02196159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.12592 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:223.44, Y:-0.56, Z:-2.00 [[ 9.93732868e-01 -1.11746619e-01 -2.77113697e-03 2.23436614e+02] [ 1.11747804e-01 9.93736561e-01 2.75844241e-04 -5.56593537e-01] [ 2.72295547e-03 -5.83783959e-04 9.99996122e-01 -1.99896292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.15592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:223.47, Y:-0.56, Z:-2.01 [[ 9.93849313e-01 -1.10706951e-01 -2.74111329e-03 2.23469216e+02] [ 1.10706855e-01 9.93853086e-01 -1.87396768e-04 -5.57536118e-01] [ 2.74501003e-03 -1.17215881e-04 9.99996226e-01 -2.01288502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.18592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:223.50, Y:-0.56, Z:-2.00 [[ 9.93931901e-01 -1.09962990e-01 -2.74179464e-03 2.23498542e+02] [ 1.09962919e-01 9.93935675e-01 -1.76832491e-04 -5.58647716e-01] [ 2.74461253e-03 -1.25736289e-04 9.99996226e-01 -1.99925463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.21592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:223.53, Y:-0.56, Z:-2.01 [[ 9.93996814e-01 -1.09374688e-01 -2.74075311e-03 2.23530789e+02] [ 1.09374571e-01 9.94000587e-01 -1.92979213e-04 -5.57830135e-01] [ 2.74541724e-03 -1.07947973e-04 9.99996226e-01 -2.01256270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.24592 meters Centerline goodness : 0.999253 Centerline is valid? [True, True] Translation: X:223.56, Y:-0.56, Z:-2.00 [[ 9.94586853e-01 -1.03872393e-01 -2.74186626e-03 2.23559442e+02] [ 1.03872303e-01 9.94590626e-01 -1.75598055e-04 -5.60335174e-01] [ 2.74527427e-03 -1.10156445e-04 9.99996226e-01 -2.00107895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.27592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.59, Y:-0.56, Z:-2.01 [[ 9.94307712e-01 -1.06511338e-01 -2.74036472e-03 2.23591127e+02] [ 1.06511194e-01 9.94311483e-01 -1.98955866e-04 -5.64507425e-01] [ 2.74596717e-03 -9.40561670e-05 9.99996225e-01 -2.01176707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.30592000000001 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:223.62, Y:-0.57, Z:-2.00 [[ 9.94645352e-01 -1.03310721e-01 -2.74187585e-03 2.23621475e+02] [ 1.03310630e-01 9.94649126e-01 -1.75323342e-04 -5.65184417e-01] [ 2.74531720e-03 -1.08880373e-04 9.99996226e-01 -2.00004727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.33592000000002 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:223.65, Y:-0.57, Z:-2.01 [[ 9.94530158e-01 -1.04413806e-01 -2.74250797e-03 2.23651430e+02] [ 1.04413746e-01 9.94533932e-01 -1.65392461e-04 -5.65693329e-01] [ 2.74478649e-03 -1.21867740e-04 9.99996226e-01 -2.01216544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.36592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.68, Y:-0.57, Z:-2.01 [[ 9.94689795e-01 -1.02881944e-01 -2.74191844e-03 2.23680848e+02] [ 1.02881853e-01 9.94693568e-01 -1.74647777e-04 -5.67616833e-01] [ 2.74533674e-03 -1.08373288e-04 9.99996226e-01 -2.01150277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.39592000000002 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:223.71, Y:-0.57, Z:-2.00 [[ 9.94956792e-01 -1.00266963e-01 -2.74190790e-03 2.23711894e+02] [ 1.00266861e-01 9.94960565e-01 -1.74813132e-04 -5.67570922e-01] [ 2.74561822e-03 -1.00990986e-04 9.99996226e-01 -1.99891890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.42592 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:223.74, Y:-0.57, Z:-2.00 [[ 9.94886501e-01 -1.00962028e-01 -2.74222124e-03 2.23740196e+02] [ 1.00961943e-01 9.94890274e-01 -1.69889142e-04 -5.70838973e-01] [ 2.74536159e-03 -1.07839571e-04 9.99996226e-01 -1.99927104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.45592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.77, Y:-0.57, Z:-2.01 [[ 9.95220158e-01 -9.76182851e-02 -2.74005526e-03 2.23773399e+02] [ 9.76180931e-02 9.95223928e-01 -2.04053048e-04 -5.71202948e-01] [ 2.74688787e-03 -6.44012626e-05 9.99996225e-01 -2.01120069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.48592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:223.80, Y:-0.58, Z:-2.01 [[ 9.95355639e-01 -9.62269854e-02 -2.74202097e-03 2.23802423e+02] [ 9.62268739e-02 9.95359412e-01 -1.72874331e-04 -5.75033236e-01] [ 2.74593155e-03 -9.17846661e-05 9.99996226e-01 -2.00969163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.51592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:223.83, Y:-0.58, Z:-2.01 [[ 9.95432159e-01 -9.54321692e-02 -2.74200504e-03 2.23831030e+02] [ 9.54320540e-02 9.95435931e-01 -1.73126581e-04 -5.76144153e-01] [ 2.74601219e-03 -8.93394068e-05 9.99996226e-01 -2.00896971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.54592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.86, Y:-0.58, Z:-2.01 [[ 9.95761761e-01 -9.19292987e-02 -2.74198344e-03 2.23860602e+02] [ 9.19291692e-02 9.95765534e-01 -1.73468036e-04 -5.80582321e-01] [ 2.74631940e-03 -7.93354224e-05 9.99996226e-01 -2.00955210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.57592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.89, Y:-0.58, Z:-2.01 [[ 9.95929418e-01 -9.00948177e-02 -2.74196190e-03 2.23889895e+02] [ 9.00946804e-02 9.95933190e-01 -1.73807872e-04 -5.81748556e-01] [ 2.74647005e-03 -7.39358082e-05 9.99996226e-01 -2.00960250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.60592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:223.92, Y:-0.58, Z:-2.00 [[ 9.96278374e-01 -8.61503518e-02 -2.74194000e-03 2.23920348e+02] [ 8.61501986e-02 9.96282145e-01 -1.74152601e-04 -5.82042495e-01] [ 2.74674918e-03 -6.27142055e-05 9.99996226e-01 -1.99699371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.63592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:223.95, Y:-0.58, Z:-2.00 [[ 9.96641834e-01 -8.18384614e-02 -2.74228990e-03 2.23949292e+02] [ 8.18383071e-02 9.96645606e-01 -1.68644698e-04 -5.83639534e-01] [ 2.74689280e-03 -5.63460019e-05 9.99996226e-01 -1.99879444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.66592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:223.98, Y:-0.58, Z:-2.00 [[ 9.97218767e-01 -7.44795922e-02 -2.74230684e-03 2.23979110e+02] [ 7.44794108e-02 9.97222537e-01 -1.68378631e-04 -5.84801611e-01] [ 2.74723096e-03 -3.63350668e-05 9.99996226e-01 -1.99565163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.69592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.01, Y:-0.58, Z:-2.01 [[ 9.97278567e-01 -7.36745281e-02 -2.74283480e-03 2.24008536e+02] [ 7.36743663e-02 9.97282338e-01 -1.60107144e-04 -5.83621795e-01] [ 2.74717652e-03 -4.24051921e-05 9.99996226e-01 -2.00951479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.72592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:224.04, Y:-0.58, Z:-2.00 [[ 9.97547550e-01 -6.99383084e-02 -2.74183790e-03 2.24038871e+02] [ 6.99380897e-02 9.97551318e-01 -1.75666899e-04 -5.81310745e-01] [ 2.74740986e-03 -1.65228201e-05 9.99996226e-01 -1.99887404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.75592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.07, Y:-0.58, Z:-2.00 [[ 9.97960427e-01 -6.37766691e-02 -2.74279997e-03 2.24069010e+02] [ 6.37764685e-02 9.97964196e-01 -1.60644127e-04 -5.77530467e-01] [ 2.74746152e-03 -1.46096148e-05 9.99996226e-01 -1.99869337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.78592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.10, Y:-0.58, Z:-2.01 [[ 9.97978088e-01 -6.34997027e-02 -2.74306351e-03 2.24097378e+02] [ 6.34995123e-02 9.97981857e-01 -1.56535399e-04 -5.75226260e-01] [ 2.74746757e-03 -1.79642972e-05 9.99996226e-01 -2.01115292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.81592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.13, Y:-0.57, Z:-2.01 [[ 9.98134946e-01 -6.09845307e-02 -2.74178414e-03 2.24126065e+02] [ 6.09842761e-02 9.98138711e-01 -1.76418518e-04 -5.71676067e-01] [ 2.74743969e-03 8.88376646e-06 9.99996226e-01 -2.01198959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.84592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:224.16, Y:-0.57, Z:-2.00 [[ 9.98110095e-01 -6.13899121e-02 -2.74176060e-03 2.24155691e+02] [ 6.13896581e-02 9.98113861e-01 -1.76783662e-04 -5.69471006e-01] [ 2.74744199e-03 8.13381197e-06 9.99996226e-01 -2.00124464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.87592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:224.18, Y:-0.57, Z:-2.00 [[ 9.97963321e-01 -6.37314018e-02 -2.74210515e-03 2.24184755e+02] [ 6.37311712e-02 9.97967088e-01 -1.71449080e-04 -5.67440200e-01] [ 2.74745738e-03 -3.65767990e-06 9.99996226e-01 -1.99852820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.90592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.21, Y:-0.57, Z:-2.01 [[ 9.97846637e-01 -6.55329648e-02 -2.74219471e-03 2.24214571e+02] [ 6.55327449e-02 9.97850405e-01 -1.70067722e-04 -5.65778296e-01] [ 2.74744514e-03 -1.00020413e-05 9.99996226e-01 -2.01015491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.93592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.24, Y:-0.56, Z:-2.00 [[ 9.97753587e-01 -6.69347601e-02 -2.74166835e-03 2.24244323e+02] [ 6.69345232e-02 9.97757354e-01 -1.78167407e-04 -5.64232346e-01] [ 2.74744535e-03 -5.74509427e-06 9.99996226e-01 -1.99712370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.96592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:224.27, Y:-0.56, Z:-2.00 [[ 9.97600317e-01 -6.91815805e-02 -2.74168329e-03 2.24272406e+02] [ 6.91813527e-02 9.97604084e-01 -1.77937867e-04 -5.63202327e-01] [ 2.74742447e-03 -1.21624866e-05 9.99996226e-01 -1.99771031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.99592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:224.30, Y:-0.56, Z:-2.00 [[ 9.97601725e-01 -6.91612850e-02 -2.74127567e-03 2.24301585e+02] [ 6.91610400e-02 9.97605491e-01 -1.84170930e-04 -5.61960063e-01] [ 2.74744916e-03 -5.86023901e-06 9.99996226e-01 -1.99799689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.02592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.33, Y:-0.56, Z:-2.01 [[ 9.97487781e-01 -7.07856815e-02 -2.74116878e-03 2.24332153e+02] [ 7.07854382e-02 9.97491547e-01 -1.85805111e-04 -5.60822009e-01] [ 2.74744503e-03 -8.69650508e-06 9.99996226e-01 -2.00938963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.05592000000001 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:224.36, Y:-0.56, Z:-2.00 [[ 9.97537817e-01 -7.00770122e-02 -2.74161207e-03 2.24361384e+02] [ 7.00767849e-02 9.97541584e-01 -1.79016240e-04 -5.59547285e-01] [ 2.74741697e-03 -1.35478898e-05 9.99996226e-01 -1.99511960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.08592000000002 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:224.39, Y:-0.56, Z:-2.00 [[ 9.97531355e-01 -7.01689353e-02 -2.74145422e-03 2.24392045e+02] [ 7.01687016e-02 9.97535122e-01 -1.81433902e-04 -5.59372003e-01] [ 2.74742789e-03 -1.13782767e-05 9.99996226e-01 -1.99986636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.11592000000002 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:224.42, Y:-0.56, Z:-2.00 [[ 9.97489613e-01 -7.07598248e-02 -2.74208816e-03 2.24419548e+02] [ 7.07596200e-02 9.97493382e-01 -1.71750242e-04 -5.58730493e-01] [ 2.74736781e-03 -2.27100335e-05 9.99996226e-01 -1.99692616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.14592000000002 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:224.45, Y:-0.56, Z:-2.00 [[ 9.97551065e-01 -6.98882054e-02 -2.74058634e-03 2.24449757e+02] [ 6.98879347e-02 9.97554830e-01 -1.94539460e-04 -5.58257656e-01] [ 2.74748115e-03 2.52912669e-06 9.99996226e-01 -1.99790999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.17592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:224.48, Y:-0.56, Z:-2.00 [[ 9.97511228e-01 -7.04544861e-02 -2.74129480e-03 2.24480492e+02] [ 7.04542470e-02 9.97514995e-01 -1.83800644e-04 -5.56332916e-01] [ 2.74743224e-03 -9.79265485e-06 9.99996226e-01 -2.00028111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.20592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.51, Y:-0.56, Z:-2.01 [[ 9.97462592e-01 -7.11397212e-02 -2.74197198e-03 2.24509924e+02] [ 7.11395128e-02 9.97466360e-01 -1.73565001e-04 -5.55256373e-01] [ 2.74737218e-03 -2.19379553e-05 9.99996226e-01 -2.00874103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.23592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:224.54, Y:-0.55, Z:-2.00 [[ 9.97453066e-01 -7.12731796e-02 -2.74143180e-03 2.24540274e+02] [ 7.12729494e-02 9.97456833e-01 -1.81714443e-04 -5.54364062e-01] [ 2.74741125e-03 -1.41383014e-05 9.99996226e-01 -1.99668596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.26592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:224.57, Y:-0.55, Z:-2.01 [[ 9.97433446e-01 -7.15472162e-02 -2.74149693e-03 2.24570237e+02] [ 7.15469897e-02 9.97437214e-01 -1.80733220e-04 -5.54056266e-01] [ 2.74740202e-03 -1.58764945e-05 9.99996226e-01 -2.00937407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.29592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:224.60, Y:-0.55, Z:-2.01 [[ 9.97375447e-01 -7.23512432e-02 -2.74139945e-03 2.24598687e+02] [ 7.23510157e-02 9.97379214e-01 -1.82200022e-04 -5.52756562e-01] [ 2.74739722e-03 -1.66212054e-05 9.99996226e-01 -2.01043651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.32592 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:224.63, Y:-0.55, Z:-2.00 [[ 9.97423047e-01 -7.16920511e-02 -2.74137511e-03 2.24626786e+02] [ 7.16918201e-02 9.97426814e-01 -1.82565472e-04 -5.51000045e-01] [ 2.74740953e-03 -1.44391622e-05 9.99996226e-01 -1.99744866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.35592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:224.66, Y:-0.55, Z:-2.01 [[ 9.97369330e-01 -7.24355220e-02 -2.74114389e-03 2.24656556e+02] [ 7.24352843e-02 9.97373097e-01 -1.86035578e-04 -5.50747245e-01] [ 2.74741876e-03 -1.30093569e-05 9.99996226e-01 -2.01008425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.38592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:224.69, Y:-0.55, Z:-2.01 [[ 9.97359952e-01 -7.25645310e-02 -2.74139841e-03 2.24685277e+02] [ 7.25643043e-02 9.97363719e-01 -1.82206208e-04 -5.49813025e-01] [ 2.74739302e-03 -1.72024932e-05 9.99996226e-01 -2.01019200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.41592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:224.71, Y:-0.55, Z:-2.00 [[ 9.97335993e-01 -7.28930924e-02 -2.74137432e-03 2.24713445e+02] [ 7.28928659e-02 9.97339760e-01 -1.82567973e-04 -5.48566763e-01] [ 2.74738955e-03 -1.77450201e-05 9.99996226e-01 -1.99730425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.44592 meters Centerline goodness : 0.890786 Centerline is valid? [True, False] Translation: X:224.71, Y:-0.54, Z:-2.00 [[ 9.98334845e-01 -5.74810911e-02 4.84366835e-03 2.24709323e+02] [ 5.74954342e-02 9.98341627e-01 -2.87579259e-03 -5.43993657e-01] [-4.67033205e-03 3.14949276e-03 9.99984134e-01 -1.99849323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.47592 meters Centerline goodness : 0.999851 Centerline is valid? [False, True] Translation: X:224.71, Y:-0.54, Z:-2.00 [[ 9.99070480e-01 -4.18452840e-02 1.03512297e-02 2.24706742e+02] [ 4.19111963e-02 9.99101887e-01 -6.23469603e-03 -5.41047977e-01] [-1.00810405e-02 6.66273318e-03 9.99926988e-01 -1.99966547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.50592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:224.74, Y:-0.55, Z:-2.00 [[ 9.99078919e-01 -4.16989886e-02 1.01246571e-02 2.24739661e+02] [ 4.16975438e-02 9.99130217e-01 3.53845217e-04 -5.47367198e-01] [-1.01306058e-02 6.86540370e-05 9.99948682e-01 -1.99962069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.53592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:224.77, Y:-0.55, Z:-2.01 [[ 9.99090333e-01 -4.14245862e-02 1.01247642e-02 2.24771762e+02] [ 4.14231593e-02 9.99141631e-01 3.50691554e-04 -5.47904239e-01] [-1.01306007e-02 6.90271807e-05 9.99948682e-01 -2.01314870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.56592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:224.80, Y:-0.55, Z:-2.00 [[ 9.99133658e-01 -4.03660098e-02 1.01251308e-02 2.24801562e+02] [ 4.03646392e-02 9.99184958e-01 3.39767466e-04 -5.47185505e-01] [-1.01305935e-02 6.92241414e-05 9.99948682e-01 -2.00032130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.59592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:224.83, Y:-0.55, Z:-2.00 [[ 9.99203797e-01 -3.85910946e-02 1.01241689e-02 2.24834671e+02] [ 3.85893424e-02 9.99255086e-01 3.68429549e-04 -5.47199005e-01] [-1.01308454e-02 2.25488161e-05 9.99948681e-01 -2.00265637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.62592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:224.87, Y:-0.55, Z:-2.00 [[ 9.99288721e-01 -3.63255406e-02 1.01245447e-02 2.24866730e+02] [ 3.63237876e-02 9.99340010e-01 3.57032973e-04 -5.46330888e-01] [-1.01308320e-02 1.09827881e-05 9.99948682e-01 -2.00446731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.65592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:224.90, Y:-0.54, Z:-2.00 [[ 9.99422402e-01 -3.24399705e-02 1.01247773e-02 2.24900077e+02] [ 3.24380907e-02 9.99473685e-01 3.49865333e-04 -5.44478796e-01] [-1.01307981e-02 -2.12348075e-05 9.99948682e-01 -2.00282977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.68592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.93, Y:-0.54, Z:-2.02 [[ 9.99453100e-01 -3.14796102e-02 1.01259358e-02 2.24931666e+02] [ 3.14780493e-02 9.99504394e-01 3.13528266e-04 -5.42810601e-01] [-1.01307871e-02 5.38790932e-06 9.99948682e-01 -2.01521373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.71592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:224.96, Y:-0.54, Z:-2.00 [[ 9.99505102e-01 -2.97829115e-02 1.01257021e-02 2.24962782e+02] [ 2.97811888e-02 9.99556391e-01 3.20903379e-04 -5.40157544e-01] [-1.01307677e-02 -1.91891195e-05 9.99948682e-01 -2.00366685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.74592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.99, Y:-0.54, Z:-2.02 [[ 9.99560968e-01 -2.78449797e-02 1.01256108e-02 2.24994596e+02] [ 2.78431283e-02 9.99612253e-01 3.23792664e-04 -5.39008426e-01] [-1.01307006e-02 -4.17218273e-05 9.99948682e-01 -2.01589145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.77592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:225.03, Y:-0.54, Z:-2.00 [[ 9.99587468e-01 -2.68767491e-02 1.01258734e-02 2.25025549e+02] [ 2.68749334e-02 9.99638754e-01 3.15361370e-04 -5.36830422e-01] [-1.01306914e-02 -4.30990999e-05 9.99948682e-01 -2.00389201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.80592000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.06, Y:-0.53, Z:-2.02 [[ 9.99587327e-01 -2.68820258e-02 1.01258369e-02 2.25057368e+02] [ 2.68801985e-02 9.99638612e-01 3.16533493e-04 -5.34773709e-01] [-1.01306867e-02 -4.42183610e-05 9.99948682e-01 -2.01651464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.83592000000002 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:225.09, Y:-0.53, Z:-2.01 [[ 9.99580819e-01 -2.71228535e-02 1.01260301e-02 2.25088156e+02] [ 2.71211025e-02 9.99632107e-01 3.10229666e-04 -5.31764398e-01] [-1.01307191e-02 -3.54705245e-05 9.99948682e-01 -2.00515070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.86592000000002 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:225.12, Y:-0.53, Z:-2.01 [[ 9.99595242e-01 -2.65863133e-02 1.01251781e-02 2.25119781e+02] [ 2.65842525e-02 9.99646519e-01 3.38084001e-04 -5.30531505e-01] [-1.01305874e-02 -6.87768677e-05 9.99948682e-01 -2.00546966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.89592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.15, Y:-0.53, Z:-2.02 [[ 9.99573828e-01 -2.73795596e-02 1.01253421e-02 2.25151940e+02] [ 2.73775948e-02 9.99625108e-01 3.32626098e-04 -5.28804121e-01] [-1.01306533e-02 -5.52768299e-05 9.99948682e-01 -2.01765002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.92592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.18, Y:-0.53, Z:-2.02 [[ 9.99518249e-01 -2.93381789e-02 1.01262623e-02 2.25183786e+02] [ 2.93366275e-02 9.99569543e-01 3.01745708e-04 -5.27786313e-01] [-1.01307560e-02 -4.52995854e-06 9.99948683e-01 -2.01887951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.95592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:225.21, Y:-0.53, Z:-2.01 [[ 9.99437132e-01 -3.19824242e-02 1.01264019e-02 2.25212426e+02] [ 3.19810567e-02 9.99488431e-01 2.96982661e-04 -5.26439995e-01] [-1.01307198e-02 2.70375356e-05 9.99948683e-01 -2.00572710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.98592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.25, Y:-0.52, Z:-2.01 [[ 9.99459369e-01 -3.12805527e-02 1.01240420e-02 2.25245371e+02] [ 3.12783290e-02 9.99510642e-01 3.77945430e-04 -5.24551221e-01] [-1.01309100e-02 -6.10779851e-05 9.99948679e-01 -2.00926346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.01592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:225.28, Y:-0.52, Z:-2.01 [[ 9.99364048e-01 -3.41899717e-02 1.01264833e-02 2.25277333e+02] [ 3.41887602e-02 9.99415351e-01 2.92777839e-04 -5.23579699e-01] [-1.01305729e-02 5.36202625e-05 9.99948683e-01 -2.00641413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.04592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.31, Y:-0.52, Z:-2.02 [[ 9.99322666e-01 -3.53790954e-02 1.01256969e-02 2.25309763e+02] [ 3.53776651e-02 9.99373963e-01 3.20399087e-04 -5.23647841e-01] [-1.01306933e-02 3.80414447e-05 9.99948682e-01 -2.02046461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.07592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.34, Y:-0.52, Z:-2.02 [[ 9.99240019e-01 -3.76408588e-02 1.01267427e-02 2.25342402e+02] [ 3.76399238e-02 9.99291327e-01 2.82975586e-04 -5.23830289e-01] [-1.01302176e-02 9.84092927e-05 9.99948683e-01 -2.02143758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.10592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.38, Y:-0.53, Z:-2.02 [[ 9.99124678e-01 -4.05872410e-02 1.01268888e-02 2.25375309e+02] [ 4.05865112e-02 9.99175990e-01 2.77646671e-04 -5.25312568e-01] [-1.01298130e-02 1.33611444e-04 9.99948683e-01 -2.02220017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.13592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.41, Y:-0.53, Z:-2.02 [[ 9.98934442e-01 -4.50269189e-02 1.01270310e-02 2.25408830e+02] [ 4.50264708e-02 9.98985757e-01 2.72357548e-04 -5.28970924e-01] [-1.01290232e-02 1.83917132e-04 9.99948683e-01 -2.02212008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.16592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.44, Y:-0.53, Z:-2.02 [[ 9.98840625e-01 -4.70621630e-02 1.01271696e-02 2.25440623e+02] [ 4.70618728e-02 9.98891940e-01 2.67102876e-04 -5.29913443e-01] [-1.01285186e-02 2.09810364e-04 9.99948683e-01 -2.02292193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.19592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:225.47, Y:-0.53, Z:-2.01 [[ 9.98828868e-01 -4.73109876e-02 1.01272878e-02 2.25471136e+02] [ 4.73107563e-02 9.98880185e-01 2.62542283e-04 -5.30060050e-01] [-1.01283683e-02 2.16894836e-04 9.99948683e-01 -2.00893236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.22592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:225.50, Y:-0.53, Z:-2.01 [[ 9.98759120e-01 -4.87613204e-02 1.01269328e-02 2.25503650e+02] [ 4.87610236e-02 9.98810436e-01 2.76351598e-04 -5.32169213e-01] [-1.01283615e-02 2.17790932e-04 9.99948683e-01 -2.00907796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.25592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.54, Y:-0.54, Z:-2.02 [[ 9.98871024e-01 -4.64126286e-02 1.01264178e-02 2.25535020e+02] [ 4.64120042e-02 9.98922338e-01 2.96775734e-04 -5.35147450e-01] [-1.01292791e-02 1.73546663e-04 9.99948682e-01 -2.02462496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.28592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.57, Y:-0.54, Z:-2.02 [[ 9.98959739e-01 -4.44620273e-02 1.01275402e-02 2.25567714e+02] [ 4.44617606e-02 9.99011055e-01 2.51597207e-04 -5.35451770e-01] [-1.01287111e-02 1.98952786e-04 9.99948683e-01 -2.02389571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.31592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:225.60, Y:-0.54, Z:-2.02 [[ 9.99080129e-01 -4.16692530e-02 1.01276663e-02 2.25600407e+02] [ 4.16688954e-02 9.99131444e-01 2.46414623e-04 -5.35064091e-01] [-1.01291377e-02 1.75820712e-04 9.99948684e-01 -2.02401236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.34592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:225.63, Y:-0.53, Z:-2.02 [[ 9.99263938e-01 -3.70001396e-02 1.01277909e-02 2.25633609e+02] [ 3.69995952e-02 9.99315251e-01 2.41180826e-04 -5.34267573e-01] [-1.01297796e-02 1.33720861e-04 9.99948684e-01 -2.02298560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.37592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:225.67, Y:-0.53, Z:-2.02 [[ 9.99321370e-01 -3.54150298e-02 1.01279140e-02 2.25666857e+02] [ 3.54144576e-02 9.99372684e-01 2.35897501e-04 -5.32999121e-01] [-1.01299149e-02 1.22937165e-04 9.99948684e-01 -2.02379646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.40592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.70, Y:-0.53, Z:-2.01 [[ 9.99505516e-01 -2.97682004e-02 1.01280348e-02 2.25698689e+02] [ 2.97673920e-02 9.99556826e-01 2.30589784e-04 -5.30052281e-01] [-1.01304106e-02 7.10094212e-05 9.99948684e-01 -2.01069028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.43592 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:225.73, Y:-0.53, Z:-2.01 [[ 9.99585249e-01 -2.69582534e-02 1.01283176e-02 2.25731192e+02] [ 2.69574286e-02 9.99636559e-01 2.17967005e-04 -5.27865605e-01] [-1.01305126e-02 5.51567970e-05 9.99948684e-01 -2.01160117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.46592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:225.76, Y:-0.52, Z:-2.01 [[ 9.99696166e-01 -2.24721028e-02 1.01281527e-02 2.25762735e+02] [ 2.24709724e-02 9.99747470e-01 2.25404874e-04 -5.24952438e-01] [-1.01306603e-02 2.25305086e-06 9.99948684e-01 -2.01273142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.49592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:225.80, Y:-0.52, Z:-2.01 [[ 9.99747201e-01 -2.00740241e-02 1.01276059e-02 2.25795279e+02] [ 2.00725155e-02 9.99798495e-01 2.50599688e-04 -5.22757257e-01] [-1.01305957e-02 -4.72498105e-05 9.99948683e-01 -2.01327224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.52592 meters Centerline goodness : 0.993285 Centerline is valid? [True, True] Translation: X:225.87, Y:-0.49, Z:-2.02 [[ 9.99184475e-01 3.90872377e-02 1.01278478e-02 2.25874035e+02] [-3.90916632e-02 9.99235600e-01 2.39288804e-04 -4.90687263e-01] [-1.01107529e-02 -6.35008073e-04 9.99948683e-01 -2.02180233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.55592000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.85, Y:-0.52, Z:-2.01 [[ 9.99768518e-01 -1.89644816e-02 1.01616053e-02 2.25847569e+02] [ 1.89898502e-02 9.99816782e-01 -2.40586299e-03 -5.19034554e-01] [-1.01141176e-02 2.59827344e-03 9.99945475e-01 -2.01375144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.58592000000002 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:225.88, Y:-0.52, Z:-2.01 [[ 9.99767890e-01 -1.90294966e-02 1.01016820e-02 2.25879321e+02] [ 1.90282683e-02 9.99818922e-01 2.17702829e-04 -5.20017045e-01] [-1.01039956e-02 -2.54347825e-05 9.99948953e-01 -2.01351803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.61592000000002 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:225.91, Y:-0.52, Z:-2.03 [[ 9.99728886e-01 -2.09785365e-02 1.01022648e-02 2.25910464e+02] [ 2.09776669e-02 9.99779926e-01 1.92044622e-04 -5.21033981e-01] [-1.01040704e-02 1.99293904e-05 9.99948952e-01 -2.02837305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.64592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.94, Y:-0.52, Z:-2.01 [[ 9.99700202e-01 -2.23039734e-02 1.01014375e-02 2.25942189e+02] [ 2.23028021e-02 9.99751235e-01 2.28600245e-04 -5.20679056e-01] [-1.01040234e-02 -3.24134876e-06 9.99948953e-01 -2.01494984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.67592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:225.97, Y:-0.52, Z:-2.02 [[ 9.99702031e-01 -2.22217024e-02 1.01017892e-02 2.25973922e+02] [ 2.22206856e-02 9.99753067e-01 2.12888714e-04 -5.19789636e-01] [-1.01040255e-02 1.16434021e-05 9.99948953e-01 -2.01519427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.70592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:226.01, Y:-0.52, Z:-2.02 [[ 9.99688562e-01 -2.28194931e-02 1.01019388e-02 2.26006127e+02] [ 2.28185757e-02 9.99739601e-01 2.06081841e-04 -5.19845950e-01] [-1.01040110e-02 2.44941973e-05 9.99948953e-01 -2.01682750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.73592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.04, Y:-0.52, Z:-2.03 [[ 9.99658497e-01 -2.41006687e-02 1.01018175e-02 2.26037194e+02] [ 2.40997604e-02 9.99709536e-01 2.11649372e-04 -5.23475908e-01] [-1.01039842e-02 3.18742880e-05 9.99948953e-01 -2.02975856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.76592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:226.07, Y:-0.52, Z:-2.02 [[ 9.99720494e-01 -2.13749951e-02 1.01016673e-02 2.26068415e+02] [ 2.13738775e-02 9.99771529e-01 2.18590008e-04 -5.24769127e-01] [-1.01040317e-02 -2.61711041e-06 9.99948953e-01 -2.01601684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.79592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:226.11, Y:-0.52, Z:-2.02 [[ 9.99908815e-01 -8.96175390e-03 1.01018721e-02 2.26106332e+02] [ 8.96009982e-03 9.99959836e-01 2.08987260e-04 -5.19757763e-01] [-1.01033393e-02 -1.18454421e-04 9.99948953e-01 -2.01681971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.82592 meters Centerline goodness : 0.879568 Centerline is valid? [True, False] Translation: X:226.11, Y:-0.52, Z:-2.02 [[ 9.99911721e-01 -8.88585426e-03 9.87883622e-03 2.26106953e+02] [ 8.88248963e-03 9.99960476e-01 3.84414172e-04 -5.20335047e-01] [-9.88186162e-03 -2.96631576e-04 9.99951129e-01 -2.01710032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.85592 meters Centerline goodness : 0.999950 Centerline is valid? [False, True] Translation: X:226.11, Y:-0.52, Z:-2.02 [[ 9.99915094e-01 -8.79495045e-03 9.61532905e-03 2.26107738e+02] [ 8.78599535e-03 9.99960929e-01 9.73182210e-04 -5.22638805e-01] [-9.62351246e-03 -8.88619344e-04 9.99953298e-01 -2.01735249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.88592 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:226.14, Y:-0.52, Z:-2.02 [[ 9.99928705e-01 -7.06309914e-03 9.62796770e-03 2.26139977e+02] [ 7.06217786e-03 9.99975054e-01 1.29683496e-04 -5.22443608e-01] [-9.62864349e-03 -6.16798299e-05 9.99953642e-01 -2.01571626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.91592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.17, Y:-0.52, Z:-2.03 [[ 9.99953316e-01 -8.15539490e-04 9.62810094e-03 2.26171147e+02] [ 8.14416263e-04 9.99999661e-01 1.20581405e-04 -5.22974134e-01] [-9.62819602e-03 -1.12734493e-04 9.99953641e-01 -2.02846783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.94592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:226.20, Y:-0.52, Z:-2.02 [[ 9.99952431e-01 1.56244523e-03 9.62784598e-03 2.26201960e+02] [-1.56384949e-03 9.99998768e-01 1.38327292e-04 -5.21419773e-01] [-9.62761798e-03 -1.53377214e-04 9.99953642e-01 -2.01642078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.97592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:226.24, Y:-0.52, Z:-2.02 [[ 9.99915497e-01 8.73541332e-03 9.62761406e-03 2.26235992e+02] [-8.73730844e-03 9.99961817e-01 1.54798089e-04 -5.16798985e-01] [-9.62589423e-03 -2.38904441e-04 9.99953641e-01 -2.01671992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.00592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.27, Y:-0.51, Z:-2.03 [[ 9.99882873e-01 1.18966990e-02 9.62857253e-03 2.26267441e+02] [-1.18980802e-02 9.99929212e-01 8.61784339e-05 -5.13901046e-01] [-9.62686570e-03 -2.00729868e-04 9.99953641e-01 -2.02909921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.03592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.30, Y:-0.51, Z:-2.02 [[ 9.99795919e-01 1.77601751e-02 9.62793464e-03 2.26300778e+02] [-1.77622739e-02 9.99842230e-01 1.32522484e-04 -5.09017231e-01] [-9.62406202e-03 -3.03509451e-04 9.99953642e-01 -2.02189439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.06592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.33, Y:-0.51, Z:-2.03 [[ 9.99715001e-01 2.18450649e-02 9.62859327e-03 2.26331897e+02] [-2.18468855e-02 9.99761325e-01 8.39362973e-05 -5.05750846e-01] [-9.62446157e-03 -2.94267151e-04 9.99953640e-01 -2.02971143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.09592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.36, Y:-0.50, Z:-2.03 [[ 9.99633173e-01 2.53144642e-02 9.62799588e-03 2.26363535e+02] [-2.53168757e-02 9.99679468e-01 1.28646289e-04 -4.98559654e-01] [-9.62165319e-03 -3.72349873e-04 9.99953641e-01 -2.02864895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.12592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:226.40, Y:-0.49, Z:-2.02 [[ 9.99582666e-01 2.72359053e-02 9.62801158e-03 2.26397436e+02] [-2.72383943e-02 9.99628958e-01 1.27460094e-04 -4.93957913e-01] [-9.62096769e-03 -3.89658477e-04 9.99953641e-01 -2.01783201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.15592 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:226.43, Y:-0.49, Z:-2.02 [[ 9.99602132e-01 2.65114000e-02 9.62934585e-03 2.26427736e+02] [-2.65128726e-02 9.99648472e-01 2.52828129e-05 -4.87216301e-01] [-9.62529057e-03 -2.80574373e-04 9.99953636e-01 -2.01608342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.18592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:226.46, Y:-0.48, Z:-2.02 [[ 9.99634376e-01 2.52664200e-02 9.62927598e-03 2.26459214e+02] [-2.52678857e-02 9.99680716e-01 3.05614258e-05 -4.84091761e-01] [-9.62542932e-03 -2.73861696e-04 9.99953637e-01 -2.01838519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.21592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:226.49, Y:-0.48, Z:-2.03 [[ 9.99693008e-01 2.28291074e-02 9.62918665e-03 2.26488574e+02] [-2.28305238e-02 9.99739349e-01 3.71844055e-05 -4.77656969e-01] [-9.62582790e-03 -2.57012365e-04 9.99953638e-01 -2.03004820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.24592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:226.52, Y:-0.47, Z:-2.03 [[ 9.99720710e-01 2.15825173e-02 9.62791503e-03 2.26520702e+02] [-2.15847766e-02 9.99767013e-01 1.30793441e-04 -4.74316659e-01] [-9.62284900e-03 -3.38573306e-04 9.99953642e-01 -2.03007108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.27592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.55, Y:-0.47, Z:-2.03 [[ 9.99747663e-01 2.02956381e-02 9.62793118e-03 2.26552839e+02] [-2.02978262e-02 9.99793970e-01 1.29593135e-04 -4.70299869e-01] [-9.62331736e-03 -3.24986507e-04 9.99953642e-01 -2.03102499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.30592000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.58, Y:-0.46, Z:-2.03 [[ 9.99815239e-01 1.66370028e-02 9.62794730e-03 2.26584906e+02] [-1.66390097e-02 9.99861554e-01 1.28384835e-04 -4.62390368e-01] [-9.62447840e-03 -2.88560623e-04 9.99953642e-01 -2.03223922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.33592000000002 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:226.62, Y:-0.46, Z:-2.02 [[ 9.99878642e-01 1.22475689e-02 9.62796327e-03 2.26618376e+02] [-1.22493609e-02 9.99924966e-01 1.27175647e-04 -4.55728298e-01] [-9.62568325e-03 -2.45096610e-04 9.99953642e-01 -2.02090048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.36592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.65, Y:-0.45, Z:-2.03 [[ 9.99907175e-01 9.63996805e-03 9.62873352e-03 2.26649789e+02] [-9.64107390e-03 9.99953521e-01 6.84369858e-05 -4.53629462e-01] [-9.62762626e-03 -1.61261965e-04 9.99953640e-01 -2.03299288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.39592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.68, Y:-0.45, Z:-2.03 [[ 9.99945011e-01 4.15645750e-03 9.62802799e-03 2.26683115e+02] [-4.15783885e-03 9.99991349e-01 1.23459477e-04 -4.49133969e-01] [-9.62743154e-03 -1.63484477e-04 9.99953642e-01 -2.03344620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.42592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.72, Y:-0.45, Z:-2.03 [[ 9.99952299e-01 1.64319380e-03 9.62808919e-03 2.26715589e+02] [-1.64441080e-03 9.99998641e-01 1.18486179e-04 -4.46651344e-01] [-9.62788141e-03 -1.34313061e-04 9.99953642e-01 -2.03420179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.45592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.75, Y:-0.44, Z:-2.02 [[ 9.99953313e-01 -8.19006179e-04 9.62814138e-03 2.26747018e+02] [ 8.17945691e-04 9.99999659e-01 1.14081864e-04 -4.43744937e-01] [-9.62823153e-03 -1.06201241e-04 9.99953642e-01 -2.02256533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.48592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:226.78, Y:-0.44, Z:-2.02 [[ 9.99940545e-01 -5.11919194e-03 9.62809303e-03 2.26778657e+02] [ 5.11829107e-03 9.99986894e-01 1.18204874e-04 -4.40084765e-01] [-9.62857196e-03 -6.89184633e-05 9.99953642e-01 -2.02177125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.51592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.81, Y:-0.44, Z:-2.03 [[ 9.99914363e-01 -8.86393958e-03 9.62792631e-03 2.26811456e+02] [ 8.86307055e-03 9.99960713e-01 1.32926448e-04 -4.38770646e-01] [-9.62872631e-03 -4.75820746e-05 9.99953642e-01 -2.03373972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.54592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.84, Y:-0.44, Z:-2.03 [[ 9.99898467e-01 -1.05048926e-02 9.62821855e-03 2.26844582e+02] [ 1.05043540e-02 9.99944822e-01 1.06508234e-04 -4.38137235e-01] [-9.62880614e-03 -5.35920353e-06 9.99953642e-01 -2.03484470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.57592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.88, Y:-0.44, Z:-2.03 [[ 9.99897112e-01 -1.06330839e-02 9.62827310e-03 2.26877641e+02] [ 1.06326011e-02 9.99943467e-01 1.01324507e-04 -4.38087441e-01] [-9.62880618e-03 1.05950529e-06 9.99953642e-01 -2.03434516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.60592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.91, Y:-0.44, Z:-2.04 [[ 9.99870645e-01 -1.28836822e-02 9.62832453e-03 2.26910130e+02] [ 1.28833534e-02 9.99917002e-01 9.61756274e-05 -4.38037788e-01] [-9.62876449e-03 2.78819206e-05 9.99953642e-01 -2.03583841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.63592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.94, Y:-0.44, Z:-2.04 [[ 9.99875172e-01 -1.25273765e-02 9.62836704e-03 2.26943137e+02] [ 1.25270741e-02 9.99921529e-01 9.17136759e-05 -4.36606089e-01] [-9.62876042e-03 2.89130401e-05 9.99953642e-01 -2.03618415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.66592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:226.98, Y:-0.43, Z:-2.03 [[ 9.99889322e-01 -1.13418732e-02 9.62841304e-03 2.26976431e+02] [ 1.13415651e-02 9.99935679e-01 8.65991562e-05 -4.33848804e-01] [-9.62877592e-03 2.26117020e-05 9.99953642e-01 -2.03469221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.69592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:227.01, Y:-0.43, Z:-2.04 [[ 9.99896611e-01 -1.06799355e-02 9.62845579e-03 2.27008167e+02] [ 1.06796454e-02 9.99942968e-01 8.15509680e-05 -4.32617363e-01] [-9.62877762e-03 2.12859567e-05 9.99953642e-01 -2.03553709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.72592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:227.04, Y:-0.43, Z:-2.04 [[ 9.99902115e-01 -1.01514609e-02 9.62849140e-03 2.27041668e+02] [ 1.01511891e-02 9.99948472e-01 7.71039286e-05 -4.32038743e-01] [-9.62877799e-03 2.06442556e-05 9.99953642e-01 -2.03585975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.75592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:227.07, Y:-0.43, Z:-2.03 [[ 9.99905610e-01 -9.80111655e-03 9.62852947e-03 2.27073716e+02] [ 9.80087748e-03 9.99951968e-01 7.20151593e-05 -4.30290381e-01] [-9.62877281e-03 2.23596757e-05 9.99953642e-01 -2.03486389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.78592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.11, Y:-0.43, Z:-2.04 [[ 9.99918283e-01 -8.40942713e-03 9.62856065e-03 2.27105438e+02] [ 8.40916633e-03 9.99964640e-01 6.75717961e-05 -4.29699555e-01] [-9.62878842e-03 1.34018937e-05 9.99953642e-01 -2.03620060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.81592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:227.14, Y:-0.43, Z:-2.04 [[ 9.99901764e-01 -1.01859043e-02 9.62859002e-03 2.27137387e+02] [ 1.01857690e-02 9.99948122e-01 6.30889459e-05 -4.29388938e-01] [-9.62873312e-03 3.49918454e-05 9.99953642e-01 -2.03628701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.84592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.17, Y:-0.43, Z:-2.03 [[ 9.99901391e-01 -1.02223858e-02 9.62861716e-03 2.27167820e+02] [ 1.02222951e-02 9.99947749e-01 5.86324763e-05 -4.28623687e-01] [-9.62871342e-03 3.97998716e-05 9.99953642e-01 -2.02598448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.87592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:227.20, Y:-0.43, Z:-2.02 [[ 9.99907939e-01 -9.56053300e-03 9.62857538e-03 2.27199963e+02] [ 9.56034414e-03 9.99954297e-01 6.56433107e-05 -4.27300826e-01] [-9.62876291e-03 2.64152267e-05 9.99953642e-01 -2.02277915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.90592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.23, Y:-0.43, Z:-2.02 [[ 9.99910312e-01 -9.30886736e-03 9.62871658e-03 2.27232366e+02] [ 9.30890144e-03 9.99956670e-01 4.12787248e-05 -4.27183465e-01] [-9.62868363e-03 4.83577511e-05 9.99953642e-01 -2.02408949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.93592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:227.26, Y:-0.43, Z:-2.02 [[ 9.99922033e-01 -7.95111892e-03 9.62852733e-03 2.27264094e+02] [ 7.95076387e-03 9.99968389e-01 7.51529342e-05 -4.28418527e-01] [-9.62882051e-03 1.40707250e-06 9.99953642e-01 -2.02474364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.96592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:227.30, Y:-0.43, Z:-2.03 [[ 9.99935017e-01 -6.10363049e-03 9.62850837e-03 2.27296628e+02] [ 6.10315551e-03 9.99981372e-01 7.87127114e-05 -4.28309335e-01] [-9.62880945e-03 -1.99433125e-05 9.99953642e-01 -2.02554304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.99592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.33, Y:-0.43, Z:-2.03 [[ 9.99944446e-01 -4.28908119e-03 9.62854823e-03 2.27329912e+02] [ 4.28860364e-03 9.99990801e-01 7.02439845e-05 -4.28193401e-01] [-9.62876094e-03 -2.89470551e-05 9.99953642e-01 -2.02566975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.02592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.36, Y:-0.43, Z:-2.03 [[ 9.99942769e-01 -4.66341710e-03 9.62867113e-03 2.27362239e+02] [ 4.66322743e-03 9.99989126e-01 4.21492951e-05 -4.28119738e-01] [-9.62876299e-03 2.75380041e-06 9.99953642e-01 -2.02701984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.05592000000001 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:227.39, Y:-0.43, Z:-2.03 [[ 9.99944318e-01 -4.31855743e-03 9.62864728e-03 2.27394049e+02] [ 4.31829624e-03 9.99990675e-01 4.79163448e-05 -4.29310194e-01] [-9.62876443e-03 -6.33432535e-06 9.99953642e-01 -2.02525062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.08592000000002 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:227.43, Y:-0.43, Z:-2.03 [[ 9.99947357e-01 -3.54543706e-03 9.62873021e-03 2.27426587e+02] [ 3.54534428e-03 9.99993715e-01 2.67051852e-05 -4.29884989e-01] [-9.62876438e-03 7.43338418e-06 9.99953642e-01 -2.02650058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.11592000000002 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:227.46, Y:-0.43, Z:-2.03 [[ 9.99941342e-01 -4.95977687e-03 9.62877628e-03 2.27458999e+02] [ 4.95987398e-03 9.99987700e-01 1.37932776e-05 -4.31757614e-01] [-9.62872626e-03 3.39650485e-05 9.99953642e-01 -2.02708332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.14592000000002 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:227.49, Y:-0.43, Z:-2.03 [[ 9.99938697e-01 -5.46706390e-03 9.62880217e-03 2.27490955e+02] [ 5.46726096e-03 9.99985054e-01 5.85725575e-06 -4.32009216e-01] [-9.62869028e-03 4.67862775e-05 9.99953642e-01 -2.02850740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.17592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:227.52, Y:-0.43, Z:-2.03 [[ 9.99938874e-01 -5.43469069e-03 9.62875533e-03 2.27524073e+02] [ 5.43473474e-03 9.99985231e-01 2.15902847e-05 -4.32699926e-01] [-9.62873046e-03 3.07407661e-05 9.99953642e-01 -2.02913506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.20592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:227.55, Y:-0.44, Z:-2.04 [[ 9.99906110e-01 -9.74970520e-03 9.62884174e-03 2.27554269e+02] [ 9.75028862e-03 9.99952465e-01 -1.36486611e-05 -4.35732625e-01] [-9.62825096e-03 1.07531366e-04 9.99953642e-01 -2.04130904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.23592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:227.59, Y:-0.44, Z:-2.04 [[ 9.99903511e-01 -1.00127346e-02 9.62875288e-03 2.27587408e+02] [ 1.00129752e-02 9.99949869e-01 2.32121053e-05 -4.37007240e-01] [-9.62850260e-03 7.32025986e-05 9.99953642e-01 -2.04102106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.26592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:227.62, Y:-0.44, Z:-2.03 [[ 9.99921890e-01 -7.96871742e-03 9.62876243e-03 2.27619767e+02] [ 7.96891209e-03 9.99968248e-01 1.81487666e-05 -4.39891807e-01] [-9.62860131e-03 5.85834123e-05 9.99953642e-01 -2.02849959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.29592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:227.65, Y:-0.44, Z:-2.03 [[ 9.99924177e-01 -7.67630678e-03 9.62885344e-03 2.27651984e+02] [ 7.67699152e-03 9.99970531e-01 -3.41541487e-05 -4.42914670e-01] [-9.62830751e-03 1.08072185e-04 9.99953641e-01 -2.02831553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.32592 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:227.69, Y:-0.44, Z:-2.03 [[ 9.99934482e-01 -6.19013557e-03 9.62882600e-03 2.27685418e+02] [ 6.19057369e-03 9.99980838e-01 -1.56971089e-05 -4.43633910e-01] [-9.62854432e-03 7.53040373e-05 9.99953642e-01 -2.02938252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.35592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:227.72, Y:-0.44, Z:-2.04 [[ 9.99932815e-01 -6.45374138e-03 9.62883998e-03 2.27715982e+02] [ 6.45430880e-03 9.99979170e-01 -2.78564931e-05 -4.44352440e-01] [-9.62845963e-03 9.00021282e-05 9.99953641e-01 -2.04246290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.38592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:227.75, Y:-0.45, Z:-2.03 [[ 9.99951169e-01 -2.22399501e-03 9.62879778e-03 2.27747329e+02] [ 2.22399630e-03 9.99997527e-01 1.05735378e-05 -4.45844918e-01] [-9.62879748e-03 1.08413892e-05 9.99953642e-01 -2.02743466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.41592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:227.78, Y:-0.45, Z:-2.03 [[ 9.99952936e-01 1.18845751e-03 9.62881186e-03 2.27778929e+02] [-1.18846150e-03 9.99999294e-01 -5.30784129e-06 -4.48275736e-01] [-9.62881137e-03 -6.13588072e-06 9.99953642e-01 -2.02974520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.44592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:227.81, Y:-0.45, Z:-2.04 [[ 9.99952174e-01 1.71310936e-03 9.62882641e-03 2.27809974e+02] [-1.71293655e-03 9.99998533e-01 -2.61945099e-05 -4.49126762e-01] [-9.62885715e-03 9.69968849e-06 9.99953641e-01 -2.04255964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.47592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.84, Y:-0.45, Z:-2.04 [[ 9.99949891e-01 2.73892783e-03 9.62880574e-03 2.27843240e+02] [-2.73911407e-03 9.99996249e-01 6.15414173e-06 -4.49836815e-01] [-9.62875276e-03 -3.25282306e-05 9.99953642e-01 -2.04204816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.50592 meters Centerline goodness : 0.867022 Centerline is valid? [True, False] Translation: X:227.84, Y:-0.46, Z:-2.04 [[ 9.99898309e-01 1.07640224e-02 9.35459472e-03 2.27844083e+02] [-1.08599698e-02 9.99888317e-01 1.02671685e-02 -4.58107262e-01] [-9.24303393e-03 -1.03677151e-02 9.99903534e-01 -2.04188586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.53592 meters Centerline goodness : 0.999602 Centerline is valid? [False, True] Translation: X:227.84, Y:-0.46, Z:-2.04 [[ 9.99900067e-01 1.06940770e-02 9.24627768e-03 2.27844492e+02] [-1.07894450e-02 9.99888468e-01 1.03265899e-02 -4.58072599e-01] [-9.13481308e-03 -1.04253202e-02 9.99903929e-01 -2.04219143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.56592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:227.88, Y:-0.45, Z:-2.04 [[ 9.99873005e-01 1.30084643e-02 9.20621126e-03 2.27876805e+02] [-1.30076324e-02 9.99915386e-01 -1.50234855e-04 -4.47645871e-01] [-9.20738661e-03 3.04647642e-05 9.99957611e-01 -2.04196525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.59592 meters Centerline goodness : 0.919201 Centerline is valid? [True, False] Translation: X:227.88, Y:-0.46, Z:-2.04 [[ 9.99959996e-01 8.66058781e-03 2.23628540e-03 2.27882304e+02] [-8.69633824e-03 9.99825965e-01 1.65049515e-02 -4.63034509e-01] [-2.09295362e-03 -1.65237388e-02 9.99861283e-01 -2.04283265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.62592 meters Centerline goodness : 1.000000 Centerline is valid? [False, True] Translation: X:227.88, Y:-0.46, Z:-2.04 [[ 9.99987354e-01 4.54979656e-03 2.14258955e-03 2.27882500e+02] [-4.57390798e-03 9.99924713e-01 1.13862756e-02 -4.58772020e-01] [-2.09062300e-03 -1.13959316e-02 9.99932879e-01 -2.04338700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.65592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:227.91, Y:-0.45, Z:-2.03 [[ 9.99982810e-01 5.43398071e-03 2.20278484e-03 2.27914863e+02] [-5.43401951e-03 9.99985236e-01 1.16296677e-05 -4.46699656e-01] [-2.20268913e-03 -2.35994436e-05 9.99997574e-01 -2.03438382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.68592 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:227.95, Y:-0.44, Z:-2.03 [[ 9.99981835e-01 5.61047238e-03 2.20283717e-03 2.27947042e+02] [-5.61048875e-03 9.99984261e-01 1.25390645e-06 -4.44854600e-01] [-2.20279546e-03 -1.36128768e-05 9.99997574e-01 -2.03261469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.71592 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:227.98, Y:-0.44, Z:-2.03 [[ 9.99976753e-01 6.45299997e-03 2.20285414e-03 2.27979483e+02] [-6.45301128e-03 9.99979179e-01 -1.97454472e-06 -4.44023864e-01] [-2.20282101e-03 -1.22405438e-05 9.99997574e-01 -2.03365623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.74592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:228.01, Y:-0.44, Z:-2.03 [[ 9.99976132e-01 6.54856535e-03 2.20283619e-03 2.28010801e+02] [-6.54858401e-03 9.99978558e-01 1.25557704e-06 -4.42228266e-01] [-2.20278073e-03 -1.56810049e-05 9.99997574e-01 -2.03310238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.77592 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:228.04, Y:-0.44, Z:-2.03 [[ 9.99972338e-01 7.10428677e-03 2.20284876e-03 2.28043029e+02] [-7.10430195e-03 9.99974764e-01 -9.33305014e-07 -4.40388276e-01] [-2.20279980e-03 -1.47164236e-05 9.99997574e-01 -2.03212777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.80592000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.07, Y:-0.44, Z:-2.04 [[ 9.99978593e-01 6.16129373e-03 2.20289594e-03 2.28072326e+02] [-6.16128924e-03 9.99981019e-01 -8.82527484e-06 -4.36771008e-01] [-2.20290850e-03 -4.74759316e-06 9.99997574e-01 -2.04498549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.83592000000002 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:228.10, Y:-0.44, Z:-2.03 [[ 9.99974561e-01 6.78420290e-03 2.20275802e-03 2.28104540e+02] [-6.78424924e-03 9.99976987e-01 1.35672777e-05 -4.35491332e-01] [-2.20261529e-03 -2.85109920e-05 9.99997574e-01 -2.03136745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.86592000000002 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:228.14, Y:-0.43, Z:-2.03 [[ 9.99966911e-01 7.83098205e-03 2.20286642e-03 2.28135514e+02] [-7.83099323e-03 9.99969337e-01 -3.55286229e-06 -4.32383323e-01] [-2.20282670e-03 -1.36978873e-05 9.99997574e-01 -2.03140234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.89592000000002 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:228.17, Y:-0.43, Z:-2.03 [[ 9.99961915e-01 8.44486026e-03 2.20285170e-03 2.28167003e+02] [-8.44487800e-03 9.99964341e-01 -1.24917575e-06 -4.29967576e-01] [-2.20278370e-03 -1.73536857e-05 9.99997574e-01 -2.03171328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.92592 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:228.20, Y:-0.42, Z:-2.03 [[ 9.99965061e-01 8.06372583e-03 2.20287267e-03 2.28197679e+02] [-8.06373566e-03 9.99967488e-01 -4.42165240e-06 -4.24953999e-01] [-2.20283670e-03 -1.33418850e-05 9.99997574e-01 -2.03144290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.95592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:228.23, Y:-0.42, Z:-2.03 [[ 9.99965638e-01 7.99191146e-03 2.20282213e-03 2.28227780e+02] [-7.99193770e-03 9.99968064e-01 3.11275114e-06 -4.22397851e-01] [-2.20272691e-03 -2.07174614e-05 9.99997574e-01 -2.03172140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.98592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:228.26, Y:-0.42, Z:-2.03 [[ 9.99955627e-01 9.15924171e-03 2.20275251e-03 2.28259767e+02] [-9.15929274e-03 9.99958053e-01 1.30780478e-05 -4.17891212e-01] [-2.20254033e-03 -3.32531226e-05 9.99997574e-01 -2.03155330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.01592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:228.29, Y:-0.42, Z:-2.03 [[ 9.99959372e-01 8.74081341e-03 2.20279087e-03 2.28291239e+02] [-8.74085123e-03 9.99961798e-01 7.54278754e-06 -4.15203997e-01] [-2.20264079e-03 -2.67967484e-05 9.99997574e-01 -2.03017677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.04592 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:228.32, Y:-0.41, Z:-2.03 [[ 9.99964409e-01 8.14421583e-03 2.20278018e-03 2.28321975e+02] [-8.14425561e-03 9.99966835e-01 9.08896737e-06 -4.10337180e-01] [-2.20263311e-03 -2.70286488e-05 9.99997574e-01 -2.02894127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.07592 meters Centerline goodness : 0.882321 Centerline is valid? [True, False] Translation: X:228.32, Y:-0.40, Z:-2.03 [[ 9.99989456e-01 4.05508738e-03 2.15503127e-03 2.28322070e+02] [-4.04299843e-03 9.99976232e-01 -5.58469830e-03 -4.04073378e-01] [-2.17762649e-03 5.57592663e-03 9.99982083e-01 -2.02915050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.10592 meters Centerline goodness : 0.999901 Centerline is valid? [False, True] Translation: X:228.35, Y:-0.41, Z:-2.03 [[ 9.99997145e-01 1.01750312e-04 -2.38736218e-03 2.28345937e+02] [-1.01410446e-04 9.99999985e-01 1.42480884e-04 -4.05209024e-01] [ 2.38737664e-03 -1.42238373e-04 9.99997140e-01 -2.02646281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.13592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:228.37, Y:-0.40, Z:-2.02 [[ 9.99985023e-01 -4.92587024e-03 -2.38529208e-03 2.28374591e+02] [ 4.92581550e-03 9.99987868e-01 -2.88248855e-05 -4.04172475e-01] [ 2.38540513e-03 1.70749451e-05 9.99997155e-01 -2.01567743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.16592 meters Centerline goodness : 0.941911 Centerline is valid? [True, False] Translation: X:228.37, Y:-0.40, Z:-2.02 [[ 9.99910177e-01 -1.32374663e-02 -2.09962093e-03 2.28373973e+02] [ 1.32149172e-02 9.99858462e-01 -1.04125805e-02 -3.95542750e-01] [ 2.23715994e-03 1.03838989e-02 9.99943583e-01 -2.01529386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.19592 meters Centerline goodness : 0.999156 Centerline is valid? [False, True] Translation: X:228.37, Y:-0.38, Z:-2.02 [[ 9.99965885e-01 -6.68301026e-03 4.85453768e-03 2.28369853e+02] [ 6.80048177e-03 9.99674270e-01 -2.45989152e-02 -3.80160947e-01] [-4.68856161e-03 2.46310892e-02 9.99685614e-01 -2.01518812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.22592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.40, Y:-0.40, Z:-2.03 [[ 9.99946635e-01 -9.20040050e-03 4.69895988e-03 2.28403419e+02] [ 9.20092627e-03 9.99957667e-01 -9.02860426e-05 -4.01291788e-01] [-4.69793029e-03 1.33516008e-04 9.99988956e-01 -2.02999589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.25592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:228.44, Y:-0.40, Z:-2.03 [[ 9.99944739e-01 -9.40452285e-03 4.69824646e-03 2.28436654e+02] [ 9.40449382e-03 9.99955776e-01 2.82728651e-05 -4.01038784e-01] [-4.69830458e-03 1.59133270e-05 9.99988963e-01 -2.03009644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.28592 meters Centerline goodness : 0.990216 Centerline is valid? [True, True] Translation: X:228.47, Y:-0.37, Z:-2.03 [[ 9.98855877e-01 4.75905882e-02 4.69826002e-03 2.28469931e+02] [-4.75912346e-02 9.98866895e-01 2.58023460e-05 -3.73729460e-01] [-4.69170845e-03 -2.49368820e-04 9.99988963e-01 -2.03000267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.31592 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:228.50, Y:-0.40, Z:-2.02 [[ 9.99898219e-01 -1.34712424e-02 4.69860720e-03 2.28497901e+02] [ 1.34715548e-02 9.99909254e-01 -3.48353985e-05 -3.99584451e-01] [-4.69771154e-03 9.81293972e-05 9.99988961e-01 -2.01547894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.34592 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:228.53, Y:-0.40, Z:-2.02 [[ 9.99908600e-01 -1.26775421e-02 4.69800990e-03 2.28531222e+02] [ 1.26773739e-02 9.99919637e-01 6.55812814e-05 -3.96695878e-01] [-4.69846376e-03 -6.01685929e-06 9.99988962e-01 -2.01684065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.37592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.56, Y:-0.40, Z:-2.03 [[ 9.99938289e-01 -1.00671139e-02 4.69804594e-03 2.28564905e+02] [ 1.00669485e-02 9.99949325e-01 5.88476562e-05 -3.95458845e-01] [-4.69840029e-03 -1.15490379e-05 9.99988962e-01 -2.03110027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.40592 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:228.59, Y:-0.39, Z:-2.02 [[ 9.99926119e-01 -1.12108989e-02 4.69822040e-03 2.28594370e+02] [ 1.12109163e-02 9.99937155e-01 2.26346412e-05 -3.94333298e-01] [-4.69817890e-03 3.00383866e-05 9.99988963e-01 -2.01924617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.43592 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:228.62, Y:-0.39, Z:-2.01 [[ 9.99912391e-01 -1.23748904e-02 4.69813031e-03 2.28624977e+02] [ 1.23748300e-02 9.99923428e-01 4.19369084e-05 -3.91944483e-01] [-4.69828953e-03 1.62053294e-05 9.99988963e-01 -2.01290780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.46592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:228.66, Y:-0.39, Z:-2.02 [[ 9.99911610e-01 -1.24378518e-02 4.69806555e-03 2.28656907e+02] [ 1.24377193e-02 9.99922647e-01 5.74158638e-05 -3.91596007e-01] [-4.69841627e-03 1.02243157e-06 9.99988962e-01 -2.01886880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.49592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.69, Y:-0.39, Z:-2.03 [[ 9.99914681e-01 -1.21884499e-02 4.69810176e-03 2.28687852e+02] [ 1.21883594e-02 9.99925718e-01 4.79010761e-05 -3.91975811e-01] [-4.69833662e-03 9.36516367e-06 9.99988963e-01 -2.03166389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.52592 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:228.72, Y:-0.39, Z:-2.01 [[ 9.99876787e-01 -1.49779072e-02 4.69820861e-03 2.28717944e+02] [ 1.49779997e-02 9.99887823e-01 1.54845723e-05 -3.91723054e-01] [-4.69791350e-03 5.48871029e-05 9.99988963e-01 -2.01386669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.55592000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.75, Y:-0.39, Z:-2.03 [[ 9.99874253e-01 -1.51461432e-02 4.69810766e-03 2.28750369e+02] [ 1.51460857e-02 9.99885290e-01 4.78171336e-05 -3.92720689e-01] [-4.69829299e-03 2.33468205e-05 9.99988963e-01 -2.03253707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.58592000000002 meters Centerline goodness : 0.998609 Centerline is valid? [True, True] Translation: X:228.78, Y:-0.39, Z:-2.02 [[ 9.99835668e-01 -1.75089395e-02 4.69820258e-03 2.28780590e+02] [ 1.75090731e-02 9.99846704e-01 1.26982416e-05 -3.94361015e-01] [-4.69770470e-03 6.95650174e-05 9.99988963e-01 -2.01625196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.61592000000002 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:228.81, Y:-0.40, Z:-2.02 [[ 9.99834390e-01 -1.75818338e-02 4.69811648e-03 2.28812977e+02] [ 1.75818037e-02 9.99845427e-01 4.76932814e-05 -3.97963653e-01] [-4.69822882e-03 3.49159791e-05 9.99988963e-01 -2.01584872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.64592000000002 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:228.85, Y:-0.40, Z:-2.03 [[ 9.99864666e-01 -1.57663282e-02 4.69811029e-03 2.28845906e+02] [ 1.57662650e-02 9.99875703e-01 5.05002889e-05 -3.99745286e-01] [-4.69832253e-03 2.35781973e-05 9.99988963e-01 -2.03050338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.67592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:228.88, Y:-0.40, Z:-2.03 [[ 9.99872688e-01 -1.52491060e-02 4.69818680e-03 2.28879424e+02] [ 1.52492341e-02 9.99883724e-01 8.57298710e-06 -3.99342847e-01] [-4.69777124e-03 6.30718546e-05 9.99988963e-01 -2.03066043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.70592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:228.91, Y:-0.40, Z:-2.03 [[ 9.99892285e-01 -1.39048341e-02 4.69818998e-03 2.28911976e+02] [ 1.39049587e-02 9.99903321e-01 6.14355831e-06 -4.02703462e-01] [-4.69782119e-03 5.91852412e-05 9.99988963e-01 -2.03184404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.73592 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:228.94, Y:-0.40, Z:-2.02 [[ 9.99904203e-01 -1.30196784e-02 4.69819190e-03 2.28941858e+02] [ 1.30198047e-02 9.99915239e-01 3.71083799e-06 -4.04040218e-01] [-4.69784199e-03 5.74590583e-05 9.99988963e-01 -2.01760468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.76592 meters Centerline goodness : 0.998957 Centerline is valid? [True, True] Translation: X:228.97, Y:-0.41, Z:-2.02 [[ 9.99934707e-01 -1.04167424e-02 4.69817991e-03 2.28973108e+02] [ 1.04167693e-02 9.99945744e-01 1.87473136e-05 -4.05373251e-01] [-4.69812029e-03 3.01937669e-05 9.99988963e-01 -2.01771189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.79592 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:229.01, Y:-0.41, Z:-2.02 [[ 9.99964286e-01 -7.02527927e-03 4.69817741e-03 2.29006497e+02] [ 7.02522597e-03 9.99975322e-01 2.78492093e-05 -4.06290913e-01] [-4.69825712e-03 5.15754327e-06 9.99988963e-01 -2.01728644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.82592 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:229.04, Y:-0.41, Z:-2.02 [[ 9.99975836e-01 -5.12401794e-03 4.69817177e-03 2.29038568e+02] [ 5.12405089e-03 9.99986872e-01 5.02404812e-06 -4.07694497e-01] [-4.69813583e-03 1.90497445e-05 9.99988964e-01 -2.01778592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.85592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.07, Y:-0.41, Z:-2.03 [[ 9.99988195e-01 -1.24012459e-03 4.69817523e-03 2.29070738e+02] [ 1.24008946e-03 9.99999231e-01 1.03904951e-05 -4.10584302e-01] [-4.69818450e-03 -4.56421483e-06 9.99988963e-01 -2.03065117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.88592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:229.10, Y:-0.41, Z:-2.03 [[ 9.99985999e-01 2.43503537e-03 4.69816316e-03 2.29102508e+02] [-2.43504366e-03 9.99997035e-01 -3.95412171e-06 -4.11610152e-01] [-4.69815886e-03 -7.48616609e-06 9.99988964e-01 -2.03100459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.91592 meters Centerline goodness : 0.998955 Centerline is valid? [True, True] Translation: X:229.13, Y:-0.41, Z:-2.02 [[ 9.99980746e-01 4.05387967e-03 4.69816255e-03 2.29133321e+02] [-4.05390291e-03 9.99991783e-01 -4.57544495e-06 -4.11331445e-01] [-4.69814250e-03 -1.44705380e-05 9.99988964e-01 -2.01861252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.94592 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:229.17, Y:-0.41, Z:-2.02 [[ 9.99962201e-01 7.31606236e-03 4.69816619e-03 2.29166146e+02] [-7.31613699e-03 9.99973237e-01 -1.30224026e-06 -4.09905901e-01] [-4.69804998e-03 -3.30702364e-05 9.99988964e-01 -2.01827903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.97592 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:229.20, Y:-0.41, Z:-2.02 [[ 9.99924657e-01 1.13405483e-02 4.69814593e-03 2.29197823e+02] [-1.13405958e-02 9.99935693e-01 -1.65183884e-05 -4.07452477e-01] [-4.69803113e-03 -3.67626303e-05 9.99988964e-01 -2.01876610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.00592 meters Centerline goodness : 0.825487 Centerline is valid? [True, False] Translation: X:229.22, Y:-0.41, Z:-2.02 [[ 9.99991401e-01 4.04608209e-03 -9.09702329e-04 2.29221908e+02] [-4.04436446e-03 9.99990050e-01 1.88209792e-03 -4.09682944e-01] [ 9.17308401e-04 -1.87840257e-03 9.99997815e-01 -2.01608542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.03592 meters Centerline goodness : 0.999553 Centerline is valid? [False, True] Translation: X:229.22, Y:-0.41, Z:-2.02 [[ 9.99991458e-01 4.04726229e-03 -8.39049663e-04 2.29221743e+02] [-4.04594829e-03 9.99990595e-01 1.56188534e-03 -4.08325217e-01] [ 8.45363131e-04 -1.55847725e-03 9.99998428e-01 -2.01622963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.06592 meters Centerline goodness : 0.881172 Centerline is valid? [True, False] Translation: X:229.22, Y:-0.40, Z:-2.02 [[ 9.99999694e-01 -2.53256066e-05 -7.81900094e-04 2.29221609e+02] [ 2.19364524e-05 9.99990607e-01 -4.33421494e-03 -4.00631968e-01] [ 7.82002516e-04 4.33419646e-03 9.99990302e-01 -2.01634539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.09592 meters Centerline goodness : 0.893205 Centerline is valid? [False, False] Translation: X:229.22, Y:-0.40, Z:-2.02 [[ 9.99991251e-01 -4.12595808e-03 -6.88771288e-04 2.29221389e+02] [ 4.11907503e-03 9.99944352e-01 -9.71219544e-03 -3.95296113e-01] [ 7.28805070e-04 9.70927336e-03 9.99952598e-01 -2.01621256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.12592 meters Centerline goodness : 0.999751 Centerline is valid? [False, True] Translation: X:229.20, Y:-0.39, Z:-2.02 [[ 9.99984243e-01 2.10005529e-03 5.20605933e-03 2.29199566e+02] [-2.03303130e-03 9.99915417e-01 -1.28462589e-02 -3.89424867e-01] [-5.23259684e-03 1.28354724e-02 9.99903931e-01 -2.02021225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.15592 meters Centerline goodness : 0.882213 Centerline is valid? [True, False] Translation: X:229.20, Y:-0.38, Z:-2.02 [[ 9.99991393e-01 3.70771054e-04 4.13236538e-03 2.29204809e+02] [-3.04730975e-04 9.99872419e-01 -1.59703686e-02 -3.82558657e-01] [-4.13775952e-03 1.59689719e-02 9.99863926e-01 -2.02436147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.18592 meters Centerline goodness : 0.999901 Centerline is valid? [False, True] Translation: X:229.20, Y:-0.38, Z:-2.02 [[ 9.99991355e-01 4.07431008e-04 4.13802023e-03 2.29204827e+02] [-3.39385593e-04 9.99864938e-01 -1.64313649e-02 -3.80462394e-01] [-4.14415599e-03 1.64298185e-02 9.99856433e-01 -2.02442581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.21592 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:229.24, Y:-0.39, Z:-2.03 [[ 9.99989778e-01 -2.39329793e-03 3.83613951e-03 2.29237742e+02] [ 2.39304585e-03 9.99997134e-01 7.02996755e-05 -3.94267961e-01] [-3.83629676e-03 -6.11188991e-05 9.99992640e-01 -2.02645304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.24592 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:229.27, Y:-0.39, Z:-2.03 [[ 9.99986916e-01 -3.38413664e-03 3.83615106e-03 2.29270434e+02] [ 3.38389429e-03 9.99994272e-01 6.96634450e-05 -3.92764039e-01] [-3.83636484e-03 -5.66814038e-05 9.99992640e-01 -2.02678081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.27592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:229.30, Y:-0.39, Z:-2.02 [[ 9.99951102e-01 -9.11470343e-03 3.83618694e-03 2.29300836e+02] [ 9.11451105e-03 9.99958460e-01 6.76286060e-05 -3.90253271e-01] [-3.83664399e-03 -3.26603309e-05 9.99992640e-01 -2.01710015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.30592000000001 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:229.33, Y:-0.39, Z:-2.03 [[ 9.99956216e-01 -8.53534073e-03 3.83587134e-03 2.29333122e+02] [ 8.53507441e-03 9.99963572e-01 8.57947213e-05 -3.89279527e-01] [-3.83646389e-03 -5.30515177e-05 9.99992639e-01 -2.02605675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.33592000000002 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:229.37, Y:-0.39, Z:-2.03 [[ 9.99924409e-01 -1.16816082e-02 3.83622139e-03 2.29366032e+02] [ 1.16814440e-02 9.99931767e-01 6.51973127e-05 -3.89517684e-01] [-3.83672125e-03 -2.03797790e-05 9.99992640e-01 -2.02814473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.36592000000002 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:229.40, Y:-0.39, Z:-2.03 [[ 9.99909765e-01 -1.28741727e-02 3.83625527e-03 2.29399289e+02] [ 1.28740253e-02 9.99917124e-01 6.31387266e-05 -3.88738511e-01] [-3.83675020e-03 -1.37449820e-05 9.99992640e-01 -2.02727559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.39592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.43, Y:-0.39, Z:-2.03 [[ 9.99852632e-01 -1.67331153e-02 3.83628781e-03 2.29431643e+02] [ 1.67330040e-02 9.99859992e-01 6.10958260e-05 -3.88140829e-01] [-3.83677302e-03 3.10579700e-06 9.99992640e-01 -2.02880414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.42592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:229.46, Y:-0.39, Z:-2.03 [[ 9.99834010e-01 -1.78111186e-02 3.83631541e-03 2.29464900e+02] [ 1.78110221e-02 9.99841369e-01 5.93105463e-05 -3.87975793e-01] [-3.83676324e-03 9.02799730e-06 9.99992640e-01 -2.02853651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.45592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:229.50, Y:-0.39, Z:-2.03 [[ 9.99815973e-01 -1.87963660e-02 3.83634588e-03 2.29498349e+02] [ 1.87962846e-02 9.99823333e-01 5.72695099e-05 -3.88246471e-01] [-3.83674458e-03 1.48500783e-05 9.99992640e-01 -2.02803526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.48592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:229.53, Y:-0.39, Z:-2.03 [[ 9.99800105e-01 -1.96222645e-02 3.83637475e-03 2.29530555e+02] [ 1.96221969e-02 9.99807465e-01 5.52650318e-05 -3.88989431e-01] [-3.83672054e-03 2.00241164e-05 9.99992640e-01 -2.02883305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.51592 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:229.56, Y:-0.39, Z:-2.02 [[ 9.99766487e-01 -2.12662421e-02 3.83639928e-03 2.29559756e+02] [ 2.12661933e-02 9.99773848e-01 5.35065079e-05 -3.90084146e-01] [-3.83666955e-03 2.80915953e-05 9.99992640e-01 -2.01734861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.54592 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:229.59, Y:-0.39, Z:-2.02 [[ 9.99810597e-01 -1.90802661e-02 3.83592911e-03 2.29592159e+02] [ 1.90800712e-02 9.99817955e-01 8.74116424e-05 -3.89835470e-01] [-3.83689863e-03 -1.42052860e-05 9.99992639e-01 -2.01506395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.57592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:229.62, Y:-0.39, Z:-2.03 [[ 9.99853862e-01 -1.66594541e-02 3.83622803e-03 2.29624949e+02] [ 1.66593265e-02 9.99861222e-01 6.52248343e-05 -3.89412416e-01] [-3.83678226e-03 -1.30632711e-06 9.99992640e-01 -2.02815337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.60592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:229.66, Y:-0.39, Z:-2.03 [[ 9.99905860e-01 -1.31739751e-02 3.83642934e-03 2.29657430e+02] [ 1.31738815e-02 9.99913219e-01 4.96798071e-05 -3.89443207e-01] [-3.83675089e-03 8.65535204e-07 9.99992640e-01 -2.02838943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.63592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:229.69, Y:-0.39, Z:-2.02 [[ 9.99903687e-01 -1.33378899e-02 3.83644164e-03 2.29687689e+02] [ 1.33378012e-02 9.99911046e-01 4.87105921e-05 -3.89629053e-01] [-3.83675007e-03 2.46379531e-06 9.99992640e-01 -2.01537650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.66592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.72, Y:-0.39, Z:-2.03 [[ 9.99946864e-01 -9.56830834e-03 3.83629299e-03 2.29720214e+02] [ 9.56814690e-03 9.99954222e-01 6.04330332e-05 -3.89913618e-01] [-3.83669562e-03 -2.37236071e-05 9.99992640e-01 -2.02851224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.69592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:229.75, Y:-0.39, Z:-2.01 [[ 9.99931138e-01 -1.10905711e-02 3.83646134e-03 2.29750606e+02] [ 1.10904741e-02 9.99938498e-01 4.65624548e-05 -3.88380440e-01] [-3.83674179e-03 -4.01107339e-06 9.99992640e-01 -2.01494868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.72592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:229.78, Y:-0.39, Z:-2.03 [[ 9.99967769e-01 -7.05304807e-03 3.83616035e-03 2.29784005e+02] [ 7.05282472e-03 9.99975126e-01 7.17453278e-05 -3.85687122e-01] [-3.83657095e-03 -4.46872488e-05 9.99992639e-01 -2.02787070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.75592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.82, Y:-0.39, Z:-2.03 [[ 9.99972401e-01 -6.36226347e-03 3.83648025e-03 2.29816411e+02] [ 6.36214305e-03 9.99979760e-01 4.35902229e-05 -3.85274776e-01] [-3.83667994e-03 -1.91807837e-05 9.99992640e-01 -2.02846141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.78592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.85, Y:-0.39, Z:-2.03 [[ 9.99969438e-01 -6.81210798e-03 3.83649962e-03 2.29849801e+02] [ 6.81199769e-03 9.99976797e-01 4.18131362e-05 -3.85729423e-01] [-3.83669544e-03 -1.56776317e-05 9.99992640e-01 -2.02778945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.81592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.88, Y:-0.39, Z:-2.03 [[ 9.99967397e-01 -7.10532220e-03 3.83652080e-03 2.29883107e+02] [ 7.10522191e-03 9.99974757e-01 3.97701115e-05 -3.85380313e-01] [-3.83670653e-03 -1.25094832e-05 9.99992640e-01 -2.02863181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.84592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:229.91, Y:-0.39, Z:-2.01 [[ 9.99948580e-01 -9.38709947e-03 3.83654086e-03 2.29913515e+02] [ 9.38702381e-03 9.99955940e-01 3.77299175e-05 -3.85174979e-01] [-3.83672600e-03 -1.71427708e-06 9.99992640e-01 -2.01393176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.87592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:229.95, Y:-0.39, Z:-2.03 [[ 9.99954686e-01 -8.71262183e-03 3.83628371e-03 2.29946604e+02] [ 8.71243760e-03 9.99962044e-01 6.47322814e-05 -3.85617859e-01] [-3.83670208e-03 -3.13059657e-05 9.99992639e-01 -2.02883890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.90592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:229.98, Y:-0.39, Z:-2.01 [[ 9.99933501e-01 -1.08754023e-02 3.83655562e-03 2.29976302e+02] [ 1.08753501e-02 9.99940861e-01 3.44592406e-05 -3.85427484e-01] [-3.83670348e-03 7.26693653e-06 9.99992640e-01 -2.01452992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.93592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.01, Y:-0.39, Z:-2.03 [[ 9.99927590e-01 -1.14060406e-02 3.83637153e-03 2.30009705e+02] [ 1.14059105e-02 9.99934949e-01 5.57808291e-05 -3.86985173e-01] [-3.83675820e-03 -1.20194796e-05 9.99992640e-01 -2.02863057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.96592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.04, Y:-0.39, Z:-2.03 [[ 9.99916193e-01 -1.23647949e-02 3.83657245e-03 2.30041604e+02] [ 1.23647687e-02 9.99923553e-01 3.05405812e-05 -3.88247860e-01] [-3.83665678e-03 1.69003093e-05 9.99992640e-01 -2.02990239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.99592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.07, Y:-0.39, Z:-2.03 [[ 9.99904904e-01 -1.32462472e-02 3.83658561e-03 2.30073765e+02] [ 1.32462342e-02 9.99912264e-01 2.87870843e-05 -3.91408794e-01] [-3.83663032e-03 2.20359647e-05 9.99992640e-01 -2.02840471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.02592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.11, Y:-0.39, Z:-2.03 [[ 9.99905709e-01 -1.31853853e-02 3.83659791e-03 2.30106616e+02] [ 1.31853786e-02 9.99913069e-01 2.70415681e-05 -3.92411572e-01] [-3.83662094e-03 2.35479778e-05 9.99992640e-01 -2.02916169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.05592000000001 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:230.14, Y:-0.39, Z:-2.02 [[ 9.99887538e-01 -1.44980118e-02 3.83661101e-03 2.30136609e+02] [ 1.44980224e-02 9.99894898e-01 2.50342232e-05 -3.94792762e-01] [-3.83657072e-03 3.05918646e-05 9.99992640e-01 -2.01555002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.08592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.17, Y:-0.40, Z:-2.03 [[ 9.99894509e-01 -1.40090178e-02 3.83652884e-03 2.30169225e+02] [ 1.40089765e-02 9.99901869e-01 3.76330528e-05 -3.96074330e-01] [-3.83667956e-03 1.61167596e-05 9.99992640e-01 -2.02885105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.11592000000002 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:230.20, Y:-0.40, Z:-2.03 [[ 9.99901266e-01 -1.35180819e-02 3.83661646e-03 2.30202443e+02] [ 1.35180930e-02 9.99908626e-01 2.30480064e-05 -3.99041690e-01] [-3.83657745e-03 2.88180072e-05 9.99992640e-01 -2.02928214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.14592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.23, Y:-0.40, Z:-2.03 [[ 9.99900983e-01 -1.35390077e-02 3.83662747e-03 2.30234776e+02] [ 1.35390267e-02 9.99908343e-01 2.10388762e-05 -4.00875325e-01] [-3.83656066e-03 3.09074086e-05 9.99992640e-01 -2.03004508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.17592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.27, Y:-0.40, Z:-2.03 [[ 9.99909879e-01 -1.28652601e-02 3.83663623e-03 2.30267591e+02] [ 1.28652807e-02 9.99917239e-01 1.92976656e-05 -4.02445422e-01] [-3.83656697e-03 3.00634757e-05 9.99992640e-01 -2.02878842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.20592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.30, Y:-0.40, Z:-2.02 [[ 9.99913325e-01 -1.25945788e-02 3.83664525e-03 2.30298159e+02] [ 1.25946051e-02 9.99920685e-01 1.72971258e-05 -4.04267232e-01] [-3.83655880e-03 3.10254054e-05 9.99992640e-01 -2.01913170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.23592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:230.33, Y:-0.40, Z:-2.02 [[ 9.99923811e-01 -1.17325322e-02 3.83664582e-03 2.30330214e+02] [ 1.17325527e-02 9.99931171e-01 1.71707680e-05 -4.04435440e-01] [-3.83658320e-03 2.78441895e-05 9.99992640e-01 -2.01610388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.26592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:230.36, Y:-0.40, Z:-2.03 [[ 9.99933438e-01 -1.08811637e-02 3.83665131e-03 2.30362135e+02] [ 1.08811832e-02 9.99940798e-01 1.57925285e-05 -4.04372307e-01] [-3.83659602e-03 2.59558284e-05 9.99992640e-01 -2.02876925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.29592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:230.39, Y:-0.41, Z:-2.02 [[ 9.99937603e-01 -1.04913968e-02 3.83665866e-03 2.30392800e+02] [ 1.04914213e-02 9.99944963e-01 1.37411709e-05 -4.05297061e-01] [-3.83659167e-03 2.65116887e-05 9.99992640e-01 -2.01603532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.32592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.43, Y:-0.41, Z:-2.02 [[ 9.99951458e-01 -9.07531567e-03 3.83665988e-03 2.30425039e+02] [ 9.07533107e-03 9.99958818e-01 1.33952457e-05 -4.05705596e-01] [-3.83662345e-03 2.14243631e-05 9.99992640e-01 -2.01792029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.35592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:230.46, Y:-0.40, Z:-2.02 [[ 9.99970196e-01 -6.69975326e-03 3.83665114e-03 2.30458000e+02] [ 6.69974094e-03 9.99977556e-01 1.60631263e-05 -4.04800642e-01] [-3.83667265e-03 9.64192119e-06 9.99992640e-01 -2.01720743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.38592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.49, Y:-0.40, Z:-2.02 [[ 9.99976442e-01 -5.69158002e-03 3.83672206e-03 2.30489605e+02] [ 5.69164849e-03 9.99983802e-01 -6.92735220e-06 -4.02853780e-01] [-3.83662049e-03 2.87644624e-05 9.99992640e-01 -2.01521645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.41592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.52, Y:-0.40, Z:-2.03 [[ 9.99981872e-01 -4.64064403e-03 3.83668026e-03 2.30521023e+02] [ 4.64065149e-03 9.99989232e-01 6.95779223e-06 -4.02800904e-01] [-3.83667123e-03 1.08470298e-05 9.99992640e-01 -2.02934915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.44592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.55, Y:-0.40, Z:-2.03 [[ 9.99988960e-01 -2.71275577e-03 3.83666950e-03 2.30554163e+02] [ 2.71273435e-03 9.99996320e-01 1.07852191e-05 -4.01746226e-01] [-3.83668464e-03 -3.77234912e-07 9.99992640e-01 -2.02964692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.47592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.59, Y:-0.40, Z:-2.03 [[ 9.99991045e-01 -1.78615997e-03 3.83667414e-03 2.30586007e+02] [ 1.78613954e-03 9.99998405e-01 8.75012172e-06 -4.01064247e-01] [-3.83668365e-03 -1.89720798e-06 9.99992640e-01 -2.02927887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.50592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:230.62, Y:-0.40, Z:-2.03 [[ 9.99992252e-01 -8.80312843e-04 3.83667524e-03 2.30618383e+02] [ 8.80287709e-04 9.99999613e-01 8.23975871e-06 -3.99831947e-01] [-3.83668100e-03 -4.86231681e-06 9.99992640e-01 -2.02870309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.53592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.65, Y:-0.40, Z:-2.03 [[ 9.99992425e-01 -6.56137619e-04 3.83667627e-03 2.30651329e+02] [ 6.56112801e-04 9.99999785e-01 7.72718872e-06 -3.98794417e-01] [-3.83668051e-03 -5.20983777e-06 9.99992640e-01 -2.02872150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.56592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.68, Y:-0.40, Z:-2.03 [[ 9.99992537e-01 -4.53661980e-04 3.83667930e-03 2.30684823e+02] [ 4.53643511e-04 9.99999897e-01 5.68407962e-06 -3.98690172e-01] [-3.83668148e-03 -3.94355253e-06 9.99992640e-01 -2.02885002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.59592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.72, Y:-0.40, Z:-2.03 [[ 9.99992610e-01 -2.43254046e-04 3.83668029e-03 2.30716925e+02] [ 2.43237009e-04 9.99999970e-01 4.90726384e-06 -3.97382723e-01] [-3.83668137e-03 -3.97400493e-06 9.99992640e-01 -2.02910839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.62592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:230.75, Y:-0.40, Z:-2.01 [[ 9.99991509e-01 1.50362281e-03 3.83668088e-03 2.30749585e+02] [-1.50365074e-03 9.99998870e-01 4.39378321e-06 -3.97028982e-01] [-3.83666993e-03 -1.01627739e-05 9.99992640e-01 -2.01325970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.65592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.78, Y:-0.40, Z:-2.02 [[ 9.99990027e-01 2.28576113e-03 3.83672606e-03 2.30781479e+02] [-2.28564627e-03 9.99997387e-01 -3.43209777e-05 -3.97153105e-01] [-3.83679448e-03 2.55512368e-05 9.99992639e-01 -2.01840846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.68592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.81, Y:-0.40, Z:-2.03 [[ 9.99992435e-01 -6.39811738e-04 3.83674015e-03 2.30809499e+02] [ 6.39985070e-04 9.99999794e-01 -4.39495384e-05 -3.96881022e-01] [-3.83671124e-03 4.64046623e-05 9.99992639e-01 -2.03019799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.71592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:230.84, Y:-0.40, Z:-2.01 [[ 9.99992471e-01 -5.81009800e-04 3.83665056e-03 2.30842406e+02] [ 5.80988077e-04 9.99999831e-01 6.77647143e-06 -3.96336823e-01] [-3.83665385e-03 -4.54737218e-06 9.99992640e-01 -2.01488964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.74592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.87, Y:-0.40, Z:-2.03 [[ 9.99988866e-01 -2.74715105e-03 3.83669157e-03 2.30873436e+02] [ 2.74724208e-03 9.99996226e-01 -1.84550316e-05 -3.96004832e-01] [-3.83662639e-03 2.89951467e-05 9.99992640e-01 -2.02985630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.77592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:230.91, Y:-0.40, Z:-2.03 [[ 9.99983661e-01 -4.23763635e-03 3.83665016e-03 2.30906007e+02] [ 4.23764301e-03 9.99991021e-01 6.39356160e-06 -3.95952505e-01] [-3.83664281e-03 9.86489661e-06 9.99992640e-01 -2.03160958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.80592000000001 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:230.94, Y:-0.40, Z:-2.03 [[ 9.99984216e-01 -4.10460397e-03 3.83665247e-03 2.30938098e+02] [ 4.10461745e-03 9.99991576e-01 4.35941628e-06 -3.95798647e-01] [-3.83663805e-03 1.13886432e-05 9.99992640e-01 -2.03201441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.83592000000002 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:230.97, Y:-0.40, Z:-2.03 [[ 9.99986098e-01 -3.61706928e-03 3.83665367e-03 2.30971244e+02] [ 3.61708599e-03 9.99993458e-01 2.58151408e-06 -3.95114495e-01] [-3.83663791e-03 1.12960281e-05 9.99992640e-01 -2.03206478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.86592000000002 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:231.00, Y:-0.40, Z:-2.02 [[ 9.99983295e-01 -4.32312040e-03 3.83665396e-03 2.31002976e+02] [ 4.32315009e-03 9.99990655e-01 5.54818961e-07 -3.95385418e-01] [-3.83662051e-03 1.60316212e-05 9.99992640e-01 -2.01957771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.89592000000002 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:231.03, Y:-0.40, Z:-2.03 [[ 9.99979126e-01 -5.19884250e-03 3.83665362e-03 2.31033970e+02] [ 5.19890613e-03 9.99986486e-01 -6.61107841e-06 -3.96131742e-01] [-3.83656740e-03 2.65573424e-05 9.99992640e-01 -2.03252681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.92592 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:231.07, Y:-0.40, Z:-2.02 [[ 9.99971981e-01 -6.42783347e-03 3.83665494e-03 2.31065238e+02] [ 6.42788417e-03 9.99979341e-01 -8.85045057e-07 -3.98722832e-01] [-3.83656999e-03 2.55465938e-05 9.99992640e-01 -2.02188970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.95592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.10, Y:-0.40, Z:-2.03 [[ 9.99966640e-01 -7.21103062e-03 3.83664681e-03 2.31095856e+02] [ 7.21114121e-03 9.99973999e-01 -1.49918552e-05 -4.00131415e-01] [-3.83643895e-03 4.26579570e-05 9.99992640e-01 -2.03418623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.98592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:231.13, Y:-0.40, Z:-2.04 [[ 9.99953903e-01 -8.80180068e-03 3.83665424e-03 2.31128388e+02] [ 8.80187403e-03 9.99961263e-01 -2.23485408e-06 -4.02038823e-01] [-3.83648595e-03 3.60044984e-05 9.99992640e-01 -2.03503824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.01592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:231.16, Y:-0.40, Z:-2.04 [[ 9.99958682e-01 -8.24106561e-03 3.83665243e-03 2.31161196e+02] [ 8.24114153e-03 9.99966041e-01 -3.97896122e-06 -4.02968258e-01] [-3.83648935e-03 3.55971925e-05 9.99992640e-01 -2.03513039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.04592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:231.19, Y:-0.40, Z:-2.04 [[ 9.99962020e-01 -7.82552612e-03 3.83664934e-03 2.31194021e+02] [ 7.82560661e-03 9.99969379e-01 -5.96646552e-06 -4.03701028e-01] [-3.83648517e-03 3.59903474e-05 9.99992640e-01 -2.03500068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.07592 meters Centerline goodness : 0.998857 Centerline is valid? [True, True] Translation: X:231.22, Y:-0.40, Z:-2.02 [[ 9.99966182e-01 -7.27423280e-03 3.83664523e-03 2.31224054e+02] [ 7.27431683e-03 9.99973542e-01 -7.94906379e-06 -4.03777886e-01] [-3.83648590e-03 3.58577680e-05 9.99992640e-01 -2.02218389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.10592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.26, Y:-0.40, Z:-2.04 [[ 9.99976144e-01 -5.74372835e-03 3.83668140e-03 2.31255632e+02] [ 5.74374104e-03 9.99983505e-01 7.71130260e-06 -4.04360818e-01] [-3.83666240e-03 1.43257857e-05 9.99992640e-01 -2.03625171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.13592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.29, Y:-0.40, Z:-2.04 [[ 9.99981924e-01 -4.62948648e-03 3.83663304e-03 2.31288570e+02] [ 4.62956007e-03 9.99989283e-01 -1.03000584e-05 -4.04389027e-01] [-3.83654424e-03 2.80617954e-05 9.99992640e-01 -2.03694235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.16592 meters Centerline goodness : 0.999006 Centerline is valid? [True, True] Translation: X:231.32, Y:-0.40, Z:-2.02 [[ 9.99977030e-01 -5.58749386e-03 3.83662667e-03 2.31319590e+02] [ 5.58758213e-03 9.99984389e-01 -1.22888770e-05 -4.04499348e-01] [-3.83649812e-03 3.37260613e-05 9.99992640e-01 -2.02105750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.19592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.35, Y:-0.40, Z:-2.04 [[ 9.99973101e-01 -6.25111252e-03 3.83666465e-03 2.31352516e+02] [ 6.25116052e-03 9.99980461e-01 -5.19532070e-07 -4.04467456e-01] [-3.83658644e-03 2.45031247e-05 9.99992640e-01 -2.03677925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.22592 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:231.38, Y:-0.40, Z:-2.02 [[ 9.99964331e-01 -7.52446358e-03 3.83661791e-03 2.31382226e+02] [ 7.52457134e-03 9.99971690e-01 -1.36530280e-05 -4.04752549e-01] [-3.83640656e-03 4.25214461e-05 9.99992640e-01 -2.02130210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.25592 meters Centerline goodness : 0.998807 Centerline is valid? [True, True] Translation: X:231.42, Y:-0.41, Z:-2.02 [[ 9.99966624e-01 -7.21322947e-03 3.83673531e-03 2.31415443e+02] [ 7.21321912e-03 9.99973984e-01 1.65356392e-05 -4.05269239e-01] [-3.83675477e-03 1.11401252e-05 9.99992640e-01 -2.02186840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.28592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:231.45, Y:-0.40, Z:-2.04 [[ 9.99979417e-01 -5.14246726e-03 3.83669814e-03 2.31448363e+02] [ 5.14247402e-03 9.99986777e-01 8.10203048e-06 -4.04876369e-01] [-3.83668907e-03 1.16282568e-05 9.99992640e-01 -2.03867873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.31592 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:231.48, Y:-0.40, Z:-2.02 [[ 9.99975537e-01 -5.84868569e-03 3.83656251e-03 2.31478458e+02] [ 5.84880208e-03 9.99982895e-01 -1.91169132e-05 -4.03982196e-01] [-3.83638508e-03 4.15557404e-05 9.99992640e-01 -2.02185872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.34592 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:231.51, Y:-0.40, Z:-2.02 [[ 9.99982243e-01 -4.55987026e-03 3.83672545e-03 2.31510227e+02] [ 4.55985356e-03 9.99989604e-01 1.31011707e-05 -4.03449668e-01] [-3.83674531e-03 4.39396818e-06 9.99992640e-01 -2.02178412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.37592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:231.54, Y:-0.40, Z:-2.04 [[ 9.99991410e-01 -1.56851849e-03 3.83671365e-03 2.31543564e+02] [ 1.56848766e-03 9.99998770e-01 1.10463026e-05 -4.02506492e-01] [-3.83672626e-03 -5.02836966e-06 9.99992640e-01 -2.03861449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.40592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:231.58, Y:-0.40, Z:-2.04 [[ 9.99992495e-01 -5.39992583e-04 3.83650008e-03 2.31576358e+02] [ 5.40087213e-04 9.99999854e-01 -2.36296415e-05 -4.02169391e-01] [-3.83648676e-03 2.57015088e-05 9.99992640e-01 -2.03866785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.43592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.61, Y:-0.40, Z:-2.04 [[ 9.99992625e-01 -1.77004984e-04 3.83649528e-03 2.31608542e+02] [ 1.77099841e-04 9.99999984e-01 -2.43851791e-05 -4.02519391e-01] [-3.83649090e-03 2.50644420e-05 9.99992640e-01 -2.03808690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.46592 meters Centerline goodness : 0.998707 Centerline is valid? [True, True] Translation: X:231.64, Y:-0.40, Z:-2.02 [[ 9.99990662e-01 -1.98924849e-03 3.83649202e-03 2.31638920e+02] [ 1.98935861e-03 9.99998021e-01 -2.48874714e-05 -4.02563084e-01] [-3.83643492e-03 3.25193975e-05 9.99992640e-01 -2.02287129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.49592 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:231.67, Y:-0.40, Z:-2.02 [[ 9.99990855e-01 -1.88940396e-03 3.83668041e-03 2.31670796e+02] [ 1.88940657e-03 9.99998215e-01 2.94454554e-06 -4.01862466e-01] [-3.83667913e-03 4.30453058e-06 9.99992640e-01 -2.02397873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.52592 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:231.70, Y:-0.40, Z:-2.03 [[ 9.99991553e-01 -1.47451939e-03 3.83673526e-03 2.31702918e+02] [ 1.47449120e-03 9.99998913e-01 1.01757463e-05 -4.01150699e-01] [-3.83674610e-03 -4.51842791e-06 9.99992640e-01 -2.02580459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.55592000000001 meters Centerline goodness : 0.998706 Centerline is valid? [True, True] Translation: X:231.73, Y:-0.40, Z:-2.02 [[ 9.99990481e-01 -2.07826597e-03 3.83654782e-03 2.31733309e+02] [ 2.07833217e-03 9.99997840e-01 -1.32686717e-05 -4.02432146e-01] [-3.83651195e-03 2.12421661e-05 9.99992640e-01 -2.02419900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.58592000000002 meters Centerline goodness : 0.998660 Centerline is valid? [True, True] Translation: X:231.77, Y:-0.40, Z:-2.02 [[ 9.99991851e-01 -1.25601577e-03 3.83667275e-03 2.31766336e+02] [ 1.25601736e-03 9.99999211e-01 1.99715978e-06 -4.02656076e-01] [-3.83667223e-03 2.82178405e-06 9.99992640e-01 -2.02404004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.61592000000002 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:231.80, Y:-0.40, Z:-2.04 [[ 9.99992573e-01 -3.67631167e-04 3.83662460e-03 2.31800307e+02] [ 3.67647238e-04 9.99999932e-01 -3.48367330e-06 -4.02094503e-01] [-3.83662306e-03 4.89417186e-06 9.99992640e-01 -2.03867600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.64592000000002 meters Centerline goodness : 0.998609 Centerline is valid? [True, True] Translation: X:231.83, Y:-0.40, Z:-2.02 [[ 9.99991899e-01 -1.21830529e-03 3.83632606e-03 2.31829722e+02] [ 1.21845095e-03 9.99999257e-01 -3.56291658e-05 -4.00730835e-01] [-3.83627980e-03 4.03032523e-05 9.99992641e-01 -2.02439806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.67592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:231.86, Y:-0.40, Z:-2.04 [[ 9.99992489e-01 5.50074581e-04 3.83661210e-03 2.31863460e+02] [-5.50057122e-04 9.99999849e-01 -5.60562030e-06 -4.00866820e-01] [-3.83661460e-03 3.49522239e-06 9.99992640e-01 -2.03973250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.70592 meters Centerline goodness : 0.998013 Centerline is valid? [True, True] Translation: X:231.89, Y:-0.40, Z:-2.02 [[ 9.99991088e-01 -1.76255482e-03 3.83628441e-03 2.31893756e+02] [ 1.76271498e-03 9.99998446e-01 -3.83690365e-05 -4.02390044e-01] [-3.83621082e-03 4.51309706e-05 9.99992641e-01 -2.02395068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.73592 meters Centerline goodness : 0.998060 Centerline is valid? [True, True] Translation: X:231.93, Y:-0.40, Z:-2.02 [[ 9.99989794e-01 -2.38605037e-03 3.83653806e-03 2.31925920e+02] [ 2.38611886e-03 9.99997153e-01 -1.32748794e-05 -4.02552756e-01] [-3.83649546e-03 2.24291797e-05 9.99992640e-01 -2.02393496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.76592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:231.96, Y:-0.40, Z:-2.04 [[ 9.99988342e-01 -2.93192235e-03 3.83654388e-03 2.31958766e+02] [ 2.93199272e-03 9.99995702e-01 -1.27181554e-05 -4.03502164e-01] [-3.83649010e-03 2.39667259e-05 9.99992640e-01 -2.03884512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.79592 meters Centerline goodness : 0.998659 Centerline is valid? [True, True] Translation: X:231.99, Y:-0.41, Z:-2.03 [[ 9.99984154e-01 -4.12007861e-03 3.83622336e-03 2.31988988e+02] [ 4.12027003e-03 9.99991511e-01 -4.19963500e-05 -4.05022134e-01] [-3.83601777e-03 5.78019607e-05 9.99992641e-01 -2.02678469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.82592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:232.02, Y:-0.41, Z:-2.04 [[ 9.99981470e-01 -4.72680489e-03 3.83634748e-03 2.32019875e+02] [ 4.72695728e-03 9.99988827e-01 -3.06562400e-05 -4.06856825e-01] [-3.83615971e-03 4.87899226e-05 9.99992641e-01 -2.04038681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.85592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:232.05, Y:-0.41, Z:-2.04 [[ 9.99981021e-01 -4.82079976e-03 3.83621632e-03 2.32052104e+02] [ 4.82099825e-03 9.99988378e-01 -4.24964351e-05 -4.07124212e-01] [-3.83596687e-03 6.09900208e-05 9.99992641e-01 -2.04008948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.88592 meters Centerline goodness : 0.999005 Centerline is valid? [True, True] Translation: X:232.08, Y:-0.41, Z:-2.03 [[ 9.99972691e-01 -6.31674156e-03 3.83619658e-03 2.32081820e+02] [ 6.31695763e-03 9.99980047e-01 -4.42091586e-05 -4.09230602e-01] [-3.83584078e-03 6.84410426e-05 9.99992641e-01 -2.02585415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.91592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:232.12, Y:-0.41, Z:-2.04 [[ 9.99982913e-01 -4.41068528e-03 3.83648637e-03 2.32115685e+02] [ 4.41079131e-03 9.99990272e-01 -1.91765059e-05 -4.11017628e-01] [-3.83636447e-03 3.60981189e-05 9.99992640e-01 -2.03934029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.94592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:232.15, Y:-0.41, Z:-2.04 [[ 9.99985394e-01 -3.80737172e-03 3.83615171e-03 2.32147743e+02] [ 3.80757880e-03 9.99992750e-01 -4.66796595e-05 -4.14164274e-01] [-3.83594617e-03 6.12854276e-05 9.99992641e-01 -2.03992027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.97592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:232.18, Y:-0.42, Z:-2.04 [[ 9.99982367e-01 -4.53320910e-03 3.83613023e-03 2.32180333e+02] [ 4.53342805e-03 9.99989723e-01 -4.83819979e-05 -4.15589852e-01] [-3.83587148e-03 6.57719652e-05 9.99992641e-01 -2.04021527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.00592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:232.21, Y:-0.42, Z:-2.04 [[ 9.99980205e-01 -4.98732642e-03 3.83610456e-03 2.32213340e+02] [ 4.98755621e-03 9.99987561e-01 -5.03384174e-05 -4.17692753e-01] [-3.83580579e-03 6.94702081e-05 9.99992641e-01 -2.04040434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.03592 meters Centerline goodness : 0.998412 Centerline is valid? [True, True] Translation: X:232.24, Y:-0.42, Z:-2.03 [[ 9.99964804e-01 -7.46164105e-03 3.83607787e-03 2.32242629e+02] [ 7.46189655e-03 9.99972158e-01 -5.22965651e-05 -4.19209945e-01] [-3.83558085e-03 8.09191406e-05 9.99992641e-01 -2.02674964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.06592 meters Centerline goodness : 0.868258 Centerline is valid? [True, False] Translation: X:232.24, Y:-0.42, Z:-2.03 [[ 9.99965235e-01 -7.44169643e-03 3.76154596e-03 2.32242872e+02] [ 7.44105026e-03 9.99972298e-01 1.85751066e-04 -4.20162173e-01] [-3.76282406e-03 -1.57754756e-04 9.99992908e-01 -2.02694416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.09592 meters Centerline goodness : 0.998314 Centerline is valid? [False, True] Translation: X:232.24, Y:-0.42, Z:-2.03 [[ 9.99987516e-01 -3.33807763e-03 3.71833974e-03 2.32242968e+02] [ 3.31882496e-03 9.99981118e-01 5.17195121e-03 -4.23559881e-01] [-3.73553390e-03 -5.15954613e-03 9.99979712e-01 -2.02720646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.12592 meters Centerline goodness : 0.998162 Centerline is valid? [True, True] Translation: X:232.28, Y:-0.42, Z:-2.03 [[ 9.99993287e-01 4.78666527e-04 3.63269668e-03 2.32276672e+02] [-4.78679676e-04 9.99999885e-01 2.75010493e-06 -4.18442189e-01] [-3.63269495e-03 -4.48898454e-06 9.99993402e-01 -2.02665102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.15592 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:232.31, Y:-0.42, Z:-2.04 [[ 9.99988788e-01 3.03862766e-03 3.63175606e-03 2.32308037e+02] [-3.03845806e-03 9.99995383e-01 -5.22164305e-05 -4.18910848e-01] [-3.63189796e-03 4.11809066e-05 9.99993404e-01 -2.03865590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.18592 meters Centerline goodness : 0.998460 Centerline is valid? [True, True] Translation: X:232.34, Y:-0.42, Z:-2.03 [[ 9.99989429e-01 2.82013299e-03 3.63157112e-03 2.32338310e+02] [-2.81992317e-03 9.99996022e-01 -6.28951546e-05 -4.19375560e-01] [-3.63173405e-03 5.26537382e-05 9.99993404e-01 -2.02767116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.21592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:232.37, Y:-0.42, Z:-2.04 [[ 9.99970963e-01 6.69950559e-03 3.63168543e-03 2.32368921e+02] [-6.69934554e-03 9.99977558e-01 -5.62337712e-05 -4.17464720e-01] [-3.63198067e-03 3.19022227e-05 9.99993404e-01 -2.03840807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.24592 meters Centerline goodness : 0.998408 Centerline is valid? [True, True] Translation: X:232.40, Y:-0.42, Z:-2.03 [[ 9.99972960e-01 6.39465895e-03 3.63156380e-03 2.32398910e+02] [-6.39447152e-03 9.99979553e-01 -6.32208337e-05 -4.17087737e-01] [-3.63189382e-03 3.99971929e-05 9.99993404e-01 -2.02748535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.27592 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:232.43, Y:-0.42, Z:-2.03 [[ 9.99963010e-01 7.79672913e-03 3.63186693e-03 2.32429598e+02] [-7.79661493e-03 9.99969605e-01 -4.56025135e-05 -4.16329788e-01] [-3.63211209e-03 1.72845588e-05 9.99993404e-01 -2.02933129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.30592000000001 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:232.46, Y:-0.42, Z:-2.04 [[ 9.99938580e-01 1.04711634e-02 3.63186735e-03 2.32462001e+02] [-1.04710669e-02 9.99945176e-01 -4.55779189e-05 -4.15732338e-01] [-3.63214549e-03 7.54559357e-06 9.99993404e-01 -2.03963491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.33592000000002 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:232.49, Y:-0.41, Z:-2.04 [[ 9.99940431e-01 1.02930149e-02 3.63153026e-03 2.32494589e+02] [-1.02928484e-02 9.99947025e-01 -6.45440689e-05 -4.13630797e-01] [-3.63200224e-03 2.71614338e-05 9.99993404e-01 -2.03859126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.36592000000002 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:232.53, Y:-0.41, Z:-2.04 [[ 9.99931358e-01 1.11395892e-02 3.63152168e-03 2.32527159e+02] [-1.11394265e-02 9.99937953e-01 -6.50234876e-05 -4.12887175e-01] [-3.63202069e-03 2.45659555e-05 9.99993404e-01 -2.03986617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.39592000000002 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:232.56, Y:-0.41, Z:-2.04 [[ 9.99930610e-01 1.12065328e-02 3.63151308e-03 2.32558992e+02] [-1.12063688e-02 9.99937205e-01 -6.55001346e-05 -4.12932804e-01] [-3.63201907e-03 2.47995147e-05 9.99993404e-01 -2.04022159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.42592 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:232.59, Y:-0.41, Z:-2.03 [[ 9.99948162e-01 9.51240384e-03 3.63150439e-03 2.32588338e+02] [-9.51222696e-03 9.99954756e-01 -6.59787127e-05 -4.11608145e-01] [-3.63196770e-03 3.14315985e-05 9.99993404e-01 -2.02928719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.45592 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:232.62, Y:-0.41, Z:-2.03 [[ 9.99944471e-01 9.89258724e-03 3.63206381e-03 2.32620002e+02] [-9.89252343e-03 9.99951067e-01 -3.55327960e-05 -4.12083905e-01] [-3.63223759e-03 -3.99453490e-07 9.99993403e-01 -2.02940169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.48592 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:232.65, Y:-0.41, Z:-2.03 [[ 9.99940016e-01 1.03330640e-02 3.63205334e-03 2.32652652e+02] [-1.03330011e-02 9.99946612e-01 -3.60931337e-05 -4.08861584e-01] [-3.63223239e-03 -1.43904246e-06 9.99993403e-01 -2.02843885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.51592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:232.69, Y:-0.41, Z:-2.04 [[ 9.99917614e-01 1.23115054e-02 3.63199784e-03 2.32685144e+02] [-1.23114448e-02 9.99924211e-01 -3.90322055e-05 -4.08402683e-01] [-3.63220312e-03 -5.68615118e-06 9.99993404e-01 -2.04187933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.54592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:232.72, Y:-0.41, Z:-2.04 [[ 9.99923764e-01 1.18016204e-02 3.63140118e-03 2.32717107e+02] [-1.18014440e-02 9.99930358e-01 -6.99898856e-05 -4.07952500e-01] [-3.63197428e-03 2.71287722e-05 9.99993404e-01 -2.04190022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.57592 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:232.75, Y:-0.41, Z:-2.03 [[ 9.99975322e-01 6.01395849e-03 3.63139197e-03 2.32745933e+02] [-6.01374225e-03 9.99981915e-01 -7.04648625e-05 -4.05399824e-01] [-3.63175006e-03 4.86248683e-05 9.99993404e-01 -2.03108112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.60592 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:232.78, Y:-0.40, Z:-2.03 [[ 9.99988672e-01 3.07627740e-03 3.63223392e-03 2.32777471e+02] [-3.07619814e-03 9.99995268e-01 -2.74080717e-05 -4.02639808e-01] [-3.63230105e-03 1.62342900e-05 9.99993403e-01 -2.02990899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.63592 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:232.81, Y:-0.40, Z:-2.03 [[ 9.99991170e-01 2.11319447e-03 3.63229209e-03 2.32810995e+02] [-2.11311926e-03 9.99997767e-01 -2.45436620e-05 -4.02695722e-01] [-3.63233584e-03 1.68679789e-05 9.99993403e-01 -2.03032267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.66592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:232.84, Y:-0.40, Z:-2.05 [[ 9.99988062e-01 3.26878134e-03 3.63201031e-03 2.32843759e+02] [-3.26866396e-03 9.99994657e-01 -3.82514939e-05 -4.03150715e-01] [-3.63211594e-03 2.63792160e-05 9.99993403e-01 -2.04571270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.69592 meters Centerline goodness : 0.980020 Centerline is valid? [True, True] Translation: X:232.87, Y:-0.44, Z:-2.05 [[ 9.96853576e-01 -7.91818269e-02 3.63123301e-03 2.32866745e+02] [ 7.91826224e-02 9.96860124e-01 -7.55913105e-05 -4.41358004e-01] [-3.61384593e-03 3.62884020e-04 9.99993404e-01 -2.04580990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.72592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:232.90, Y:-0.40, Z:-2.05 [[ 9.99992492e-01 -1.34613588e-03 3.63366266e-03 2.32903486e+02] [ 1.34598525e-03 9.99999093e-01 4.39011364e-05 -4.00980580e-01] [-3.63371846e-03 -3.90099505e-05 9.99993397e-01 -2.04598834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.75592 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:232.93, Y:-0.40, Z:-2.03 [[ 9.99978393e-01 -5.47979579e-03 3.63103310e-03 2.32931939e+02] [ 5.48011584e-03 9.99984981e-01 -7.81990148e-05 -4.01095603e-01] [-3.63055005e-03 9.80958072e-05 9.99993405e-01 -2.02974425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.78592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.97, Y:-0.40, Z:-2.05 [[ 9.99989205e-01 -2.89804056e-03 3.63209665e-03 2.32965712e+02] [ 2.89816622e-03 9.99995800e-01 -2.93340145e-05 -4.01683256e-01] [-3.63199638e-03 3.98601176e-05 9.99993403e-01 -2.04843263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.81592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.00, Y:-0.40, Z:-2.05 [[ 9.99991343e-01 -2.03229327e-03 3.63095010e-03 2.32997425e+02] [ 2.03260017e-03 9.99997931e-01 -8.08349145e-05 -4.02078533e-01] [-3.63077831e-03 8.82144845e-05 9.99993405e-01 -2.04997778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.84592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:233.03, Y:-0.40, Z:-2.04 [[ 9.99987791e-01 -3.35166821e-03 3.63091447e-03 2.33027108e+02] [ 3.35198950e-03 9.99994379e-01 -8.24049899e-05 -4.02739821e-01] [-3.63061786e-03 9.45747710e-05 9.99993405e-01 -2.03608247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.87592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:233.06, Y:-0.40, Z:-2.04 [[ 9.99991367e-01 -2.01969032e-03 3.63143246e-03 2.33059132e+02] [ 2.01992071e-03 9.99997958e-01 -5.97781005e-05 -4.03848810e-01] [-3.63130431e-03 6.71127901e-05 9.99993405e-01 -2.03585123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.90592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.09, Y:-0.40, Z:-2.05 [[ 9.99993405e-01 5.62535503e-05 3.63127721e-03 2.33091050e+02] [-5.60125778e-05 9.99999996e-01 -6.64619136e-05 -4.04343355e-01] [-3.63128093e-03 6.62580781e-05 9.99993405e-01 -2.04723313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.93592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:233.12, Y:-0.40, Z:-2.04 [[ 9.99992952e-01 9.55952373e-04 3.63082499e-03 2.33122067e+02] [-9.55647742e-04 9.99999540e-01 -8.56353881e-05 -4.04195174e-01] [-3.63090518e-03 8.21649948e-05 9.99993405e-01 -2.03850399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.96592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.15, Y:-0.40, Z:-2.05 [[ 9.99992883e-01 1.02546392e-03 3.63068832e-03 2.33152912e+02] [-1.02513861e-03 9.99999470e-01 -9.14592926e-05 -4.04846167e-01] [-3.63078019e-03 8.77366829e-05 9.99993405e-01 -2.04911894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.99592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.19, Y:-0.41, Z:-2.05 [[ 9.99992660e-01 1.22350913e-03 3.63084470e-03 2.33185207e+02] [-1.22320943e-03 9.99999248e-01 -8.47606908e-05 -4.07279530e-01] [-3.63094568e-03 8.03187851e-05 9.99993405e-01 -2.04974609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.02592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:233.22, Y:-0.41, Z:-2.05 [[ 9.99992533e-01 1.32313140e-03 3.63083406e-03 2.33217438e+02] [-1.32283071e-03 9.99999121e-01 -8.52141658e-05 -4.08428415e-01] [-3.63094362e-03 8.04105507e-05 9.99993405e-01 -2.04934529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.05592000000001 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:233.25, Y:-0.41, Z:-2.04 [[ 9.99991237e-01 2.08413858e-03 3.63082328e-03 2.33248944e+02] [-2.08384125e-03 9.99997825e-01 -8.56711516e-05 -4.09578759e-01] [-3.63099393e-03 7.81043415e-05 9.99993405e-01 -2.03599795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.08592000000002 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:233.28, Y:-0.41, Z:-2.04 [[ 9.99992578e-01 1.28872083e-03 3.63081013e-03 2.33279696e+02] [-1.28841625e-03 9.99999166e-01 -8.62263524e-05 -4.11055118e-01] [-3.63091823e-03 8.15477177e-05 9.99993405e-01 -2.03617940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.11592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.31, Y:-0.41, Z:-2.05 [[ 9.99986386e-01 3.74708877e-03 3.63134804e-03 2.33311493e+02] [-3.74688217e-03 9.99992978e-01 -6.36956953e-05 -4.13892261e-01] [-3.63156122e-03 5.00885949e-05 9.99993405e-01 -2.05159937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.14592000000002 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:233.34, Y:-0.42, Z:-2.04 [[ 9.99987737e-01 3.36796041e-03 3.63077486e-03 2.33341587e+02] [-3.36766496e-03 9.99994326e-01 -8.74838437e-05 -4.15248509e-01] [-3.63104890e-03 7.52555376e-05 9.99993405e-01 -2.03829743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.17592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.37, Y:-0.42, Z:-2.05 [[ 9.99985482e-01 3.98150604e-03 3.63097758e-03 2.33372187e+02] [-3.98124529e-03 9.99992072e-01 -7.90377052e-05 -4.15772296e-01] [-3.63126348e-03 6.45807453e-05 9.99993405e-01 -2.04998271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.20592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:233.40, Y:-0.42, Z:-2.04 [[ 9.99986558e-01 3.70153567e-03 3.63076160e-03 2.33402849e+02] [-3.70124072e-03 9.99993147e-01 -8.79536277e-05 -4.16772423e-01] [-3.63106228e-03 7.45141228e-05 9.99993405e-01 -2.03909052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.23592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.43, Y:-0.42, Z:-2.04 [[ 9.99988299e-01 3.19664999e-03 3.63098692e-03 2.33434675e+02] [-3.19638547e-03 9.99994888e-01 -7.86508842e-05 -4.19392825e-01] [-3.63121978e-03 6.70439300e-05 9.99993405e-01 -2.04000847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.26592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.47, Y:-0.42, Z:-2.05 [[ 9.99986734e-01 3.65338203e-03 3.63100209e-03 2.33466841e+02] [-3.65312277e-03 9.99993324e-01 -7.80310002e-05 -4.21756849e-01] [-3.63126293e-03 6.47654686e-05 9.99993405e-01 -2.04868223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.29592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.50, Y:-0.43, Z:-2.04 [[ 9.99989479e-01 2.80343336e-03 3.63071705e-03 2.33497265e+02] [-2.80312657e-03 9.99996067e-01 -8.95835312e-05 -4.25782743e-01] [-3.63095391e-03 7.94052292e-05 9.99993405e-01 -2.03732973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.32592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.53, Y:-0.43, Z:-2.04 [[ 9.99991387e-01 2.01058001e-03 3.63103310e-03 2.33527907e+02] [-2.01031408e-03 9.99997976e-01 -7.68852503e-05 -4.27297231e-01] [-3.63118033e-03 6.95850711e-05 9.99993405e-01 -2.03774123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.35592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.56, Y:-0.43, Z:-2.04 [[ 9.99991425e-01 1.99086406e-03 3.63128748e-03 2.33557675e+02] [-1.99063502e-03 9.99998016e-01 -6.66882281e-05 -4.29625176e-01] [-3.63141305e-03 5.94590882e-05 9.99993405e-01 -2.03883924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.38592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:233.59, Y:-0.43, Z:-2.03 [[ 9.99985819e-01 3.89515894e-03 3.63161533e-03 2.33589918e+02] [-3.89498917e-03 9.99992413e-01 -5.38189872e-05 -4.31333630e-01] [-3.63179741e-03 3.96731216e-05 9.99993404e-01 -2.03462843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.41592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:233.62, Y:-0.43, Z:-2.04 [[ 9.99966606e-01 7.32115758e-03 3.63145709e-03 2.33623306e+02] [-7.32098802e-03 9.99973199e-01 -5.99829401e-05 -4.33552116e-01] [-3.63179891e-03 3.33950832e-05 9.99993404e-01 -2.03625668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.44592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.66, Y:-0.44, Z:-2.05 [[ 9.99948136e-01 9.51524893e-03 3.63106993e-03 2.33656198e+02] [-9.51503961e-03 9.99954728e-01 -7.49181817e-05 -4.35536560e-01] [-3.63161841e-03 4.03645220e-05 9.99993405e-01 -2.05045054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.47592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.69, Y:-0.44, Z:-2.05 [[ 9.99947782e-01 9.55266164e-03 3.63053383e-03 2.33687974e+02] [-9.55237845e-03 9.99954370e-01 -9.53338994e-05 -4.37922661e-01] [-3.63127887e-03 6.06486880e-05 9.99993405e-01 -2.05142526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.50592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.72, Y:-0.44, Z:-2.05 [[ 9.99946876e-01 9.64695996e-03 3.63052156e-03 2.33719874e+02] [-9.64667571e-03 9.99953465e-01 -9.57991105e-05 -4.41501072e-01] [-3.63127678e-03 6.07715572e-05 9.99993405e-01 -2.05227169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.53592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.75, Y:-0.44, Z:-2.05 [[ 9.99945814e-01 9.75647004e-03 3.63050924e-03 2.33751957e+02] [-9.75618482e-03 9.99952403e-01 -9.62635307e-05 -4.44862445e-01] [-3.63127563e-03 6.08383953e-05 9.99993405e-01 -2.05161641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.56592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:233.78, Y:-0.45, Z:-2.04 [[ 9.99960824e-01 8.07279679e-03 3.63049692e-03 2.33781614e+02] [-8.07249881e-03 9.99967412e-01 -9.67260342e-05 -4.47161415e-01] [-3.63115946e-03 6.74150628e-05 9.99993405e-01 -2.03644987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.59592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:233.81, Y:-0.45, Z:-2.04 [[ 9.99951710e-01 9.13199733e-03 3.63109355e-03 2.33813342e+02] [-9.13178770e-03 9.99958302e-01 -7.43066180e-05 -4.49522984e-01] [-3.63162071e-03 4.11446542e-05 9.99993405e-01 -2.03849856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.62592 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:233.84, Y:-0.45, Z:-2.03 [[ 9.99937184e-01 1.06039392e-02 3.63107174e-03 2.33844082e+02] [-1.06037364e-02 9.99943776e-01 -7.51085893e-05 -4.52241240e-01] [-3.63166403e-03 3.66009439e-05 9.99993405e-01 -2.03465934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.65592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:233.88, Y:-0.45, Z:-2.04 [[ 9.99918931e-01 1.22044408e-02 3.63089980e-03 2.33875932e+02] [-1.22042255e-02 9.99925522e-01 -8.14497942e-05 -4.53754176e-01] [-3.63162343e-03 3.71308713e-05 9.99993405e-01 -2.03887085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.68592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:233.91, Y:-0.46, Z:-2.05 [[ 9.99885830e-01 1.46678512e-02 3.63065196e-03 2.33907522e+02] [-1.46676193e-02 9.99892421e-01 -9.04825872e-05 -4.56219361e-01] [-3.63158856e-03 3.72192360e-05 9.99993405e-01 -2.05124603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.71592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:233.94, Y:-0.46, Z:-2.04 [[ 9.99888538e-01 1.44821252e-02 3.63037937e-03 2.33937622e+02] [-1.44818563e-02 9.99895127e-01 -1.00344819e-04 -4.58213552e-01] [-3.63145184e-03 4.77590023e-05 9.99993405e-01 -2.03572528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.74592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:233.97, Y:-0.46, Z:-2.04 [[ 9.99886930e-01 1.45926654e-02 3.63066429e-03 2.33969290e+02] [-1.45924348e-02 9.99893521e-01 -9.00222127e-05 -4.59338105e-01] [-3.63159137e-03 3.70318021e-05 9.99993405e-01 -2.03715215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.77592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:234.00, Y:-0.46, Z:-2.04 [[ 9.99876512e-01 1.52898247e-02 3.63061326e-03 2.34000298e+02] [-1.52895919e-02 9.99883103e-01 -9.18650756e-05 -4.60354029e-01] [-3.63159345e-03 3.63431363e-05 9.99993405e-01 -2.03569212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.80592000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.03, Y:-0.46, Z:-2.05 [[ 9.99858584e-01 1.64204799e-02 3.63043783e-03 2.34032212e+02] [-1.64202318e-02 9.99865174e-01 -9.81306237e-05 -4.61031366e-01] [-3.63155971e-03 3.85041156e-05 9.99993405e-01 -2.05140100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.83592000000002 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:234.06, Y:-0.46, Z:-2.04 [[ 9.99883698e-01 1.48125103e-02 3.63033894e-03 2.34063135e+02] [-1.48122388e-02 9.99890288e-01 -1.01661984e-04 -4.62359498e-01] [-3.63144652e-03 4.78767134e-05 9.99993405e-01 -2.03638597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.86592000000002 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:234.10, Y:-0.46, Z:-2.04 [[ 9.99873802e-01 1.54660597e-02 3.63056151e-03 2.34096008e+02] [-1.54658214e-02 9.99880393e-01 -9.36967008e-05 -4.63470537e-01] [-3.63157639e-03 3.75352604e-05 9.99993405e-01 -2.03758871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.89592000000002 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] Translation: X:234.13, Y:-0.46, Z:-2.04 [[ 9.99885344e-01 1.47010235e-02 3.63026177e-03 2.34126259e+02] [-1.47007417e-02 9.99891933e-01 -1.04320432e-04 -4.64539836e-01] [-3.63140308e-03 5.09409300e-05 9.99993405e-01 -2.03565669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.92592 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:234.16, Y:-0.46, Z:-2.04 [[ 9.99867142e-01 1.58907999e-02 3.63052511e-03 2.34157703e+02] [-1.58905597e-02 9.99873733e-01 -9.49804729e-05 -4.64597318e-01] [-3.63157600e-03 3.72767779e-05 9.99993405e-01 -2.03605232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.95592 meters Centerline goodness : 0.999400 Centerline is valid? [True, True] Translation: X:234.19, Y:-0.47, Z:-2.04 [[ 9.99866753e-01 1.59153494e-02 3.63023480e-03 2.34189271e+02] [-1.59150723e-02 9.99873342e-01 -1.05202883e-04 -4.65471980e-01] [-3.63144934e-03 4.74134161e-05 9.99993405e-01 -2.03609979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.98592 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:234.22, Y:-0.47, Z:-2.04 [[ 9.99861536e-01 1.62397271e-02 3.63038918e-03 2.34220461e+02] [-1.62394717e-02 9.99868126e-01 -9.98298711e-05 -4.67571508e-01] [-3.63153163e-03 4.08604460e-05 9.99993405e-01 -2.03697780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.01592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:234.25, Y:-0.47, Z:-2.05 [[ 9.99847512e-01 1.70813231e-02 3.63064437e-03 2.34251107e+02] [-1.70811055e-02 9.99854103e-01 -9.09493698e-05 -4.69435811e-01] [-3.63166821e-03 2.89200816e-05 9.99993405e-01 -2.05347361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.04592 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:234.28, Y:-0.47, Z:-2.04 [[ 9.99859160e-01 1.63854233e-02 3.63025273e-03 2.34282374e+02] [-1.63851517e-02 9.99865749e-01 -1.04548307e-04 -4.71179918e-01] [-3.63147843e-03 4.50513404e-05 9.99993405e-01 -2.03878765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.07592 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:234.31, Y:-0.47, Z:-2.04 [[ 9.99863623e-01 1.61107322e-02 3.63042668e-03 2.34314236e+02] [-1.61104808e-02 9.99870213e-01 -9.84993987e-05 -4.72265351e-01] [-3.63154239e-03 3.99980464e-05 9.99993405e-01 -2.03824618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.10592 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:234.35, Y:-0.47, Z:-2.04 [[ 9.99857852e-01 1.64649307e-02 3.63070703e-03 2.34345889e+02] [-1.64647167e-02 9.99864443e-01 -8.88244427e-05 -4.74245174e-01] [-3.63167735e-03 2.90332540e-05 9.99993405e-01 -2.03763036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.13592 meters Centerline goodness : 0.998907 Centerline is valid? [True, True] Translation: X:234.38, Y:-0.48, Z:-2.04 [[ 9.99849109e-01 1.69875521e-02 3.63085400e-03 2.34377333e+02] [-1.69873599e-02 9.99855701e-01 -8.37604541e-05 -4.75683465e-01] [-3.63175295e-03 2.20691917e-05 9.99993405e-01 -2.03788041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.16592 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:234.41, Y:-0.48, Z:-2.04 [[ 9.99799783e-01 1.96776601e-02 3.63088258e-03 2.34409257e+02] [-1.96774892e-02 9.99806376e-01 -8.27896070e-05 -4.76554449e-01] [-3.63180866e-03 1.13263782e-05 9.99993405e-01 -2.03852709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.19592 meters Centerline goodness : 0.998561 Centerline is valid? [True, True] Translation: X:234.44, Y:-0.48, Z:-2.04 [[ 9.99763072e-01 2.14619930e-02 3.63082950e-03 2.34441603e+02] [-2.14618274e-02 9.99769665e-01 -8.45768518e-05 -4.77488261e-01] [-3.63180838e-03 6.63257712e-06 9.99993405e-01 -2.03961348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.22592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:234.47, Y:-0.48, Z:-2.05 [[ 9.99685582e-01 2.48103725e-02 3.63073067e-03 2.34474015e+02] [-2.48102170e-02 9.99692175e-01 -8.78782746e-05 -4.79066802e-01] [-3.63179334e-03 -2.22857167e-06 9.99993405e-01 -2.05348189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.25592 meters Centerline goodness : 0.998708 Centerline is valid? [True, True] Translation: X:234.50, Y:-0.48, Z:-2.04 [[ 9.99738346e-01 2.25845407e-02 3.63007170e-03 2.34504317e+02] [-2.25842913e-02 9.99744936e-01 -1.09686862e-04 -4.80001268e-01] [-3.63162303e-03 2.76755653e-05 9.99993405e-01 -2.03825899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.28592 meters Centerline goodness : 0.998757 Centerline is valid? [True, True] Translation: X:234.54, Y:-0.48, Z:-2.04 [[ 9.99718442e-01 2.34489833e-02 3.63076121e-03 2.34535999e+02] [-2.34488222e-02 9.99725035e-01 -8.69582144e-05 -4.80835744e-01] [-3.63180196e-03 1.79665672e-06 9.99993405e-01 -2.03866502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.31592 meters Centerline goodness : 0.998460 Centerline is valid? [True, True] Translation: X:234.57, Y:-0.48, Z:-2.04 [[ 9.99653924e-01 2.60547539e-02 3.63074108e-03 2.34567972e+02] [-2.60546075e-02 9.99660517e-01 -8.76149554e-05 -4.82523533e-01] [-3.63179129e-03 -7.01290002e-06 9.99993405e-01 -2.03880197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.34592 meters Centerline goodness : 0.866733 Centerline is valid? [True, False] Translation: X:234.57, Y:-0.49, Z:-2.04 [[ 9.99875632e-01 1.55515941e-02 2.62061407e-03 2.34569425e+02] [-1.55784757e-02 9.99822776e-01 1.05701476e-02 -4.93685872e-01] [-2.45576699e-03 -1.06096582e-02 9.99940700e-01 -2.03929909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.37592 meters Centerline goodness : 0.866733 Centerline is valid? [False, False] Translation: X:234.57, Y:-0.49, Z:-2.04 [[ 9.99919416e-01 1.26439860e-02 1.13626700e-03 2.34573526e+02] [-1.26516864e-02 9.99895134e-01 7.04662499e-03 -4.92461824e-01] [-1.04705041e-03 -7.06043284e-03 9.99974527e-01 -2.04174125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.40592 meters Centerline goodness : 0.998907 Centerline is valid? [False, True] Translation: X:234.57, Y:-0.50, Z:-2.04 [[ 9.99998436e-01 1.76586967e-03 1.00136511e-04 2.34572924e+02] [-1.76731790e-03 9.99853664e-01 1.70155131e-02 -5.03478462e-01] [-7.00746786e-05 -1.70156634e-02 9.99855221e-01 -2.04035111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.43592 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:234.60, Y:-0.49, Z:-2.04 [[ 9.99997902e-01 2.04790767e-03 -3.62982032e-05 2.34603107e+02] [-2.04790381e-03 9.99997897e-01 1.05965056e-04 -4.88405738e-01] [ 3.65151335e-05 -1.05890498e-04 9.99999994e-01 -2.04151843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.46592 meters Centerline goodness : 0.998957 Centerline is valid? [True, True] Translation: X:234.63, Y:-0.49, Z:-2.04 [[ 9.99994584e-01 3.29112274e-03 -3.71732107e-05 2.34633481e+02] [-3.29112272e-03 9.99994584e-01 7.80312416e-07 -4.89763203e-01] [ 3.71755775e-05 -6.57966591e-07 9.99999999e-01 -2.04111058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.49592 meters Centerline goodness : 0.998709 Centerline is valid? [True, True] Translation: X:234.66, Y:-0.49, Z:-2.04 [[ 9.99994071e-01 3.44325997e-03 -3.71781632e-05 2.34664281e+02] [-3.44325997e-03 9.99994072e-01 1.74835065e-07 -4.89866666e-01] [ 3.71785448e-05 -4.68199473e-08 9.99999999e-01 -2.04086381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.52592 meters Centerline goodness : 0.998709 Centerline is valid? [True, True] Translation: X:234.69, Y:-0.49, Z:-2.04 [[ 9.99992076e-01 3.98088947e-03 -3.71784397e-05 2.34694444e+02] [-3.98088946e-03 9.99992076e-01 1.40489312e-07 -4.90048376e-01] [ 3.71787043e-05 7.51506005e-09 9.99999999e-01 -2.04085039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.55592000000001 meters Centerline goodness : 0.998610 Centerline is valid? [True, True] Translation: X:234.73, Y:-0.49, Z:-2.04 [[ 9.99988298e-01 4.83767775e-03 -3.71779380e-05 2.34725300e+02] [-4.83767775e-03 9.99988298e-01 2.03541972e-07 -4.92708467e-01] [ 3.71784876e-05 -2.36847069e-08 9.99999999e-01 -2.04061167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.58592000000002 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:234.76, Y:-0.49, Z:-2.04 [[ 9.99986966e-01 5.10558694e-03 -3.71773967e-05 2.34755879e+02] [-5.10558694e-03 9.99986966e-01 2.73102961e-07 -4.94450616e-01] [ 3.71783065e-05 -8.32869700e-08 9.99999999e-01 -2.04190539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.61592000000002 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:234.79, Y:-0.49, Z:-2.04 [[ 9.99979983e-01 6.32712843e-03 -3.71773724e-05 2.34786890e+02] [-6.32712843e-03 9.99979984e-01 2.76210666e-07 -4.94263585e-01] [ 3.71783759e-05 -4.09791266e-08 9.99999999e-01 -2.04132565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.64592000000002 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:234.82, Y:-0.49, Z:-2.04 [[ 9.99985172e-01 5.44563020e-03 -3.71768604e-05 2.34817049e+02] [-5.44563019e-03 9.99985172e-01 3.44054720e-07 -4.94411291e-01] [ 3.71781827e-05 -1.41598185e-07 9.99999999e-01 -2.04057908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.67592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:234.85, Y:-0.50, Z:-2.05 [[ 9.99965901e-01 8.25810723e-03 -3.71775230e-05 2.34848243e+02] [-8.25810722e-03 9.99965901e-01 2.54914977e-07 -4.96094602e-01] [ 3.71783605e-05 5.21096869e-08 9.99999999e-01 -2.05226003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.70592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:234.88, Y:-0.50, Z:-2.05 [[ 9.99949029e-01 1.00963908e-02 -3.71773669e-05 2.34878920e+02] [-1.00963908e-02 9.99949030e-01 2.75949996e-07 -4.96725905e-01] [ 3.71782581e-05 9.94212930e-08 9.99999999e-01 -2.05227517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.73592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:234.91, Y:-0.50, Z:-2.05 [[ 9.99948844e-01 1.01147194e-02 -3.71773669e-05 2.34909248e+02] [-1.01147194e-02 9.99948845e-01 2.75949996e-07 -4.96331155e-01] [ 3.71782563e-05 1.00102753e-07 9.99999999e-01 -2.05130605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.76592 meters Centerline goodness : 0.998857 Centerline is valid? [True, True] Translation: X:234.94, Y:-0.50, Z:-2.04 [[ 9.99956523e-01 9.32475504e-03 -3.71773669e-05 2.34940758e+02] [-9.32475504e-03 9.99956524e-01 2.75949996e-07 -4.96923879e-01] [ 3.71783237e-05 7.07318407e-08 9.99999999e-01 -2.03993269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.79592 meters Centerline goodness : 0.998709 Centerline is valid? [True, True] Translation: X:234.97, Y:-0.50, Z:-2.04 [[ 9.99937680e-01 1.11639809e-02 -3.71769680e-05 2.34971332e+02] [-1.11639809e-02 9.99937681e-01 3.30681816e-07 -4.98582574e-01] [ 3.71783429e-05 8.43817546e-08 9.99999999e-01 -2.03959010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.82592 meters Centerline goodness : 0.998560 Centerline is valid? [True, True] Translation: X:235.00, Y:-0.50, Z:-2.04 [[ 9.99922013e-01 1.24886416e-02 -3.71768770e-05 2.35003074e+02] [-1.24886416e-02 9.99922014e-01 3.43357064e-07 -4.98847386e-01] [ 3.71782657e-05 1.20958407e-07 9.99999999e-01 -2.03890250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.85592 meters Centerline goodness : 0.998907 Centerline is valid? [True, True] Translation: X:235.03, Y:-0.50, Z:-2.04 [[ 9.99873864e-01 1.58825043e-02 -3.71767266e-05 2.35034608e+02] [-1.58825042e-02 9.99873865e-01 3.64502485e-07 -4.98789529e-01] [ 3.71778266e-05 2.26003010e-07 9.99999999e-01 -2.03858547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.88592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:235.07, Y:-0.50, Z:-2.05 [[ 9.99845837e-01 1.75584790e-02 -3.71763925e-05 2.35065363e+02] [-1.75584790e-02 9.99845838e-01 4.12818763e-07 -4.99551470e-01] [ 3.71779097e-05 2.40005785e-07 9.99999999e-01 -2.04998791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.91592 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:235.10, Y:-0.50, Z:-2.04 [[ 9.99807357e-01 1.96277390e-02 -3.71774942e-05 2.35095703e+02] [-1.96277390e-02 9.99807357e-01 2.46960712e-07 -4.99065277e-01] [ 3.71751795e-05 4.82797017e-07 9.99999999e-01 -2.03989387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.94592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:235.13, Y:-0.50, Z:-2.05 [[ 9.99758043e-01 2.19966930e-02 -3.71781609e-05 2.35127392e+02] [-2.19966930e-02 9.99758043e-01 1.45883133e-07 -4.97940978e-01] [ 3.71723743e-05 6.71948757e-07 9.99999999e-01 -2.04910382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.97592 meters Centerline goodness : 0.998408 Centerline is valid? [True, True] Translation: X:235.16, Y:-0.50, Z:-2.04 [[ 9.99749386e-01 2.23866934e-02 -3.71774386e-05 2.35158702e+02] [-2.23866934e-02 9.99749387e-01 2.52306677e-07 -4.96459253e-01] [ 3.71737698e-05 5.80036475e-07 9.99999999e-01 -2.03759394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.00592 meters Centerline goodness : 0.993236 Centerline is valid? [True, True] Translation: X:235.22, Y:-0.47, Z:-2.05 [[ 9.95676377e-01 9.28899974e-02 -3.71769347e-05 2.35215648e+02] [-9.28899975e-02 9.95676377e-01 3.28681390e-07 -4.67024172e-01] [ 3.70467269e-05 3.12610508e-06 9.99999999e-01 -2.05408581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.03592 meters Centerline goodness : 0.987457 Centerline is valid? [True, True] Translation: X:235.25, Y:-0.46, Z:-2.05 [[ 9.95414210e-01 9.56585000e-02 -3.71184134e-05 2.35249639e+02] [-9.56584998e-02 9.95414211e-01 4.98826340e-06 -4.64748379e-01] [ 3.74253660e-05 -1.41469653e-06 9.99999999e-01 -2.05417827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.06592 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:235.24, Y:-0.50, Z:-2.04 [[ 9.99907037e-01 1.36351022e-02 -3.71165275e-05 2.35244806e+02] [-1.36351020e-02 9.99907038e-01 5.29076340e-06 -4.99434681e-01] [ 3.71852172e-05 -4.78418392e-06 9.99999999e-01 -2.03581513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.09592 meters Centerline goodness : 0.998264 Centerline is valid? [True, True] Translation: X:235.28, Y:-0.50, Z:-2.04 [[ 9.99927292e-01 1.20585382e-02 -3.71162102e-05 2.35275790e+02] [-1.20585382e-02 9.99927293e-01 5.33932447e-08 -4.97887273e-01] [ 3.71141555e-05 3.94177875e-07 9.99999999e-01 -2.03603416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.12592 meters Centerline goodness : 0.998956 Centerline is valid? [True, True] Translation: X:235.31, Y:-0.50, Z:-2.04 [[ 9.99941297e-01 1.08351709e-02 -3.71162011e-05 2.35306356e+02] [-1.08351709e-02 9.99941298e-01 2.02522186e-08 -4.97099964e-01] [ 3.71142418e-05 3.81909353e-07 9.99999999e-01 -2.03738707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.15592 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:235.34, Y:-0.50, Z:-2.04 [[ 9.99934694e-01 1.14282915e-02 -3.71161728e-05 2.35337289e+02] [-1.14282915e-02 9.99934695e-01 -5.46072000e-08 -4.95959351e-01] [ 3.71131248e-05 4.78778077e-07 9.99999999e-01 -2.03702177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.18592 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:235.37, Y:-0.50, Z:-2.04 [[ 9.99944733e-01 1.05132721e-02 -3.71162560e-05 2.35367970e+02] [-1.05132721e-02 9.99944734e-01 9.99871551e-08 -4.95571642e-01] [ 3.71152559e-05 2.90231668e-07 9.99999999e-01 -2.03713689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.21592 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:235.40, Y:-0.50, Z:-2.04 [[ 9.99946204e-01 1.03724240e-02 -3.71162193e-05 2.35398741e+02] [-1.03724240e-02 9.99946205e-01 5.67907915e-08 -4.95611317e-01] [ 3.71148117e-05 3.28197430e-07 9.99999999e-01 -2.03659135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.24592 meters Centerline goodness : 0.998707 Centerline is valid? [True, True] Translation: X:235.43, Y:-0.49, Z:-2.04 [[ 9.99960727e-01 8.86241865e-03 -3.71162323e-05 2.35429424e+02] [-8.86241865e-03 9.99960728e-01 7.00169193e-08 -4.94018909e-01] [ 3.71153952e-05 2.58925420e-07 9.99999999e-01 -2.03755882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.27592 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:235.46, Y:-0.49, Z:-2.04 [[ 9.99964396e-01 8.43835092e-03 -3.71162255e-05 2.35459669e+02] [-8.43835092e-03 9.99964396e-01 6.36685123e-08 -4.92536847e-01] [ 3.71154413e-05 2.49533490e-07 9.99999999e-01 -2.03807046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.30592000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.49, Y:-0.49, Z:-2.05 [[ 9.99971463e-01 7.55454182e-03 -3.71162313e-05 2.35490332e+02] [-7.55454183e-03 9.99971464e-01 6.85701305e-08 -4.91825422e-01] [ 3.71156902e-05 2.11827948e-07 9.99999999e-01 -2.05171855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.33592000000002 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:235.52, Y:-0.49, Z:-2.04 [[ 9.99984898e-01 5.49561877e-03 -3.71160885e-05 2.35520423e+02] [-5.49561877e-03 9.99984899e-01 -4.61970111e-08 -4.91520497e-01] [ 3.71152741e-05 2.50172186e-07 9.99999999e-01 -2.03731310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.36592000000002 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:235.55, Y:-0.49, Z:-2.04 [[ 9.99990430e-01 4.37486577e-03 -3.71160301e-05 2.35550323e+02] [-4.37486577e-03 9.99990430e-01 -8.46372779e-08 -4.90962428e-01] [ 3.71153046e-05 2.47014118e-07 9.99999999e-01 -2.03821405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.39592000000002 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:235.58, Y:-0.49, Z:-2.04 [[ 9.99994428e-01 3.33813666e-03 -3.71160450e-05 2.35580849e+02] [-3.33813666e-03 9.99994428e-01 -7.48270282e-08 -4.89231736e-01] [ 3.71155885e-05 1.98725042e-07 9.99999999e-01 -2.04175417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.42592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.61, Y:-0.49, Z:-2.05 [[ 9.99993413e-01 3.62945962e-03 -3.71159541e-05 2.35611836e+02] [-3.62945963e-03 9.99993413e-01 -1.32657891e-07 -4.88940380e-01] [ 3.71152282e-05 2.67367874e-07 9.99999999e-01 -2.05173360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.45592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:235.64, Y:-0.49, Z:-2.05 [[ 9.99997202e-01 2.36512211e-03 -3.71160725e-05 2.35642092e+02] [-2.36512211e-03 9.99997203e-01 -6.41118397e-08 -4.89238008e-01] [ 3.71158171e-05 1.51895704e-07 9.99999999e-01 -2.05091711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.48592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:235.67, Y:-0.49, Z:-2.05 [[ 9.99998997e-01 1.41560912e-03 -3.71160725e-05 2.35672205e+02] [-1.41560912e-03 9.99998998e-01 -6.41118392e-08 -4.89043042e-01] [ 3.71159446e-05 1.16653626e-07 9.99999999e-01 -2.05160646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.51592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.70, Y:-0.49, Z:-2.05 [[ 9.99999963e-01 2.68054564e-04 -3.71160725e-05 2.35703034e+02] [-2.68054567e-04 9.99999964e-01 -6.41118397e-08 -4.88367122e-01] [ 3.71160540e-05 7.40609702e-08 9.99999999e-01 -2.05265498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.54592 meters Centerline goodness : 0.998807 Centerline is valid? [True, True] Translation: X:235.73, Y:-0.49, Z:-2.04 [[ 9.99995719e-01 -2.92575967e-03 -3.71160725e-05 2.35733021e+02] [ 2.92575967e-03 9.99995720e-01 -6.41118402e-08 -4.89133259e-01] [ 3.71161013e-05 -4.44811424e-08 9.99999999e-01 -2.03646378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.57592 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:235.76, Y:-0.49, Z:-2.04 [[ 9.99994851e-01 -3.20871683e-03 -3.71159825e-05 2.35764270e+02] [ 3.20871683e-03 9.99994852e-01 -1.22963608e-07 -4.90951693e-01] [ 3.71161860e-05 3.86829699e-09 9.99999999e-01 -2.03937634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.60592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:235.79, Y:-0.49, Z:-2.05 [[ 9.99992368e-01 -3.90669613e-03 -3.71162355e-05 2.35794858e+02] [ 3.90669613e-03 9.99992369e-01 7.13914242e-08 -4.91773189e-01] [ 3.71156734e-05 -2.16392733e-07 9.99999999e-01 -2.05310170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.63592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.83, Y:-0.49, Z:-2.05 [[ 9.99993229e-01 -3.67971100e-03 -3.71160740e-05 2.35825264e+02] [ 3.67971100e-03 9.99993230e-01 -4.95643578e-08 -4.92361909e-01] [ 3.71160051e-05 -8.70124034e-08 9.99999999e-01 -2.05414525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.66592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:235.86, Y:-0.49, Z:-2.05 [[ 9.99996433e-01 -2.67077145e-03 -3.71160740e-05 2.35855676e+02] [ 2.67077145e-03 9.99996433e-01 -4.95643581e-08 -4.93488295e-01] [ 3.71160740e-05 -4.95643696e-08 9.99999999e-01 -2.05314786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.69592 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:235.89, Y:-0.49, Z:-2.04 [[ 9.99992726e-01 -3.81410428e-03 -3.71160740e-05 2.35886129e+02] [ 3.81410428e-03 9.99992726e-01 -4.95643580e-08 -4.93830533e-01] [ 3.71159931e-05 -9.20005792e-08 9.99999999e-01 -2.03825216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.72592 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:235.92, Y:-0.49, Z:-2.04 [[ 9.99995234e-01 -3.08719697e-03 -3.71159976e-05 2.35916499e+02] [ 3.08719697e-03 9.99995235e-01 -1.16904724e-07 -4.94803842e-01] [ 3.71161816e-05 2.31977172e-09 9.99999999e-01 -2.03988275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.75592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:235.95, Y:-0.50, Z:-2.04 [[ 9.99991967e-01 -4.00799250e-03 -3.71160538e-05 2.35947267e+02] [ 4.00799250e-03 9.99991968e-01 -5.48734660e-08 -4.95831501e-01] [ 3.71159756e-05 -9.38878399e-08 9.99999999e-01 -2.04128453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.78592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.98, Y:-0.50, Z:-2.06 [[ 9.99989380e-01 -4.60853596e-03 -3.71160306e-05 2.35977557e+02] [ 4.60853596e-03 9.99989381e-01 -8.47562628e-08 -4.96318446e-01] [ 3.71160271e-05 -8.62951990e-08 9.99999999e-01 -2.05502301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.81592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:236.01, Y:-0.50, Z:-2.04 [[ 9.99977473e-01 -6.71206949e-03 -3.71160668e-05 2.36007145e+02] [ 6.71206950e-03 9.99977474e-01 -2.10713321e-08 -4.97234759e-01] [ 3.71153721e-05 -2.28054762e-07 9.99999999e-01 -2.04338256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.84592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:236.04, Y:-0.50, Z:-2.04 [[ 9.99946611e-01 -1.03331560e-02 -3.71160320e-05 2.36037986e+02] [ 1.03331560e-02 9.99946612e-01 -7.70272679e-08 -5.00609383e-01] [ 3.71148464e-05 -3.06502592e-07 9.99999999e-01 -2.04274933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.87592 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:236.07, Y:-0.50, Z:-2.04 [[ 9.99926989e-01 -1.20837055e-02 -3.71159880e-05 2.36067985e+02] [ 1.20837055e-02 9.99926989e-01 -2.00683146e-07 -5.02607720e-01] [ 3.71157032e-05 -2.47830175e-07 9.99999999e-01 -2.04259330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.90592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:236.10, Y:-0.50, Z:-2.04 [[ 9.99908781e-01 -1.35066295e-02 -3.71159896e-05 2.36097913e+02] [ 1.35066295e-02 9.99908781e-01 -1.94673923e-07 -5.04334063e-01] [ 3.71152333e-05 -3.06655757e-07 9.99999999e-01 -2.04311002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.93592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:236.13, Y:-0.51, Z:-2.04 [[ 9.99888558e-01 -1.49288338e-02 -3.71159904e-05 2.36127269e+02] [ 1.49288338e-02 9.99888559e-01 -2.16970204e-07 -5.07464962e-01] [ 3.71150932e-05 -3.37152428e-07 9.99999999e-01 -2.04083008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.96592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.16, Y:-0.51, Z:-2.05 [[ 9.99896228e-01 -1.44060001e-02 -3.71159904e-05 2.36157763e+02] [ 1.44060001e-02 9.99896228e-01 -2.16991678e-07 -5.08968411e-01] [ 3.71152648e-05 -3.17723801e-07 9.99999999e-01 -2.05419449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.99592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.19, Y:-0.51, Z:-2.05 [[ 9.99878009e-01 -1.56193771e-02 -3.71159522e-05 2.36186986e+02] [ 1.56193771e-02 9.99878010e-01 6.33769740e-09 -5.14135044e-01] [ 3.71113255e-05 -5.86064980e-07 9.99999999e-01 -2.05418958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.02592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.22, Y:-0.52, Z:-2.05 [[ 9.99858030e-01 -1.68498618e-02 -3.71159525e-05 2.36216730e+02] [ 1.68498619e-02 9.99858031e-01 3.95272236e-09 -5.17199686e-01] [ 3.71106166e-05 -6.29350833e-07 9.99999999e-01 -2.05409900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.05592000000001 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:236.25, Y:-0.52, Z:-2.04 [[ 9.99827822e-01 -1.85559946e-02 -3.71159526e-05 2.36246487e+02] [ 1.85559946e-02 9.99827823e-01 1.56593889e-09 -5.22114143e-01] [ 3.71095330e-05 -6.90289086e-07 9.99999999e-01 -2.03859668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.08592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.28, Y:-0.52, Z:-2.05 [[ 9.99795798e-01 -2.02079247e-02 -3.71159435e-05 2.36275531e+02] [ 2.02079247e-02 9.99795799e-01 6.83377213e-08 -5.24522370e-01] [ 3.71069835e-05 -8.18359959e-07 9.99999999e-01 -2.05350406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.11592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.31, Y:-0.53, Z:-2.05 [[ 9.99745528e-01 -2.25583268e-02 -3.71159582e-05 2.36305590e+02] [ 2.25583268e-02 9.99745529e-01 9.18916330e-09 -5.32267781e-01] [ 3.71063059e-05 -8.46460740e-07 9.99999999e-01 -2.05366720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.14592000000002 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:236.34, Y:-0.54, Z:-2.04 [[ 9.99737976e-01 -2.28905720e-02 -3.71159586e-05 2.36335710e+02] [ 2.28905721e-02 9.99737977e-01 6.81805637e-09 -5.36150819e-01] [ 3.71060773e-05 -8.56421795e-07 9.99999999e-01 -2.03984465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.17592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:236.37, Y:-0.54, Z:-2.04 [[ 9.99738636e-01 -2.28617044e-02 -3.71159420e-05 2.36365480e+02] [ 2.28617044e-02 9.99738637e-01 5.74007205e-08 -5.38991469e-01] [ 3.71049290e-05 -9.05919412e-07 9.99999999e-01 -2.04427217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.20592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.39, Y:-0.54, Z:-2.05 [[ 9.99740531e-01 -2.27786813e-02 -3.71159202e-05 2.36394649e+02] [ 2.27786813e-02 9.99740532e-01 1.81168896e-07 -5.43031873e-01] [ 3.71021630e-05 -1.02657360e-06 9.99999999e-01 -2.05445442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.23592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.42, Y:-0.55, Z:-2.05 [[ 9.99724632e-01 -2.34661141e-02 -3.71159551e-05 2.36423519e+02] [ 2.34661141e-02 9.99724633e-01 7.44982883e-09 -5.45847869e-01] [ 3.71055597e-05 -8.78415015e-07 9.99999999e-01 -2.05255626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.26592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.45, Y:-0.55, Z:-2.05 [[ 9.99724597e-01 -2.34676315e-02 -3.71159849e-05 2.36451843e+02] [ 2.34676316e-02 9.99724597e-01 -2.00976099e-07 -5.45845773e-01] [ 3.71104795e-05 -6.70103509e-07 9.99999999e-01 -2.05255523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.29592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.48, Y:-0.55, Z:-2.05 [[ 9.99763815e-01 -2.17327706e-02 -3.71159854e-05 2.36482732e+02] [ 2.17327706e-02 9.99763815e-01 -2.05690795e-07 -5.49724790e-01] [ 3.71116894e-05 -6.00990979e-07 9.99999999e-01 -2.05387073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.32592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:236.51, Y:-0.55, Z:-2.05 [[ 9.99782817e-01 -2.08402869e-02 -3.71159349e-05 2.36511325e+02] [ 2.08402869e-02 9.99782818e-01 8.74055713e-09 -5.51511894e-01] [ 3.71076918e-05 -7.82245390e-07 9.99999999e-01 -2.05362476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.35592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:236.54, Y:-0.56, Z:-2.04 [[ 9.99827867e-01 -1.85535592e-02 -3.71159354e-05 2.36541473e+02] [ 1.85535592e-02 9.99827868e-01 4.01748070e-09 -5.57163600e-01] [ 3.71094720e-05 -6.92649494e-07 9.99999999e-01 -2.03849036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.38592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:236.57, Y:-0.56, Z:-2.04 [[ 9.99823018e-01 -1.88130460e-02 -3.71159345e-05 2.36570797e+02] [ 1.88130460e-02 9.99823019e-01 2.27433303e-08 -5.59844849e-01] [ 3.71089378e-05 -7.21003088e-07 9.99999999e-01 -2.04236717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.41592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:236.60, Y:-0.56, Z:-2.05 [[ 9.99854378e-01 -1.70651928e-02 -3.71159344e-05 2.36600802e+02] [ 1.70651928e-02 9.99854379e-01 2.23310206e-08 -5.62326190e-01] [ 3.71101485e-05 -6.55718347e-07 9.99999999e-01 -2.05334697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.44592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:236.63, Y:-0.56, Z:-2.04 [[ 9.99875723e-01 -1.57650896e-02 -3.71159325e-05 2.36631001e+02] [ 1.57650896e-02 9.99875723e-01 -2.84896500e-09 -5.63768969e-01] [ 3.71113648e-05 -5.82287390e-07 9.99999999e-01 -2.03856256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.47592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:236.66, Y:-0.57, Z:-2.04 [[ 9.99881426e-01 -1.53990883e-02 -3.71159458e-05 2.36660002e+02] [ 1.53990883e-02 9.99881427e-01 8.33719593e-08 -5.66063048e-01] [ 3.71102610e-05 -6.54913800e-07 9.99999999e-01 -2.03873671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.50592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:236.69, Y:-0.57, Z:-2.05 [[ 9.99895902e-01 -1.44285809e-02 -3.71159484e-05 2.36689634e+02] [ 1.44285810e-02 9.99895903e-01 9.05057515e-08 -5.69749191e-01] [ 3.71107788e-05 -6.26026796e-07 9.99999999e-01 -2.05387202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.53592 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:236.72, Y:-0.57, Z:-2.04 [[ 9.99927217e-01 -1.20647612e-02 -3.71158924e-05 2.36720249e+02] [ 1.20647612e-02 9.99927218e-01 -1.89803984e-08 -5.69997178e-01] [ 3.71134200e-05 -4.28815362e-07 9.99999999e-01 -2.03838655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.56592 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:236.75, Y:-0.57, Z:-2.04 [[ 9.99949416e-01 -1.00580721e-02 -3.71159433e-05 2.36749934e+02] [ 1.00580721e-02 9.99949416e-01 8.36021236e-08 -5.71580937e-01] [ 3.71132250e-05 -4.56912729e-07 9.99999999e-01 -2.04124871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.59592 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:236.78, Y:-0.57, Z:-2.04 [[ 9.99955043e-01 -9.48214378e-03 -3.71159425e-05 2.36779602e+02] [ 9.48214379e-03 9.99955043e-01 8.22941854e-08 -5.72301581e-01] [ 3.71134935e-05 -4.34229189e-07 9.99999999e-01 -2.03996754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.62592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:236.81, Y:-0.57, Z:-2.06 [[ 9.99963602e-01 -8.53190366e-03 -3.71158515e-05 2.36809479e+02] [ 8.53190366e-03 9.99963603e-01 -4.66324465e-08 -5.71875153e-01] [ 3.71148985e-05 -2.70038120e-07 9.99999999e-01 -2.05520440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.65592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:236.84, Y:-0.57, Z:-2.04 [[ 9.99963104e-01 -8.59010997e-03 -3.71158651e-05 2.36839355e+02] [ 8.59010997e-03 9.99963104e-01 -2.98157925e-08 -5.70739189e-01] [ 3.71147518e-05 -2.89014670e-07 9.99999999e-01 -2.04032373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.68592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:236.87, Y:-0.57, Z:-2.06 [[ 9.99956964e-01 -9.27729257e-03 -3.71158356e-05 2.36869231e+02] [ 9.27729258e-03 9.99956965e-01 -6.97534724e-08 -5.72666141e-01] [ 3.71148855e-05 -2.74583996e-07 9.99999999e-01 -2.05568140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.71592 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:236.90, Y:-0.57, Z:-2.04 [[ 9.99951189e-01 -9.88014438e-03 -3.71158627e-05 2.36899166e+02] [ 9.88014438e-03 9.99951190e-01 -2.02648634e-08 -5.73443891e-01] [ 3.71142513e-05 -3.46446208e-07 9.99999999e-01 -2.03990411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.74592 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:236.93, Y:-0.57, Z:-2.04 [[ 9.99945893e-01 -1.04024229e-02 -3.71158593e-05 2.36929300e+02] [ 1.04024229e-02 9.99945893e-01 -2.60902590e-08 -5.73919808e-01] [ 3.71141225e-05 -3.60006017e-07 9.99999999e-01 -2.03968210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.77592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:236.96, Y:-0.57, Z:-2.04 [[ 9.99937999e-01 -1.11354033e-02 -3.71158783e-05 2.36959248e+02] [ 1.11354033e-02 9.99937999e-01 1.78190523e-08 -5.74154806e-01] [ 3.71133787e-05 -4.31118222e-07 9.99999999e-01 -2.04088057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.80592000000001 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:236.99, Y:-0.57, Z:-2.04 [[ 9.99941195e-01 -1.08445478e-02 -3.71158863e-05 2.36989022e+02] [ 1.08445478e-02 9.99941196e-01 3.13748810e-08 -5.74451321e-01] [ 3.71133635e-05 -4.33878041e-07 9.99999999e-01 -2.04138214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.83592000000002 meters Centerline goodness : 0.996870 Centerline is valid? [True, True] Translation: X:237.05, Y:-0.56, Z:-2.06 [[ 9.99907889e-01 -1.35724778e-02 -3.71158846e-05 2.37049577e+02] [ 1.35724778e-02 9.99907890e-01 2.86933992e-08 -5.64055395e-01] [ 3.71120764e-05 -5.32445277e-07 9.99999999e-01 -2.05779639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.86592000000002 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:237.04, Y:-0.58, Z:-2.04 [[ 9.99891439e-01 -1.47345802e-02 -3.71144553e-05 2.37044541e+02] [ 1.47345804e-02 9.99891440e-01 6.90003029e-06 -5.79677347e-01] [ 3.70087571e-05 -7.44614715e-06 9.99999999e-01 -2.04197202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.89592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.07, Y:-0.58, Z:-2.05 [[ 9.99925637e-01 -1.21950538e-02 -3.70616535e-05 2.37073654e+02] [ 1.21950538e-02 9.99925638e-01 -1.66423712e-07 -5.79488309e-01] [ 3.70609271e-05 -2.85557524e-07 9.99999999e-01 -2.05348834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.92592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.10, Y:-0.58, Z:-2.05 [[ 9.99939577e-01 -1.09927706e-02 -3.70607919e-05 2.37103436e+02] [ 1.09927706e-02 9.99939578e-01 -2.80333015e-07 -5.79641103e-01] [ 3.70616342e-05 -1.27084707e-07 9.99999999e-01 -2.05309874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.95592 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:237.13, Y:-0.60, Z:-2.05 [[ 9.98378352e-01 -5.69268326e-02 -3.70607730e-05 2.37131861e+02] [ 5.69268326e-02 9.98378353e-01 -2.82809374e-07 -5.98972522e-01] [ 3.70167730e-05 -1.82740166e-06 9.99999999e-01 -2.05346475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.98592 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:237.16, Y:-0.58, Z:-2.04 [[ 9.99981405e-01 -6.09815990e-03 -3.70572396e-05 2.37163668e+02] [ 6.09815987e-03 9.99981406e-01 -7.50582682e-07 -5.76174750e-01] [ 3.70611278e-05 5.24587754e-07 9.99999999e-01 -2.04137149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.01592 meters Centerline goodness : 0.941305 Centerline is valid? [True, False] Translation: X:237.16, Y:-0.58, Z:-2.04 [[ 9.99997644e-01 2.15143822e-03 -2.88587917e-04 2.37164341e+02] [-2.14854731e-03 9.99950943e-01 9.66925938e-03 -5.81816060e-01] [ 3.09376574e-04 -9.66861656e-03 9.99953210e-01 -2.04079818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.04592 meters Centerline goodness : 0.999106 Centerline is valid? [False, True] Translation: X:237.16, Y:-0.58, Z:-2.04 [[ 9.99997657e-01 2.13843285e-03 -3.36512047e-04 2.37164472e+02] [-2.13510047e-03 9.99951547e-01 9.60966839e-03 -5.81450546e-01] [ 3.57045372e-04 -9.60892738e-03 9.99953769e-01 -2.04093579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.07592 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:237.19, Y:-0.57, Z:-2.04 [[ 9.99991763e-01 4.04869870e-03 -2.87503053e-04 2.37194935e+02] [-4.04870898e-03 9.99991803e-01 -3.52024154e-05 -5.71609122e-01] [ 2.87358172e-04 3.63661417e-05 9.99999958e-01 -2.04159538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.10592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:237.23, Y:-0.57, Z:-2.05 [[ 9.99962890e-01 8.61023586e-03 -2.87694148e-04 2.37225189e+02] [-8.61023602e-03 9.99962931e-01 6.69225081e-07 -5.67963421e-01] [ 2.87689246e-04 1.80791427e-06 9.99999959e-01 -2.05350377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.13592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.26, Y:-0.57, Z:-2.05 [[ 9.99945548e-01 1.04315706e-02 -2.87680947e-04 2.37256378e+02] [-1.04315715e-02 9.99945590e-01 -1.64268141e-06 -5.65029850e-01] [ 2.87648159e-04 4.64355634e-06 9.99999959e-01 -2.05302336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.16592 meters Centerline goodness : 0.998657 Centerline is valid? [True, True] Translation: X:237.29, Y:-0.56, Z:-2.04 [[ 9.99877827e-01 1.56284603e-02 -2.87681051e-04 2.37288245e+02] [-1.56284614e-02 9.99877868e-01 -1.62424226e-06 -5.61319095e-01] [ 2.87620532e-04 6.12005603e-06 9.99999959e-01 -2.03928573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.19592 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:237.32, Y:-0.56, Z:-2.05 [[ 9.99884475e-01 1.51971574e-02 -2.87696106e-04 2.37318502e+02] [-1.51971577e-02 9.99884517e-01 9.91074942e-07 -5.60413974e-01] [ 2.87677944e-04 3.38120266e-06 9.99999959e-01 -2.05102139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.22592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:237.35, Y:-0.55, Z:-2.05 [[ 9.99845788e-01 1.75589896e-02 -2.87680333e-04 2.37349795e+02] [-1.75589909e-02 9.99845829e-01 -1.69153642e-06 -5.53687592e-01] [ 2.87606279e-04 6.74265190e-06 9.99999959e-01 -2.04982433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.25592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:237.38, Y:-0.55, Z:-2.04 [[ 9.99811707e-01 1.94027835e-02 -2.87680439e-04 2.37381097e+02] [-1.94027848e-02 9.99811748e-01 -1.67328650e-06 -5.48327929e-01] [ 2.87593816e-04 7.25477308e-06 9.99999959e-01 -2.03893530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.28592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:237.41, Y:-0.54, Z:-2.05 [[ 9.99832304e-01 1.83106864e-02 -2.87690786e-04 2.37411859e+02] [-1.83106871e-02 9.99832345e-01 9.20288923e-08 -5.42868151e-01] [ 2.87644239e-04 5.17580252e-06 9.99999959e-01 -2.04850575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.31592 meters Centerline goodness : 0.998905 Centerline is valid? [True, True] Translation: X:237.44, Y:-0.54, Z:-2.04 [[ 9.99827007e-01 1.85976753e-02 -2.87680135e-04 2.37443393e+02] [-1.85976765e-02 9.99827048e-01 -1.70509698e-06 -5.38346442e-01] [ 2.87598669e-04 7.05498410e-06 9.99999959e-01 -2.03622889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.34592 meters Centerline goodness : 0.998211 Centerline is valid? [True, True] Translation: X:237.47, Y:-0.53, Z:-2.03 [[ 9.99854421e-01 1.70602962e-02 -2.87692028e-04 2.37473859e+02] [-1.70602968e-02 9.99854463e-01 2.82498161e-07 -5.31603125e-01] [ 2.87654978e-04 4.62565437e-06 9.99999959e-01 -2.03103409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.37592 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:237.50, Y:-0.53, Z:-2.04 [[ 9.99866650e-01 1.63278911e-02 -2.87687343e-04 2.37504406e+02] [-1.63278919e-02 9.99866691e-01 -4.54037043e-07 -5.29046460e-01] [ 2.87641578e-04 5.15130434e-06 9.99999959e-01 -2.03646955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.40592 meters Centerline goodness : 0.998600 Centerline is valid? [True, True] Translation: X:237.54, Y:-0.53, Z:-2.03 [[ 9.99901488e-01 1.40332171e-02 -2.87682687e-04 2.37535891e+02] [-1.40332180e-02 9.99901530e-01 -1.17013548e-06 -5.27293461e-01] [ 2.87637938e-04 5.20713408e-06 9.99999959e-01 -2.03230542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.43592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:237.57, Y:-0.52, Z:-2.05 [[ 9.99949833e-01 1.00123901e-02 -2.87682421e-04 2.37566486e+02] [-1.00123908e-02 9.99949875e-01 -1.21093990e-06 -5.24834917e-01] [ 2.87655877e-04 4.09126799e-06 9.99999959e-01 -2.04924197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.46592 meters Centerline goodness : 0.998957 Centerline is valid? [True, True] Translation: X:237.60, Y:-0.52, Z:-2.04 [[ 9.99968769e-01 7.89794680e-03 -2.87678066e-04 2.37596474e+02] [-7.89794766e-03 9.99968811e-01 -1.87806622e-06 -5.23229947e-01] [ 2.87654261e-04 4.15007388e-06 9.99999959e-01 -2.03764409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.49592 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:237.63, Y:-0.52, Z:-2.04 [[ 9.99989820e-01 4.50311926e-03 -2.87679018e-04 2.37626950e+02] [-4.50311994e-03 9.99989861e-01 -1.73433836e-06 -5.20922119e-01] [ 2.87668291e-04 3.02977383e-06 9.99999959e-01 -2.03797498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.52592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:237.66, Y:-0.52, Z:-2.05 [[ 9.99982458e-01 5.91612783e-03 -2.87668924e-04 2.37657908e+02] [-5.91612901e-03 9.99982500e-01 -3.24677757e-06 -5.19744586e-01] [ 2.87644682e-04 4.94860708e-06 9.99999959e-01 -2.04930505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.55592000000001 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:237.69, Y:-0.52, Z:-2.04 [[ 9.99987617e-01 4.96812615e-03 -2.87677762e-04 2.37687619e+02] [-4.96812691e-03 9.99987659e-01 -1.92851549e-06 -5.17035076e-01] [ 2.87664630e-04 3.35771124e-06 9.99999959e-01 -2.03664606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.58592000000002 meters Centerline goodness : 0.882438 Centerline is valid? [True, False] Translation: X:237.71, Y:-0.53, Z:-2.03 [[ 9.99970478e-01 5.82116419e-03 -5.01561968e-03 2.37710768e+02] [-5.76350551e-03 9.99918013e-01 1.14345933e-02 -5.25116093e-01] [ 5.08177111e-03 -1.14053482e-02 9.99922044e-01 -2.03346728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.61592000000002 meters Centerline goodness : 0.999454 Centerline is valid? [False, True] Translation: X:237.73, Y:-0.53, Z:-2.03 [[ 9.99945895e-01 -5.59707808e-04 -1.03871827e-02 2.37732719e+02] [ 6.99898680e-04 9.99908656e-01 1.34978015e-02 -5.27513792e-01] [ 1.03786791e-02 -1.35043412e-02 9.99854947e-01 -2.03009951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.64592000000002 meters Centerline goodness : 0.813633 Centerline is valid? [True, False] Translation: X:237.75, Y:-0.53, Z:-2.03 [[ 9.99920191e-01 -5.52334359e-03 -1.13624050e-02 2.37754624e+02] [ 5.73754570e-03 9.99804795e-01 1.89064184e-02 -5.30848354e-01] [ 1.12557604e-02 -1.89701018e-02 9.99756692e-01 -2.02881205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.67592 meters Centerline goodness : 0.999851 Centerline is valid? [False, True] Translation: X:237.75, Y:-0.52, Z:-2.03 [[ 9.99995870e-01 1.93900196e-03 -2.12145631e-03 2.37748507e+02] [-1.92544821e-03 9.99977842e-01 6.37238667e-03 -5.15285442e-01] [ 2.13376537e-03 -6.36827560e-03 9.99977446e-01 -2.02859426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.70592 meters Centerline goodness : 0.999253 Centerline is valid? [True, True] Translation: X:237.77, Y:-0.53, Z:-2.04 [[ 9.98098762e-01 -6.16006559e-02 -2.05445454e-03 2.37770167e+02] [ 6.16007401e-02 9.98100871e-01 -2.23324883e-05 -5.34896660e-01] [ 2.05192856e-03 -1.04265891e-04 9.99997889e-01 -2.03795438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.73592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:237.81, Y:-0.51, Z:-2.03 [[ 9.99981627e-01 -5.70341726e-03 -2.05341106e-03 2.37807012e+02] [ 5.70318624e-03 9.99983730e-01 -1.18343927e-04 -5.09137296e-01] [ 2.05405262e-03 1.06630766e-04 9.99997885e-01 -2.03019222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.76592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.84, Y:-0.50, Z:-2.04 [[ 9.99987215e-01 4.62073218e-03 -2.05417444e-03 2.37837727e+02] [-4.62081630e-03 9.99989323e-01 -3.62060978e-05 -5.04348064e-01] [ 2.05398521e-03 4.56975977e-05 9.99997890e-01 -2.03819057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.79592 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:237.87, Y:-0.50, Z:-2.03 [[ 9.99982993e-01 5.45835754e-03 -2.05433344e-03 2.37867051e+02] [-5.45840838e-03 9.99985103e-01 -1.91448373e-05 -5.00030352e-01] [ 2.05419834e-03 3.03579026e-05 9.99997890e-01 -2.02560938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.82592 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:237.90, Y:-0.50, Z:-2.03 [[ 9.99984436e-01 5.18722321e-03 -2.05435490e-03 2.37895685e+02] [-5.18726887e-03 9.99986546e-01 -1.69005933e-05 -4.98520598e-01] [ 2.05423959e-03 2.75568215e-05 9.99997890e-01 -2.02568361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.85592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:237.92, Y:-0.50, Z:-2.03 [[ 9.99984580e-01 5.15946010e-03 -2.05433365e-03 2.37924500e+02] [-5.15951008e-03 9.99986689e-01 -1.90299913e-05 -4.97620476e-01] [ 2.05420812e-03 2.96290530e-05 9.99997890e-01 -2.02765650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.88592 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:237.95, Y:-0.50, Z:-2.03 [[ 9.99980652e-01 5.87152665e-03 -2.05430372e-03 2.37953960e+02] [-5.87158408e-03 9.99982762e-01 -2.19248853e-05 -4.96946655e-01] [ 2.05413957e-03 3.39864781e-05 9.99997890e-01 -2.02541092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.91592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:237.98, Y:-0.50, Z:-2.03 [[ 9.99970627e-01 7.38403251e-03 -2.05434919e-03 2.37983877e+02] [-7.38408440e-03 9.99972737e-01 -1.76729416e-05 -4.96071708e-01] [ 2.05416269e-03 3.28419103e-05 9.99997890e-01 -2.02658005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.94592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:238.01, Y:-0.50, Z:-2.04 [[ 9.99967109e-01 7.84602562e-03 -2.05435530e-03 2.38014126e+02] [-7.84607733e-03 9.99969219e-01 -1.71128883e-05 -4.96443293e-01] [ 2.05415780e-03 3.32309560e-05 9.99997890e-01 -2.03701759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.97592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:238.04, Y:-0.50, Z:-2.03 [[ 9.99966409e-01 7.93482125e-03 -2.05429401e-03 2.38043246e+02] [-7.93488456e-03 9.99968518e-01 -2.26675279e-05 -4.95713152e-01] [ 2.05404947e-03 3.89673523e-05 9.99997890e-01 -2.02518443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.00592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:238.07, Y:-0.49, Z:-2.02 [[ 9.99943026e-01 1.04749143e-02 -2.05426536e-03 2.38072999e+02] [-1.04749882e-02 9.99945135e-01 -2.51953062e-05 -4.94999289e-01] [ 2.05388874e-03 4.67122761e-05 9.99997890e-01 -2.02411659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.03592 meters Centerline goodness : 0.918832 Centerline is valid? [True, False] Translation: X:238.09, Y:-0.50, Z:-2.02 [[ 9.99948486e-01 7.67500171e-03 -6.64230480e-03 2.38094832e+02] [-7.62772327e-03 9.99945602e-01 7.11407888e-03 -5.00944108e-01] [ 6.69654404e-03 -7.06304674e-03 9.99952634e-01 -2.02026475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.06592 meters Centerline goodness : 0.999801 Centerline is valid? [False, True] Translation: X:238.12, Y:-0.50, Z:-2.02 [[ 9.99951848e-01 -5.65774272e-05 -9.81321572e-03 2.38116318e+02] [ 1.47475562e-04 9.99957093e-01 9.26235229e-03 -5.03718534e-01] [ 9.81227062e-03 -9.26335350e-03 9.99908951e-01 -2.01666511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.09592 meters Centerline goodness : 0.992352 Centerline is valid? [True, True] Translation: X:238.10, Y:-0.49, Z:-2.04 [[ 9.99951363e-01 -2.33823241e-03 -9.58150764e-03 2.38100269e+02] [ 2.33594551e-03 9.99997240e-01 -2.49862774e-04 -4.91029572e-01] [ 9.58206543e-03 2.27468741e-04 9.99954065e-01 -2.04467738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.12592 meters Centerline goodness : 0.978464 Centerline is valid? [True, True] Translation: X:238.15, Y:-0.53, Z:-2.04 [[ 9.96132518e-01 -8.73447691e-02 -9.53402182e-03 2.38147190e+02] [ 8.73316603e-02 9.96177695e-01 -1.78351947e-03 -5.27613363e-01] [ 9.65336098e-03 9.43999782e-04 9.99952960e-01 -2.03600302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.15592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.19, Y:-0.49, Z:-2.03 [[ 9.99915704e-01 8.79980617e-03 -9.54720484e-03 2.38194968e+02] [-8.81197698e-03 9.99960413e-01 -1.23348729e-03 -4.88931170e-01] [ 9.53597244e-03 1.31751306e-03 9.99953664e-01 -2.02853962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.18592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.22, Y:-0.49, Z:-2.03 [[ 9.99919729e-01 8.30550547e-03 -9.56841953e-03 2.38223484e+02] [-8.30775636e-03 9.99965471e-01 -1.95518080e-04 -4.89624097e-01] [ 9.56646527e-03 2.74994484e-04 9.99954203e-01 -2.02822483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.21592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:238.25, Y:-0.49, Z:-2.01 [[ 9.99900498e-01 1.03653836e-02 -9.56831850e-03 2.38253915e+02] [-1.03677749e-02 9.99946233e-01 -2.00343230e-04 -4.86416074e-01] [ 9.56572741e-03 2.99525467e-04 9.99954203e-01 -2.01409046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.24592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:238.28, Y:-0.48, Z:-2.03 [[ 9.99884782e-01 1.17840659e-02 -9.56861840e-03 2.38284172e+02] [-1.17863865e-02 9.99930521e-01 -1.86160785e-04 -4.83924529e-01] [ 9.56575985e-03 2.98918771e-04 9.99954202e-01 -2.02644155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.27592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:238.31, Y:-0.48, Z:-2.01 [[ 9.99877622e-01 1.23770140e-02 -9.56823353e-03 2.38314722e+02] [-1.23795341e-02 9.99923350e-01 -2.04195312e-04 -4.80976974e-01] [ 9.56497279e-03 3.22620595e-04 9.99954203e-01 -2.01324485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.30592000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.34, Y:-0.48, Z:-2.03 [[ 9.99874963e-01 1.25886222e-02 -9.56996833e-03 2.38341567e+02] [-1.25903870e-02 9.99920730e-01 -1.24187541e-04 -4.77988076e-01] [ 9.56764638e-03 2.44661617e-04 9.99954199e-01 -2.02513903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.33592000000002 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:238.37, Y:-0.47, Z:-2.01 [[ 9.99884611e-01 1.17990846e-02 -9.56794852e-03 2.38373207e+02] [-1.18016753e-02 9.99930335e-01 -2.14348576e-04 -4.73751744e-01] [ 9.56475285e-03 3.27241663e-04 9.99954203e-01 -2.01155957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.36592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.40, Y:-0.47, Z:-2.02 [[ 9.99902172e-01 1.02009842e-02 -9.57008781e-03 2.38400187e+02] [-1.02025975e-02 9.99947945e-01 -1.19778543e-04 -4.71499486e-01] [ 9.56836778e-03 2.17406579e-04 9.99954198e-01 -2.02404412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.39592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.43, Y:-0.47, Z:-2.02 [[ 9.99912379e-01 9.14838462e-03 -9.56771474e-03 2.38429012e+02] [-9.15092755e-03 9.99958105e-01 -2.22037437e-04 -4.68480970e-01] [ 9.56528262e-03 3.09571446e-04 9.99954204e-01 -2.02337324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.42592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:238.46, Y:-0.46, Z:-2.01 [[ 9.99917074e-01 8.62003720e-03 -9.56761545e-03 2.38457808e+02] [-8.62259611e-03 9.99962799e-01 -2.26236575e-04 -4.62927500e-01] [ 9.56530936e-03 3.08715498e-04 9.99954204e-01 -2.01193760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.45592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:238.49, Y:-0.46, Z:-2.01 [[ 9.99917996e-01 8.51185568e-03 -9.56817982e-03 2.38487156e+02] [-8.51418303e-03 9.99963733e-01 -2.02530277e-04 -4.61018005e-01] [ 9.56610890e-03 2.83978902e-04 9.99954203e-01 -2.01267019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.48592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:238.52, Y:-0.46, Z:-2.01 [[ 9.99908856e-01 9.52353558e-03 -9.56985292e-03 2.38516200e+02] [-9.52524819e-03 9.99954625e-01 -1.33394709e-04 -4.55728789e-01] [ 9.56814830e-03 2.24537776e-04 9.99954199e-01 -2.01059735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.51592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.55, Y:-0.45, Z:-2.01 [[ 9.99906920e-01 9.72439647e-03 -9.57014328e-03 2.38545977e+02] [-9.72600672e-03 9.99952694e-01 -1.21730115e-04 -4.52462908e-01] [ 9.56850680e-03 2.14798063e-04 9.99954198e-01 -2.01092173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.54592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:238.57, Y:-0.45, Z:-2.01 [[ 9.99909816e-01 9.42194890e-03 -9.57006473e-03 2.38574127e+02] [-9.42357502e-03 9.99955589e-01 -1.24837188e-04 -4.47120838e-01] [ 9.56846351e-03 2.15010153e-04 9.99954198e-01 -2.00964650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.57592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:238.60, Y:-0.44, Z:-2.01 [[ 9.99917301e-01 8.59156643e-03 -9.56958001e-03 2.38603070e+02] [-8.59333310e-03 9.99963066e-01 -1.43508897e-04 -4.43856824e-01] [ 9.56799360e-03 2.25731618e-04 9.99954200e-01 -2.00898873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.60592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.63, Y:-0.44, Z:-2.02 [[ 9.99935248e-01 6.15739280e-03 -9.57005113e-03 2.38630229e+02] [-6.15887898e-03 9.99981026e-01 -1.25831244e-04 -4.41221261e-01] [ 9.56909475e-03 1.84763883e-04 9.99954198e-01 -2.02090760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.63592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.66, Y:-0.44, Z:-2.02 [[ 9.99950598e-01 2.69922960e-03 -9.56637767e-03 2.38658506e+02] [-2.70184665e-03 9.99996316e-01 -2.60655115e-04 -4.37077087e-01] [ 9.56563886e-03 2.86489123e-04 9.99954207e-01 -2.02032918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.66592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:238.69, Y:-0.43, Z:-2.01 [[ 9.99953348e-01 -1.33669085e-03 -9.56634432e-03 2.38688947e+02] [ 1.33424669e-03 9.99999076e-01 -2.61873420e-04 -4.34897926e-01] [ 9.56668552e-03 2.49097340e-04 9.99954207e-01 -2.00968247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.69592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.72, Y:-0.43, Z:-2.02 [[ 9.99949916e-01 -2.93802746e-03 -9.56735102e-03 2.38718416e+02] [ 2.93600603e-03 9.99995665e-01 -2.25322717e-04 -4.33417878e-01] [ 9.56797155e-03 1.97221632e-04 9.99954206e-01 -2.02011408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.72592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.75, Y:-0.43, Z:-2.02 [[ 9.99947219e-01 -3.74789814e-03 -9.56618325e-03 2.38747253e+02] [ 3.74551390e-03 9.99992950e-01 -2.67140291e-04 -4.31254901e-01] [ 9.56711703e-03 2.31295918e-04 9.99954207e-01 -2.01915882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.75592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:238.78, Y:-0.43, Z:-2.01 [[ 9.99937767e-01 -5.74028149e-03 -9.56614854e-03 2.38776500e+02] [ 5.73797653e-03 9.99983502e-01 -2.68377784e-04 -4.27589430e-01] [ 9.56753128e-03 2.13470746e-04 9.99954207e-01 -2.00783294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.78592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:238.81, Y:-0.43, Z:-2.01 [[ 9.99942467e-01 -4.85159687e-03 -9.56686874e-03 2.38806175e+02] [ 4.84949613e-03 9.99988212e-01 -2.42770570e-04 -4.26533438e-01] [ 9.56793379e-03 1.96362109e-04 9.99954207e-01 -2.00513340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.81592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.84, Y:-0.42, Z:-2.02 [[ 9.99946041e-01 -4.04612033e-03 -9.56791026e-03 2.38835089e+02] [ 4.04433206e-03 9.99991800e-01 -2.06244187e-04 -4.24542823e-01] [ 9.56866630e-03 1.67537252e-04 9.99954205e-01 -2.01672530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.84592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.86, Y:-0.42, Z:-2.01 [[ 9.99937820e-01 -5.73154812e-03 -9.56586058e-03 2.38863293e+02] [ 5.72916012e-03 9.99983550e-01 -2.77022633e-04 -4.23263416e-01] [ 9.56729099e-03 2.22201060e-04 9.99954208e-01 -2.00833231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.87592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:238.89, Y:-0.42, Z:-2.01 [[ 9.99935379e-01 -6.14450335e-03 -9.56464478e-03 2.38892487e+02] [ 6.14173757e-03 9.99981089e-01 -3.18513587e-04 -4.21128498e-01] [ 9.56642101e-03 2.59749467e-04 9.99954207e-01 -2.00765079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.90592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.92, Y:-0.42, Z:-2.01 [[ 9.99945000e-01 -4.30331443e-03 -9.56443348e-03 2.38922865e+02] [ 4.30039616e-03 9.99990700e-01 -3.25661502e-04 -4.18169060e-01] [ 9.56574596e-03 2.84512738e-04 9.99954207e-01 -2.01436769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.93592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:238.95, Y:-0.41, Z:-2.01 [[ 9.99948775e-01 -3.30827160e-03 -9.56567290e-03 2.38953190e+02] [ 3.30570702e-03 9.99994496e-01 -2.83901368e-04 -4.12339307e-01] [ 9.56655947e-03 2.52265514e-04 9.99954208e-01 -2.00503420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.96592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:238.98, Y:-0.41, Z:-2.00 [[ 9.99949140e-01 -3.19115212e-03 -9.56733454e-03 2.38981740e+02] [ 3.18911512e-03 9.99994889e-01 -2.28160315e-04 -4.10326716e-01] [ 9.56801373e-03 1.97637380e-04 9.99954206e-01 -2.00280176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.99592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.01, Y:-0.41, Z:-2.01 [[ 9.99948404e-01 -3.41335866e-03 -9.56756810e-03 2.39009261e+02] [ 3.41140568e-03 9.99994157e-01 -2.20437397e-04 -4.06853392e-01] [ 9.56826463e-03 1.87787167e-04 9.99954205e-01 -2.01200992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.02592 meters Centerline goodness : 0.980931 Centerline is valid? [True, True] Translation: X:239.01, Y:-0.38, Z:-2.03 [[ 9.98826744e-01 4.74725258e-02 -9.56529876e-03 2.39005223e+02] [-4.74775069e-02 9.98872264e-01 -2.94216711e-04 -3.82486191e-01] [ 9.54054442e-03 7.48008058e-04 9.99954208e-01 -2.02572924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.05592000000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.07, Y:-0.40, Z:-2.01 [[ 9.99954362e-01 7.36299775e-04 -9.52535839e-03 2.39065511e+02] [-7.51194909e-04 9.99998501e-01 -1.56025146e-03 -3.96435038e-01] [ 9.52419529e-03 1.56733565e-03 9.99953415e-01 -2.00517778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.08592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.09, Y:-0.40, Z:-2.00 [[ 9.99953989e-01 -8.01514440e-04 -9.55917225e-03 2.39093543e+02] [ 7.99296715e-04 9.99999653e-01 -2.35817824e-04 -3.95392706e-01] [ 9.55935794e-03 2.28166359e-04 9.99954282e-01 -2.00435300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.11592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.12, Y:-0.39, Z:-2.01 [[ 9.99953867e-01 -9.53088573e-04 -9.55800087e-03 2.39124255e+02] [ 9.50444981e-04 9.99999509e-01 -2.81122689e-04 -3.93563196e-01] [ 9.55826411e-03 2.72025366e-04 9.99954282e-01 -2.01286074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.14592000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.15, Y:-0.39, Z:-2.01 [[ 9.99950360e-01 -2.81178194e-03 -9.55888526e-03 2.39153335e+02] [ 2.80955033e-03 9.99996023e-01 -2.46880466e-04 -3.90060043e-01] [ 9.55954142e-03 2.20012041e-04 9.99954282e-01 -2.01247219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.17592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:239.18, Y:-0.39, Z:-2.00 [[ 9.99939719e-01 -5.40243419e-03 -9.55885276e-03 2.39182858e+02] [ 5.40030892e-03 9.99985387e-01 -2.48132482e-04 -3.88534095e-01] [ 9.56005360e-03 1.96496767e-04 9.99954282e-01 -1.99981820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.20592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:239.21, Y:-0.39, Z:-2.00 [[ 9.99934948e-01 -6.22367973e-03 -9.55849097e-03 2.39212308e+02] [ 6.22145923e-03 9.99980612e-01 -2.62023946e-04 -3.85981273e-01] [ 9.55993641e-03 2.02539139e-04 9.99954282e-01 -2.00061322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.23592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:239.24, Y:-0.38, Z:-2.00 [[ 9.99932544e-01 -6.59780439e-03 -9.55913769e-03 2.39241197e+02] [ 6.59583823e-03 9.99978219e-01 -2.37194633e-04 -3.84032500e-01] [ 9.56049445e-03 1.74128107e-04 9.99954282e-01 -2.00093051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.26592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.27, Y:-0.38, Z:-2.01 [[ 9.99926050e-01 -7.51773771e-03 -9.55917773e-03 2.39269910e+02] [ 7.51582815e-03 9.99971728e-01 -2.35669980e-04 -3.80202517e-01] [ 9.56067918e-03 1.63807415e-04 9.99954282e-01 -2.01268074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.29592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.30, Y:-0.38, Z:-2.01 [[ 9.99927735e-01 -7.29078580e-03 -9.55869232e-03 2.39297850e+02] [ 7.28869126e-03 9.99973405e-01 -2.53941493e-04 -3.78388417e-01] [ 9.56028954e-03 1.84252785e-04 9.99954282e-01 -2.01163372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.32592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:239.33, Y:-0.38, Z:-2.01 [[ 9.99916313e-01 -8.71779557e-03 -9.55864155e-03 2.39326244e+02] [ 8.71574809e-03 9.99961984e-01 -2.55838610e-04 -3.75320588e-01] [ 9.56050852e-03 1.72506488e-04 9.99954282e-01 -2.01161040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.35592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:239.36, Y:-0.37, Z:-2.00 [[ 9.99888253e-01 -1.14941462e-02 -9.55860753e-03 2.39355834e+02] [ 1.14922134e-02 9.99933929e-01 -2.57103249e-04 -3.73264272e-01] [ 9.56093117e-03 1.47224960e-04 9.99954282e-01 -1.99985082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.38592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.38, Y:-0.37, Z:-2.00 [[ 9.99864411e-01 -1.34082385e-02 -9.55925485e-03 2.39384389e+02] [ 1.34066227e-02 9.99910100e-01 -2.33097521e-04 -3.72683885e-01] [ 9.56152090e-03 1.04908593e-04 9.99954282e-01 -1.99971883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.41592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.41, Y:-0.37, Z:-2.00 [[ 9.99851184e-01 -1.43608078e-02 -9.55910281e-03 2.39413450e+02] [ 1.43591819e-02 9.99896873e-01 -2.38702662e-04 -3.72098493e-01] [ 9.56154497e-03 1.01406244e-04 9.99954282e-01 -1.99943892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.44592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.44, Y:-0.37, Z:-2.00 [[ 9.99814438e-01 -1.67243696e-02 -9.55950492e-03 2.39442512e+02] [ 1.67229910e-02 9.99860136e-01 -2.24126465e-04 -3.71356111e-01] [ 9.56191626e-03 6.42213605e-05 9.99954282e-01 -1.99967312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.47592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:239.47, Y:-0.37, Z:-2.00 [[ 9.99805115e-01 -1.72730132e-02 -9.55898315e-03 2.39470376e+02] [ 1.72714814e-02 9.99850807e-01 -2.42777861e-04 -3.69956895e-01] [ 9.56175053e-03 7.76327477e-05 9.99954282e-01 -1.99843027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.50592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:239.50, Y:-0.37, Z:-2.00 [[ 9.99811204e-01 -1.69171736e-02 -9.55853036e-03 2.39499860e+02] [ 1.69154735e-02 9.99856890e-01 -2.58689933e-04 -3.68810464e-01] [ 9.56153874e-03 9.69540268e-05 9.99954283e-01 -1.99886359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.53592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:239.53, Y:-0.37, Z:-2.00 [[ 9.99806087e-01 -1.72167639e-02 -9.55884344e-03 2.39528399e+02] [ 1.72151816e-02 9.99851777e-01 -2.47795811e-04 -3.68695991e-01] [ 9.56169284e-03 8.31905344e-05 9.99954283e-01 -1.99999196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.56592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.56, Y:-0.37, Z:-2.00 [[ 9.99803168e-01 -1.73853530e-02 -9.55903558e-03 2.39556435e+02] [ 1.73838415e-02 9.99848861e-01 -2.41188840e-04 -3.68648068e-01] [ 9.56178398e-03 7.49686068e-05 9.99954282e-01 -1.99896866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.59592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:239.59, Y:-0.37, Z:-2.01 [[ 9.99787116e-01 -1.82853037e-02 -9.55874923e-03 2.39585517e+02] [ 1.82837400e-02 9.99832807e-01 -2.50959995e-04 -3.67496469e-01] [ 9.56173995e-03 7.61368844e-05 9.99954283e-01 -2.01169934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.62592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.61, Y:-0.37, Z:-2.01 [[ 9.99804466e-01 -1.73111902e-02 -9.55783765e-03 2.39614222e+02] [ 1.73092865e-02 9.99850143e-01 -2.81870589e-04 -3.66644982e-01] [ 9.56128486e-03 1.16376123e-04 9.99954283e-01 -2.01208135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.65592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:239.65, Y:-0.37, Z:-2.00 [[ 9.99827842e-01 -1.59039154e-02 -9.55780022e-03 2.39645006e+02] [ 1.59019353e-02 9.99873516e-01 -2.83133897e-04 -3.65458830e-01] [ 9.56109425e-03 1.31097632e-04 9.99954283e-01 -2.00018773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.68592 meters Centerline goodness : 0.998759 Centerline is valid? [True, True] Translation: X:239.64, Y:-0.38, Z:-2.01 [[ 9.99826572e-01 -1.59822018e-02 -9.56003763e-03 2.39641875e+02] [ 1.59809440e-02 9.99872275e-01 -2.07951873e-04 -3.75364947e-01] [ 9.56214010e-03 5.51373826e-05 9.99954280e-01 -2.00946122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.71592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:239.70, Y:-0.36, Z:-2.00 [[ 9.99911443e-01 -9.29354689e-03 -9.52553634e-03 2.39699147e+02] [ 9.28089415e-03 9.99955991e-01 -1.37164240e-03 -3.57985675e-01] [ 9.53786455e-03 1.28311544e-03 9.99953690e-01 -1.99865578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.74592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.73, Y:-0.36, Z:-2.01 [[ 9.99926027e-01 -7.52791804e-03 -9.55358419e-03 2.39728199e+02] [ 7.52605505e-03 9.99971652e-01 -2.30941004e-04 -3.57651581e-01] [ 9.55505187e-03 1.59023120e-04 9.99954337e-01 -2.01029506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.77592 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:239.76, Y:-0.36, Z:-2.00 [[ 9.99939245e-01 -5.49885696e-03 -9.55346961e-03 2.39758339e+02] [ 5.49685702e-03 9.99984864e-01 -2.35587202e-04 -3.56138897e-01] [ 9.55462048e-03 1.83058832e-04 9.99954337e-01 -1.99968044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.80592000000001 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:239.79, Y:-0.35, Z:-2.01 [[ 9.99932916e-01 -6.54654822e-03 -9.55538298e-03 2.39786828e+02] [ 6.54532697e-03 9.99978566e-01 -1.59075433e-04 -3.54799130e-01] [ 9.55621957e-03 9.65216560e-05 9.99954334e-01 -2.01147562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.83592000000002 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:239.82, Y:-0.35, Z:-2.00 [[ 9.99931934e-01 -6.69797378e-03 -9.55325572e-03 2.39816571e+02] [ 6.69595983e-03 9.99977552e-01 -2.42782575e-04 -3.52481256e-01] [ 9.55466742e-03 1.78797834e-04 9.99954337e-01 -2.00121366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.86592000000002 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:239.85, Y:-0.35, Z:-2.00 [[ 9.99938834e-01 -5.57226196e-03 -9.55394695e-03 2.39846133e+02] [ 5.57045557e-03 9.99984462e-01 -2.15673308e-04 -3.50624380e-01] [ 9.55500028e-03 1.62440279e-04 9.99954337e-01 -2.00096056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.89592000000002 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:239.87, Y:-0.35, Z:-2.00 [[ 9.99911251e-01 -9.28429532e-03 -9.55464310e-03 2.39873367e+02] [ 9.28291634e-03 9.99956895e-01 -1.88664671e-04 -3.50054585e-01] [ 9.55598287e-03 9.99529748e-05 9.99954336e-01 -2.00315636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.92592 meters Centerline goodness : 0.998957 Centerline is valid? [True, True] Translation: X:239.90, Y:-0.35, Z:-2.00 [[ 9.99908192e-01 -9.61010491e-03 -9.55270278e-03 2.39902855e+02] [ 9.60803817e-03 9.99953807e-01 -2.62221262e-04 -3.49234472e-01] [ 9.55478149e-03 1.70414455e-04 9.99954338e-01 -2.00145148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.95592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:239.93, Y:-0.35, Z:-2.01 [[ 9.99901276e-01 -1.03033334e-02 -9.55407305e-03 2.39931578e+02] [ 1.03017893e-02 9.99946913e-01 -2.10813921e-04 -3.50194748e-01] [ 9.55573794e-03 1.12369061e-04 9.99954337e-01 -2.01368623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.98592 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:239.96, Y:-0.35, Z:-2.00 [[ 9.99887917e-01 -1.15281482e-02 -9.55279019e-03 2.39960907e+02] [ 1.15262068e-02 9.99933538e-01 -2.58265277e-04 -3.50218774e-01] [ 9.55513261e-03 1.48128894e-04 9.99954338e-01 -2.00038752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.01592 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:239.99, Y:-0.35, Z:-2.00 [[ 9.99871846e-01 -1.28464307e-02 -9.55304847e-03 2.39989407e+02] [ 1.28446401e-02 9.99917473e-01 -2.48772016e-04 -3.51392850e-01] [ 9.55545593e-03 1.26034666e-04 9.99954338e-01 -1.99949341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.04591999999997 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:240.02, Y:-0.35, Z:-2.00 [[ 9.99859533e-01 -1.37713346e-02 -9.55326477e-03 2.40018019e+02] [ 1.37696613e-02 9.99905165e-01 -2.40915610e-04 -3.51739972e-01] [ 9.55567652e-03 1.09336550e-04 9.99954338e-01 -2.00108343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.07592 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:240.05, Y:-0.35, Z:-2.00 [[ 9.99856543e-01 -1.39868670e-02 -9.55304106e-03 2.40046326e+02] [ 1.39851261e-02 9.99902172e-01 -2.49014122e-04 -3.51021873e-01] [ 9.55558944e-03 1.15377916e-04 9.99954338e-01 -2.00081238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.10591999999997 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:240.07, Y:-0.35, Z:-2.00 [[ 9.99827286e-01 -1.59417099e-02 -9.55298314e-03 2.40074225e+02] [ 1.59400384e-02 9.99872918e-01 -2.51094505e-04 -3.52902389e-01] [ 9.55577200e-03 9.87762199e-05 9.99954338e-01 -1.99937131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.13592 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:240.10, Y:-0.35, Z:-2.00 [[ 9.99846909e-01 -1.46600297e-02 -9.55211180e-03 2.40103249e+02] [ 1.46580030e-02 9.99892526e-01 -2.82155959e-04 -3.52626423e-01] [ 9.55522161e-03 1.42097880e-04 9.99954338e-01 -1.99959633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.16591999999997 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:240.13, Y:-0.35, Z:-2.00 [[ 9.99851180e-01 -1.43653779e-02 -9.55272914e-03 2.40132414e+02] [ 1.43635477e-02 9.99896805e-01 -2.60168432e-04 -3.51970018e-01] [ 9.55548076e-03 1.22918633e-04 9.99954338e-01 -1.99893327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.19592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.16, Y:-0.35, Z:-2.01 [[ 9.99877738e-01 -1.23794726e-02 -9.55287717e-03 2.40161763e+02] [ 1.23776018e-02 9.99923362e-01 -2.54941940e-04 -3.50750026e-01] [ 9.55530111e-03 1.36669061e-04 9.99954338e-01 -2.01131156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.22592 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:240.19, Y:-0.35, Z:-2.00 [[ 9.99893244e-01 -1.10567759e-02 -9.55234897e-03 2.40191480e+02] [ 1.10546684e-02 9.99938858e-01 -2.73397228e-04 -3.49201363e-01] [ 9.55478781e-03 1.67769991e-04 9.99954338e-01 -1.99845256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.25592 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:240.22, Y:-0.35, Z:-2.00 [[ 9.99917627e-01 -8.57375996e-03 -9.55141145e-03 2.40222287e+02] [ 8.57122599e-03 9.99963219e-01 -3.06201451e-04 -3.47135734e-01] [ 9.55368544e-03 2.24308923e-04 9.99954337e-01 -1.99823607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.28592 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:240.25, Y:-0.34, Z:-2.00 [[ 9.99923939e-01 -7.80125119e-03 -9.55280600e-03 2.40251143e+02] [ 7.79914622e-03 9.99969553e-01 -2.57584072e-04 -3.44804445e-01] [ 9.55452463e-03 1.83060750e-04 9.99954338e-01 -1.99768322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.31591999999995 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:240.28, Y:-0.34, Z:-2.00 [[ 9.99931442e-01 -6.77144962e-03 -9.55289366e-03 2.40279790e+02] [ 6.76932662e-03 9.99977055e-01 -2.54553184e-04 -3.41344616e-01] [ 9.55439817e-03 1.89869075e-04 9.99954338e-01 -1.99570802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.34592 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:240.31, Y:-0.34, Z:-1.99 [[ 9.99932274e-01 -6.64756583e-03 -9.55289192e-03 2.40309725e+02] [ 6.64543661e-03 9.99977886e-01 -2.54612699e-04 -3.39450621e-01] [ 9.55437323e-03 1.91112317e-04 9.99954338e-01 -1.99361435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.37591999999995 meters Centerline goodness : 0.998907 Centerline is valid? [True, True] Translation: X:240.34, Y:-0.34, Z:-1.99 [[ 9.99935066e-01 -6.21300324e-03 -9.55314369e-03 2.40339404e+02] [ 6.21093592e-03 9.99980682e-01 -2.46055101e-04 -3.35305389e-01] [ 9.55448788e-03 1.86705161e-04 9.99954337e-01 -1.99359345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.40592 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:240.37, Y:-0.33, Z:-1.99 [[ 9.99923454e-01 -7.86284623e-03 -9.55308230e-03 2.40367669e+02] [ 7.86083437e-03 9.99969072e-01 -2.48128468e-04 -3.30649935e-01] [ 9.55473784e-03 1.73014278e-04 9.99954337e-01 -1.99390036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.43591999999995 meters Centerline goodness : 0.998808 Centerline is valid? [True, True] Translation: X:240.40, Y:-0.33, Z:-1.99 [[ 9.99919655e-01 -8.33254886e-03 -9.55263075e-03 2.40396725e+02] [ 8.33041487e-03 9.99965267e-01 -2.63161435e-04 -3.28002711e-01] [ 9.55449176e-03 1.83562914e-04 9.99954338e-01 -1.99389117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.46592 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:240.43, Y:-0.33, Z:-2.00 [[ 9.99916010e-01 -8.75951441e-03 -9.55214646e-03 2.40425430e+02] [ 8.75724791e-03 9.99961616e-01 -2.79077398e-04 -3.25681617e-01] [ 9.55422439e-03 1.95403444e-04 9.99954338e-01 -1.99597179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.49591999999996 meters Centerline goodness : 0.998957 Centerline is valid? [True, True] Translation: X:240.45, Y:-0.32, Z:-1.99 [[ 9.99902190e-01 -1.02159072e-02 -9.55222704e-03 2.40454824e+02] [ 1.02137322e-02 9.99947800e-01 -2.76448604e-04 -3.22169823e-01] [ 9.55455259e-03 1.78857676e-04 9.99954338e-01 -1.99484376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.52592 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:240.48, Y:-0.32, Z:-1.99 [[ 9.99895999e-01 -1.08047794e-02 -9.55241869e-03 2.40483266e+02] [ 1.08026905e-02 9.99941613e-01 -2.70245015e-04 -3.19863054e-01] [ 9.55478089e-03 1.67025086e-04 9.99954338e-01 -1.99402470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.55591999999996 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:240.51, Y:-0.32, Z:-2.01 [[ 9.99870926e-01 -1.29182989e-02 -9.55239734e-03 2.40512809e+02] [ 1.29162999e-02 9.99916544e-01 -2.70930808e-04 -3.16598516e-01] [ 9.55510010e-03 1.47514209e-04 9.99954338e-01 -2.00783385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.58592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:240.54, Y:-0.32, Z:-2.01 [[ 9.99844098e-01 -1.48508697e-02 -9.55152169e-03 2.40541505e+02] [ 1.48486916e-02 9.99889707e-01 -2.98911817e-04 -3.15023578e-01] [ 9.55490732e-03 1.57037616e-04 9.99954339e-01 -2.00825150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.61591999999996 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:240.57, Y:-0.31, Z:-2.01 [[ 9.99790064e-01 -1.81272576e-02 -9.55148223e-03 2.40570442e+02] [ 1.81252171e-02 9.99835680e-01 -3.00167211e-04 -3.13902577e-01] [ 9.55535394e-03 1.26981506e-04 9.99954339e-01 -2.01054070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.64592 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:240.60, Y:-0.31, Z:-2.00 [[ 9.99750153e-01 -2.02089594e-02 -9.55144278e-03 2.40599990e+02] [ 2.02070018e-02 9.99795772e-01 -3.01417292e-04 -3.13610726e-01] [ 9.55558344e-03 1.08335961e-04 9.99954339e-01 -1.99771132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.67591999999996 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:240.63, Y:-0.31, Z:-1.99 [[ 9.99675889e-01 -2.35984761e-02 -9.55133588e-03 2.40630069e+02] [ 2.35966409e-02 9.99721514e-01 -3.04804866e-04 -3.13309063e-01] [ 9.55586889e-03 7.93266325e-05 9.99954338e-01 -1.99404070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.70592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:240.66, Y:-0.31, Z:-2.01 [[ 9.99624925e-01 -2.56665514e-02 -9.55187389e-03 2.40660179e+02] [ 2.56649724e-02 9.99670559e-01 -2.87868662e-04 -3.12721039e-01] [ 9.55611570e-03 4.26121098e-05 9.99954338e-01 -2.01079836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.73591999999996 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:240.69, Y:-0.31, Z:-2.00 [[ 9.99531093e-01 -2.90923734e-02 -9.55130126e-03 2.40690305e+02] [ 2.90907799e-02 9.99576727e-01 -3.05756549e-04 -3.13998737e-01] [ 9.55615364e-03 2.77583747e-05 9.99954339e-01 -1.99900546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.76592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:240.72, Y:-0.32, Z:-2.00 [[ 9.99520509e-01 -2.94538323e-02 -9.55111162e-03 2.40720334e+02] [ 2.94521986e-02 9.99566141e-01 -3.11688909e-04 -3.15085006e-01] [ 9.55614822e-03 3.02382205e-05 9.99954339e-01 -1.99863704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.79591999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.75, Y:-0.32, Z:-2.01 [[ 9.99461381e-01 -3.13959794e-02 -9.55200600e-03 2.40750418e+02] [ 3.13947013e-02 9.99507025e-01 -2.83759034e-04 -3.17895578e-01] [ 9.55620599e-03 -1.62761795e-05 9.99954338e-01 -2.01113944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.82592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:240.78, Y:-0.32, Z:-2.01 [[ 9.99451733e-01 -3.17018491e-02 -9.55124331e-03 2.40779605e+02] [ 3.17003585e-02 9.99497370e-01 -3.07452738e-04 -3.18210477e-01] [ 9.55618939e-03 4.50633532e-06 9.99954339e-01 -2.00978224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.85591999999997 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:240.81, Y:-0.32, Z:-2.00 [[ 9.99515322e-01 -2.96293121e-02 -9.55120330e-03 2.40809387e+02] [ 2.96277151e-02 9.99560955e-01 -3.08690413e-04 -3.20876690e-01] [ 9.55615618e-03 2.55604667e-05 9.99954339e-01 -1.99506534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.88592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:240.84, Y:-0.32, Z:-2.00 [[ 9.99549456e-01 -2.84544220e-02 -9.55153490e-03 2.40838005e+02] [ 2.84528687e-02 9.99595091e-01 -2.98502805e-04 -3.21815030e-01] [ 9.55616111e-03 2.65997485e-05 9.99954338e-01 -1.99615245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.91591999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.87, Y:-0.32, Z:-2.01 [[ 9.99683433e-01 -2.32763566e-02 -9.55226226e-03 2.40866670e+02] [ 2.32747802e-02 9.99729067e-01 -2.76183881e-04 -3.21940241e-01] [ 9.55610280e-03 5.37696459e-05 9.99954338e-01 -2.01305018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.94592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:240.90, Y:-0.32, Z:-2.00 [[ 9.99681272e-01 -2.33694388e-02 -9.55107989e-03 2.40896940e+02] [ 2.33675212e-02 9.99726893e-01 -3.12340118e-04 -3.21688712e-01] [ 9.55577064e-03 8.90555052e-05 9.99954339e-01 -1.99555899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.97592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:240.93, Y:-0.32, Z:-2.01 [[ 9.99753138e-01 -2.00599318e-02 -9.55307709e-03 2.40925519e+02] [ 2.00584464e-02 9.99798778e-01 -2.51285172e-04 -3.21743975e-01] [ 9.55619556e-03 5.96032546e-05 9.99954337e-01 -2.00793083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.00592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.95, Y:-0.32, Z:-2.01 [[ 9.99777112e-01 -1.88283097e-02 -9.55098355e-03 2.40953789e+02] [ 1.88261613e-02 9.99822723e-01 -3.14803006e-04 -3.20338169e-01] [ 9.55521758e-03 1.34924483e-04 9.99954339e-01 -2.00688164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.03592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.98, Y:-0.32, Z:-2.01 [[ 9.99822749e-01 -1.62249857e-02 -9.55092154e-03 2.40982345e+02] [ 1.62227007e-02 9.99868353e-01 -3.16673150e-04 -3.17684533e-01] [ 9.55480221e-03 1.61675278e-04 9.99954339e-01 -2.00618606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.06591999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.01, Y:-0.31, Z:-2.01 [[ 9.99867134e-01 -1.32096422e-02 -9.55087986e-03 2.41011380e+02] [ 1.32072077e-02 9.99912730e-01 -3.17925088e-04 -3.13082094e-01] [ 9.55424604e-03 1.91742393e-04 9.99954339e-01 -2.00558658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.09592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:241.04, Y:-0.31, Z:-1.99 [[ 9.99898228e-01 -1.05978417e-02 -9.55083806e-03 2.41037304e+02] [ 1.05952761e-02 9.99943818e-01 -3.19176055e-04 -3.09943249e-01] [ 9.55368405e-03 2.17949805e-04 9.99954339e-01 -1.99412837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.12591999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.07, Y:-0.31, Z:-2.00 [[ 9.99907837e-01 -9.65110903e-03 -9.54843919e-03 2.41068475e+02] [ 9.64781680e-03 9.99953382e-01 -3.90795762e-04 -3.06228552e-01] [ 9.55176568e-03 2.98638153e-04 9.99954336e-01 -2.00398576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.15592 meters Centerline goodness : 0.997569 Centerline is valid? [True, True] Translation: X:241.06, Y:-0.31, Z:-2.01 [[ 9.99935076e-01 -6.21482255e-03 -9.55085356e-03 2.41062948e+02] [ 6.21206496e-03 9.99980654e-01 -3.18366607e-04 -3.14857901e-01] [ 9.55264738e-03 2.59015415e-04 9.99954339e-01 -2.00701773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.18591999999995 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:241.13, Y:-0.29, Z:-1.99 [[ 9.99954725e-01 7.90416490e-05 -9.51530503e-03 2.41125197e+02] [-9.31470641e-05 9.99998898e-01 -1.48195828e-03 -2.94606986e-01] [ 9.51517740e-03 1.48277751e-03 9.99953630e-01 -1.99371252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.21592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:241.17, Y:-0.29, Z:-2.03 [[ 9.99734257e-01 -2.09824871e-02 -9.54727341e-03 2.41167250e+02] [ 2.09816290e-02 9.99779843e-01 -1.90040268e-04 -2.87943396e-01] [ 9.54915903e-03 -1.03275830e-05 9.99954406e-01 -2.02506671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.24591999999996 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:241.18, Y:-0.29, Z:-1.99 [[ 9.99938631e-01 -5.59777914e-03 -9.56031691e-03 2.41183533e+02] [ 5.60110560e-03 9.99984262e-01 3.21205371e-04 -2.91451130e-01] [ 9.55836841e-03 -3.74734003e-04 9.99954248e-01 -1.99199776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.27592 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:241.21, Y:-0.29, Z:-1.99 [[ 9.99927699e-01 -7.31547485e-03 -9.54359496e-03 2.41212692e+02] [ 7.31310427e-03 9.99973219e-01 -2.83268801e-04 -2.88387247e-01] [ 9.54541162e-03 2.13455016e-04 9.99954419e-01 -1.99214996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.30591999999996 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:241.24, Y:-0.29, Z:-1.99 [[ 9.99893897e-01 -1.10050931e-02 -9.54367819e-03 2.41241869e+02] [ 1.10029191e-02 9.99939427e-01 -2.80272187e-04 -2.85609491e-01] [ 9.54618452e-03 1.75234130e-04 9.99954419e-01 -1.99262414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.33592 meters Centerline goodness : 0.998758 Centerline is valid? [True, True] Translation: X:241.27, Y:-0.28, Z:-1.99 [[ 9.99855080e-01 -1.40974640e-02 -9.54364151e-03 2.41269216e+02] [ 1.40954183e-02 9.99900615e-01 -2.81590162e-04 -2.83748853e-01] [ 9.54666273e-03 1.47027735e-04 9.99954419e-01 -1.99180455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.36591999999996 meters Centerline goodness : 0.998510 Centerline is valid? [True, True] Translation: X:241.30, Y:-0.28, Z:-1.99 [[ 9.99821765e-01 -1.62903769e-02 -9.54262721e-03 2.41298441e+02] [ 1.62880825e-02 9.99867290e-01 -3.18109461e-04 -2.82212735e-01] [ 9.54654293e-03 1.62621663e-04 9.99954417e-01 -1.99349199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.39592 meters Centerline goodness : 0.998358 Centerline is valid? [True, True] Translation: X:241.33, Y:-0.28, Z:-1.99 [[ 9.99763776e-01 -1.95276344e-02 -9.54277395e-03 2.41326465e+02] [ 1.95255378e-02 9.99809310e-01 -3.12834484e-04 -2.79702505e-01] [ 9.54706316e-03 1.26432792e-04 9.99954418e-01 -1.99140979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.42591999999996 meters Centerline goodness : 0.998857 Centerline is valid? [True, True] Translation: X:241.36, Y:-0.28, Z:-2.00 [[ 9.99782928e-01 -1.85212241e-02 -9.54260672e-03 2.41357755e+02] [ 1.85190241e-02 9.99828457e-01 -3.18857347e-04 -2.76583352e-01] [ 9.54687538e-03 1.42068367e-04 9.99954417e-01 -2.00461710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.45592 meters Centerline goodness : 0.998201 Centerline is valid? [True, True] Translation: X:241.39, Y:-0.27, Z:-1.99 [[ 9.99804121e-01 -1.73386764e-02 -9.54413800e-03 2.41387730e+02] [ 1.73369522e-02 9.99849669e-01 -2.63365357e-04 -2.73703672e-01] [ 9.54726963e-03 9.78475044e-05 9.99954419e-01 -1.99120801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.48591999999996 meters Centerline goodness : 0.905050 Centerline is valid? [True, False] Translation: X:241.38, Y:-0.26, Z:-1.99 [[ 9.99957325e-01 -8.27726037e-03 -4.10306617e-03 2.41381823e+02] [ 8.22601385e-03 9.99889860e-01 -1.23531790e-02 -2.59777983e-01] [ 4.20486473e-03 1.23188999e-02 9.99915278e-01 -1.98914341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.51592 meters Centerline goodness : 0.998805 Centerline is valid? [False, True] Translation: X:241.38, Y:-0.26, Z:-1.99 [[ 9.99957559e-01 -8.23598501e-03 -4.12901534e-03 2.41381828e+02] [ 8.18034208e-03 9.99877868e-01 -1.33165499e-02 -2.55435877e-01] [ 4.23818596e-03 1.32822080e-02 9.99902806e-01 -1.98889728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.54591999999997 meters Centerline goodness : 0.998312 Centerline is valid? [True, True] Translation: X:241.41, Y:-0.27, Z:-1.98 [[ 9.99945788e-01 -9.44019598e-03 -4.39363583e-03 2.41410621e+02] [ 9.43990149e-03 9.99955439e-01 -8.77597645e-05 -2.66150850e-01] [ 4.39426851e-03 4.62795175e-05 9.99990344e-01 -1.97608974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.57592 meters Centerline goodness : 0.998111 Centerline is valid? [True, True] Translation: X:241.44, Y:-0.26, Z:-1.98 [[ 9.99920145e-01 -1.18491522e-02 -4.39336758e-03 2.41437922e+02] [ 1.18488223e-02 9.99929795e-01 -1.01116853e-04 -2.64484602e-01] [ 4.39425729e-03 4.90525465e-05 9.99990344e-01 -1.97654535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.60591999999997 meters Centerline goodness : 0.998759 Centerline is valid? [True, True] Translation: X:241.47, Y:-0.26, Z:-1.99 [[ 9.99910834e-01 -1.26105819e-02 -4.39287822e-03 2.41468720e+02] [ 1.26101526e-02 9.99920481e-01 -1.25398271e-04 -2.60981293e-01] [ 4.39411025e-03 6.99922250e-05 9.99990343e-01 -1.98885398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.63592 meters Centerline goodness : 0.998858 Centerline is valid? [True, True] Translation: X:241.50, Y:-0.26, Z:-1.99 [[ 9.99897475e-01 -1.36284812e-02 -4.39363421e-03 2.41497978e+02] [ 1.36282288e-02 9.99907128e-01 -8.73904463e-05 -2.58617967e-01] [ 4.39441716e-03 2.75040343e-05 9.99990344e-01 -1.98932962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.66591999999997 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:241.53, Y:-0.26, Z:-1.99 [[ 9.99883577e-01 -1.46126453e-02 -4.39362274e-03 2.41526265e+02] [ 1.46123999e-02 9.99893229e-01 -8.79634764e-05 -2.57106389e-01] [ 4.39443901e-03 2.37518631e-05 9.99990344e-01 -1.98838533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.69592 meters Centerline goodness : 0.998560 Centerline is valid? [True, True] Translation: X:241.56, Y:-0.25, Z:-1.99 [[ 9.99841359e-01 -1.72613018e-02 -4.39360848e-03 2.41555126e+02] [ 1.72610788e-02 9.99851013e-01 -8.86699754e-05 -2.54929585e-01] [ 4.39448445e-03 1.28174866e-05 9.99990344e-01 -1.98833441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.72592 meters Centerline goodness : 0.998016 Centerline is valid? [True, True] Translation: X:241.58, Y:-0.25, Z:-1.97 [[ 9.99782106e-01 -2.04068041e-02 -4.39359686e-03 2.41582954e+02] [ 2.04066089e-02 9.99791759e-01 -8.92420165e-05 -2.53787998e-01] [ 4.39450308e-03 -4.35841758e-07 9.99990344e-01 -1.97488461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.75592 meters Centerline goodness : 0.998313 Centerline is valid? [True, True] Translation: X:241.61, Y:-0.25, Z:-1.97 [[ 9.99715289e-01 -2.34530395e-02 -4.39277623e-03 2.41611896e+02] [ 2.34526962e-02 9.99724939e-01 -1.29656590e-04 -2.52676488e-01] [ 4.39460879e-03 2.65972284e-05 9.99990343e-01 -1.97380450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.78592 meters Centerline goodness : 0.998062 Centerline is valid? [True, True] Translation: X:241.64, Y:-0.25, Z:-1.97 [[ 9.99651542e-01 -2.60288047e-02 -4.39280220e-03 2.41641413e+02] [ 2.60284919e-02 9.99661193e-01 -1.28370627e-04 -2.52197585e-01] [ 4.39465522e-03 1.39878791e-05 9.99990343e-01 -1.97202695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.81591999999995 meters Centerline goodness : 0.998907 Centerline is valid? [True, True] Translation: X:241.67, Y:-0.25, Z:-1.99 [[ 9.99625435e-01 -2.70128851e-02 -4.39251129e-03 2.41674050e+02] [ 2.70125178e-02 9.99635085e-01 -1.42937516e-04 -2.53052606e-01] [ 4.39476955e-03 2.42311866e-05 9.99990343e-01 -1.98933119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.84592 meters Centerline goodness : 0.998910 Centerline is valid? [True, True] Translation: X:241.70, Y:-0.25, Z:-1.99 [[ 9.99554397e-01 -2.95246385e-02 -4.39363163e-03 2.41703253e+02] [ 2.95245497e-02 9.99564052e-01 -8.50876269e-05 -2.54281031e-01] [ 4.39422841e-03 -4.46702838e-05 9.99990344e-01 -1.98971312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.87591999999995 meters Centerline goodness : 0.834642 Centerline is valid? [True, False] Translation: X:241.70, Y:-0.25, Z:-1.99 [[ 9.99836196e-01 -1.80796428e-02 -8.41010579e-04 2.41700611e+02] [ 1.80718468e-02 9.99800543e-01 -8.50191108e-03 -2.47257980e-01] [ 9.94554349e-04 8.48531982e-03 9.99963504e-01 -1.98954397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.90592 meters Centerline goodness : 0.998908 Centerline is valid? [False, True] Translation: X:241.70, Y:-0.24, Z:-1.99 [[ 9.99949370e-01 -6.94407526e-03 7.28272868e-03 2.41696428e+02] [ 7.05756444e-03 9.99852229e-01 -1.56751655e-02 -2.41347565e-01] [-7.17280297e-03 1.57257701e-02 9.99850614e-01 -1.99004721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.93591999999995 meters Centerline goodness : 0.832927 Centerline is valid? [True, False] Translation: X:241.70, Y:-0.25, Z:-1.99 [[ 9.99970006e-01 -3.03094413e-03 7.12747165e-03 2.41696802e+02] [ 3.09598392e-03 9.99953510e-01 -9.13196793e-03 -2.52191324e-01] [-7.09946180e-03 9.15376057e-03 9.99932901e-01 -1.99080644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.96592 meters Centerline goodness : 0.832927 Centerline is valid? [False, False] Translation: X:241.70, Y:-0.25, Z:-1.99 [[ 9.99970930e-01 -2.96716489e-03 7.02385479e-03 2.41697124e+02] [ 3.03105430e-03 9.99953973e-01 -9.10295996e-03 -2.52441189e-01] [-6.99652152e-03 9.12398503e-03 9.99933899e-01 -1.99081700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.99591999999996 meters Centerline goodness : 0.997967 Centerline is valid? [False, True] Translation: X:241.70, Y:-0.26, Z:-1.99 [[ 9.99971689e-01 -3.04224880e-03 6.88224766e-03 2.41697507e+02] [ 3.09909177e-03 9.99961052e-01 -8.26383008e-03 -2.56397858e-01] [-6.85683898e-03 8.28492484e-03 9.99942170e-01 -1.99122127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.02592 meters Centerline goodness : 0.998611 Centerline is valid? [True, True] Translation: X:241.73, Y:-0.27, Z:-2.01 [[ 9.99965384e-01 -4.39502565e-03 7.06507389e-03 2.41729058e+02] [ 4.39637723e-03 9.99990320e-01 -1.75785130e-04 -2.72301208e-01] [-7.06423293e-03 2.06839775e-04 9.99975027e-01 -2.00565586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.05591999999996 meters Centerline goodness : 0.998461 Centerline is valid? [True, True] Translation: X:241.76, Y:-0.28, Z:-2.01 [[ 9.99956499e-01 -6.08929293e-03 7.06539378e-03 2.41760902e+02] [ 6.09058816e-03 9.99981439e-01 -1.61818256e-04 -2.76768189e-01] [-7.06427728e-03 2.04843621e-04 9.99975027e-01 -2.00662476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.08592 meters Centerline goodness : 0.998264 Centerline is valid? [True, True] Translation: X:241.79, Y:-0.29, Z:-2.00 [[ 9.99928411e-01 -9.65680158e-03 7.06532268e-03 2.41790173e+02] [ 9.65820728e-03 9.99953345e-01 -1.64865110e-04 -2.86856563e-01] [-7.06340098e-03 2.33091658e-04 9.99975027e-01 -1.99630718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.11591999999996 meters Centerline goodness : 0.998361 Centerline is valid? [True, True] Translation: X:241.82, Y:-0.29, Z:-2.01 [[ 9.99939335e-01 -8.44874764e-03 7.06720189e-03 2.41823052e+02] [ 8.44955137e-03 9.99964298e-01 -8.38768375e-05 -2.92043007e-01] [-7.06624092e-03 1.43586435e-04 9.99975023e-01 -2.00575560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.14592 meters Centerline goodness : 0.998611 Centerline is valid? [True, True] Translation: X:241.85, Y:-0.30, Z:-2.01 [[ 9.99934859e-01 -8.96443388e-03 7.06523817e-03 2.41854572e+02] [ 8.96583717e-03 9.99959792e-01 -1.66971047e-04 -3.01769980e-01] [-7.06345729e-03 2.30305946e-04 9.99975027e-01 -2.00555901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.17591999999996 meters Centerline goodness : 0.998659 Centerline is valid? [True, True] Translation: X:241.91, Y:-0.31, Z:-2.00 [[ 9.99817420e-01 -1.77541516e-02 7.06517137e-03 2.41909559e+02] [ 1.77557936e-02 9.99842339e-01 -1.69751421e-04 -3.06898537e-01] [-7.06104367e-03 2.95168152e-04 9.99975027e-01 -2.00193786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.20592 meters Centerline goodness : 0.998660 Centerline is valid? [True, True] Translation: X:241.91, Y:-0.32, Z:-2.00 [[ 9.99895459e-01 -1.26276575e-02 7.04364050e-03 2.41911880e+02] [ 1.26350312e-02 9.99919671e-01 -1.00334523e-03 -3.19543456e-01] [-7.03040479e-03 1.09223696e-03 9.99974690e-01 -2.00454142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.23591999999996 meters Centerline goodness : 0.998660 Centerline is valid? [True, True] Translation: X:241.94, Y:-0.33, Z:-2.01 [[ 9.99912685e-01 -1.11693544e-02 7.06171871e-03 2.41944677e+02] [ 1.11706884e-02 9.99937595e-01 -1.49493243e-04 -3.25349544e-01] [-7.05960828e-03 2.28364450e-04 9.99975055e-01 -2.00506059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.26592 meters Centerline goodness : 0.997711 Centerline is valid? [True, True] Translation: X:241.97, Y:-0.33, Z:-1.99 [[ 9.99910219e-01 -1.13880127e-02 7.06164345e-03 2.41973750e+02] [ 1.13893767e-02 9.99935127e-01 -1.52967838e-04 -3.30541412e-01] [-7.05944334e-03 2.33381822e-04 9.99975055e-01 -1.98846959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.29591999999997 meters Centerline goodness : 0.998213 Centerline is valid? [True, True] Translation: X:242.01, Y:-0.34, Z:-1.99 [[ 9.99952943e-01 -6.65023355e-03 7.06294978e-03 2.42006386e+02] [ 6.65105037e-03 9.99977877e-01 -9.21653593e-05 -3.37031751e-01] [-7.06218060e-03 1.39137057e-04 9.99975053e-01 -1.98967755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.32592 meters Centerline goodness : 0.998412 Centerline is valid? [True, True] Translation: X:242.04, Y:-0.34, Z:-1.99 [[ 9.99969515e-01 -3.33043181e-03 7.06237240e-03 2.42036784e+02] [ 3.33135300e-03 9.99994444e-01 -1.18676971e-04 -3.39787028e-01] [-7.06193792e-03 1.42200609e-04 9.99975054e-01 -1.99048176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.35591999999997 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:242.07, Y:-0.34, Z:-2.01 [[ 9.99974466e-01 1.09288863e-03 7.06211973e-03 2.42068272e+02] [-1.09199725e-03 9.99999395e-01 -1.30074117e-04 -3.44506992e-01] [-7.06225761e-03 1.22358981e-04 9.99975054e-01 -2.00545163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.38592 meters Centerline goodness : 0.999405 Centerline is valid? [True, True] Translation: X:242.10, Y:-0.35, Z:-2.01 [[ 9.99962391e-01 5.03505372e-03 7.06152083e-03 2.42100155e+02] [-5.03407046e-03 9.99987317e-01 -1.57009647e-04 -3.49045638e-01] [-7.06222182e-03 1.21455549e-04 9.99975055e-01 -2.00752704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.41591999999997 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:242.13, Y:-0.35, Z:-2.01 [[ 9.99954407e-01 6.42805549e-03 7.06150081e-03 2.42132046e+02] [-6.42710063e-03 9.99979334e-01 -1.57905082e-04 -3.51322837e-01] [-7.06236989e-03 1.12512906e-04 9.99975055e-01 -2.00864352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.44592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:242.16, Y:-0.35, Z:-2.01 [[ 9.99948824e-01 7.24457611e-03 7.06148067e-03 2.42164502e+02] [-7.24363529e-03 9.99973752e-01 -1.58800333e-04 -3.54144050e-01] [-7.06244577e-03 1.07641415e-04 9.99975055e-01 -2.00994581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.47592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.20, Y:-0.36, Z:-2.01 [[ 9.99928362e-01 9.66473605e-03 7.06144961e-03 2.42195697e+02] [-9.66384589e-03 9.99953291e-01 -1.60170076e-04 -3.57151990e-01] [-7.06266778e-03 9.19178405e-05 9.99975055e-01 -2.00592854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.50592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.23, Y:-0.36, Z:-2.01 [[ 9.99917110e-01 1.07657223e-02 7.06207526e-03 2.42227757e+02] [-1.07650529e-02 9.99942046e-01 -1.32791437e-04 -3.57682572e-01] [-7.06309558e-03 5.67568159e-05 9.99975054e-01 -2.00899738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.53592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.26, Y:-0.36, Z:-1.99 [[ 9.99871344e-01 1.44025343e-02 7.06134501e-03 2.42258443e+02] [-1.44017339e-02 9.99896276e-01 -1.64196285e-04 -3.60316352e-01] [-7.06297743e-03 6.24795487e-05 9.99975055e-01 -1.99317189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.56591999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.29, Y:-0.36, Z:-2.01 [[ 9.99845468e-01 1.60988131e-02 7.06181438e-03 2.42288827e+02] [-1.60981976e-02 9.99870405e-01 -1.43999420e-04 -3.62089637e-01] [-7.06321742e-03 3.02946841e-05 9.99975055e-01 -2.01172408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.59592 meters Centerline goodness : 0.929845 Centerline is valid? [True, False] Translation: X:242.29, Y:-0.36, Z:-2.01 [[ 9.99945700e-01 7.78194282e-03 6.93094243e-03 2.42289018e+02] [-7.71549760e-03 9.99924513e-01 -9.56244125e-03 -3.57817091e-01] [-7.00483360e-03 9.50844634e-03 9.99930258e-01 -2.01154605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.62591999999995 meters Centerline goodness : 1.000000 Centerline is valid? [False, True] Translation: X:242.27, Y:-0.37, Z:-2.01 [[ 9.99955149e-01 6.73990001e-03 6.65387745e-03 2.42269998e+02] [-6.75264456e-03 9.99975406e-01 1.89475232e-03 -3.67902454e-01] [-6.64094336e-03 -1.93959861e-03 9.99976068e-01 -2.01382440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.65592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.30, Y:-0.37, Z:-2.00 [[ 9.99950769e-01 7.38561897e-03 6.62656997e-03 2.42299873e+02] [-7.38517700e-03 9.99972725e-01 -9.11627900e-05 -3.70267847e-01] [-6.62706252e-03 4.22199098e-05 9.99978040e-01 -2.00125979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.68591999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.33, Y:-0.37, Z:-2.02 [[ 9.99950089e-01 7.47712994e-03 6.62668527e-03 2.42329955e+02] [-7.47674497e-03 9.99972045e-01 -8.28655498e-05 -3.72289675e-01] [-6.62711962e-03 3.33153781e-05 9.99978040e-01 -2.01512313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.71592 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:242.36, Y:-0.37, Z:-1.99 [[ 9.99937131e-01 9.04560672e-03 6.62653040e-03 2.42360362e+02] [-9.04518369e-03 9.99959087e-01 -9.38056015e-05 -3.74022669e-01] [-6.62710782e-03 3.38615193e-05 9.99978040e-01 -1.99463894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.74591999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.39, Y:-0.37, Z:-2.01 [[ 9.99938145e-01 8.93279503e-03 6.62661650e-03 2.42391483e+02] [-8.93240957e-03 9.99960101e-01 -8.77639007e-05 -3.74663481e-01] [-6.62713609e-03 2.85668194e-05 9.99978040e-01 -2.01444625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.77592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:242.42, Y:-0.38, Z:-2.00 [[ 9.99900198e-01 1.24773293e-02 6.62652379e-03 2.42422414e+02] [-1.24769784e-02 9.99922155e-01 -9.42801964e-05 -3.77829878e-01] [-6.62718431e-03 1.15917926e-05 9.99978040e-01 -1.99858889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.80591999999996 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:242.45, Y:-0.38, Z:-2.00 [[ 9.99888455e-01 1.33853254e-02 6.62649371e-03 2.42454500e+02] [-1.33849805e-02 9.99910412e-01 -9.63977117e-05 -3.78890773e-01] [-6.62719037e-03 7.69146983e-06 9.99978040e-01 -2.00038069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.83592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.49, Y:-0.38, Z:-2.02 [[ 9.99837205e-01 1.67824071e-02 6.62675612e-03 2.42485138e+02] [-1.67822582e-02 9.99859165e-01 -7.80705492e-05 -3.78270866e-01] [-6.62713305e-03 -3.31540927e-05 9.99978040e-01 -2.01815699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.86591999999996 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:242.52, Y:-0.38, Z:-2.00 [[ 9.99821602e-01 1.76876678e-02 6.62650248e-03 2.42516096e+02] [-1.76874224e-02 9.99843561e-01 -9.56436191e-05 -3.78273927e-01] [-6.62715755e-03 -2.15791917e-05 9.99978040e-01 -2.00055477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.89592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:242.55, Y:-0.38, Z:-2.02 [[ 9.99808846e-01 1.83945489e-02 6.62660970e-03 2.42547362e+02] [-1.83943676e-02 9.99830805e-01 -8.83017414e-05 -3.77728927e-01] [-6.62711278e-03 -3.36074328e-05 9.99978040e-01 -2.01926711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.92591999999996 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:242.58, Y:-0.38, Z:-2.00 [[ 9.99815781e-01 1.80137196e-02 6.62645740e-03 2.42578809e+02] [-1.80134621e-02 9.99837740e-01 -9.85426062e-05 -3.77573711e-01] [-6.62715731e-03 -2.08409866e-05 9.99978040e-01 -2.00043891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.95592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:242.61, Y:-0.38, Z:-2.00 [[ 9.99838954e-01 1.66780317e-02 6.62642429e-03 2.42610599e+02] [-1.66777302e-02 9.99860912e-01 -1.00758192e-04 -3.76680976e-01] [-6.62718308e-03 -9.77175141e-06 9.99978040e-01 -2.00259158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.98591999999996 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:242.64, Y:-0.38, Z:-2.00 [[ 9.99864347e-01 1.50789842e-02 6.62653188e-03 2.42642579e+02] [-1.50786944e-02 9.99886306e-01 -9.37042084e-05 -3.77659492e-01] [-6.62719144e-03 -6.22795172e-06 9.99978040e-01 -2.00225255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.01592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:242.67, Y:-0.38, Z:-2.00 [[ 9.99909932e-01 1.16712900e-02 6.62642915e-03 2.42674381e+02] [-1.16708808e-02 9.99931888e-01 -1.00420534e-04 -3.77936514e-01] [-6.62714984e-03 2.30752250e-05 9.99978040e-01 -2.00196073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.04591999999997 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:242.71, Y:-0.38, Z:-2.00 [[ 9.99918321e-01 1.09288738e-02 6.62650281e-03 2.42705996e+02] [-1.09284795e-02 9.99940278e-01 -9.57098778e-05 -3.76454188e-01] [-6.62715307e-03 2.32844603e-05 9.99978040e-01 -2.00302559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.07592 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:242.74, Y:-0.38, Z:-2.00 [[ 9.99932056e-01 9.59016790e-03 6.62667856e-03 2.42737090e+02] [-9.58981726e-03 9.99954013e-01 -8.46872892e-05 -3.75010655e-01] [-6.62718599e-03 2.11328988e-05 9.99978040e-01 -2.00359087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.10591999999997 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:242.77, Y:-0.38, Z:-2.01 [[ 9.99912312e-01 1.14655575e-02 6.62647039e-03 2.42769807e+02] [-1.14651627e-02 9.99934268e-01 -9.75595812e-05 -3.75273634e-01] [-6.62715340e-03 2.15774652e-05 9.99978040e-01 -2.01007111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.13592 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:242.80, Y:-0.38, Z:-2.00 [[ 9.99918514e-01 1.09116885e-02 6.62566698e-03 2.42801264e+02] [-1.09109571e-02 9.99940463e-01 -1.46527257e-04 -3.75173990e-01] [-6.62687137e-03 7.42229488e-05 9.99978039e-01 -2.00431621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.16591999999997 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:242.83, Y:-0.37, Z:-2.01 [[ 9.99904439e-01 1.21327345e-02 6.62648754e-03 2.42833346e+02] [-1.21323577e-02 9.99926396e-01 -9.70624708e-05 -3.72154646e-01] [-6.62717743e-03 1.66582783e-05 9.99978040e-01 -2.01012409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.19592 meters Centerline goodness : 0.998510 Centerline is valid? [True, True] Translation: X:242.87, Y:-0.37, Z:-2.01 [[ 9.99907962e-01 1.18388306e-02 6.62638507e-03 2.42865370e+02] [-1.18384066e-02 9.99929918e-01 -1.03214122e-04 -3.71656665e-01] [-6.62714262e-03 2.47587813e-05 9.99978040e-01 -2.00586087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.22592 meters Centerline goodness : 0.997915 Centerline is valid? [True, True] Translation: X:242.90, Y:-0.37, Z:-2.01 [[ 9.99918868e-01 1.08790637e-02 6.62601667e-03 2.42896452e+02] [-1.08784730e-02 9.99940820e-01 -1.25185638e-04 -3.71971859e-01] [-6.62698645e-03 5.30945377e-05 9.99978040e-01 -2.00507789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.25592 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:242.93, Y:-0.37, Z:-2.03 [[ 9.99913824e-01 1.13326012e-02 6.62690611e-03 2.42928493e+02] [-1.13323736e-02 9.99935784e-01 -7.19048588e-05 -3.71203889e-01] [-6.62729543e-03 -3.19991339e-06 9.99978039e-01 -2.02605631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.28592 meters Centerline goodness : 0.997022 Centerline is valid? [True, True] Translation: X:242.96, Y:-0.37, Z:-2.00 [[ 9.99924284e-01 1.03691796e-02 6.62621565e-03 2.42957589e+02] [-1.03686614e-02 9.99946238e-01 -1.12553758e-04 -3.70677278e-01] [-6.62702650e-03 4.38402487e-05 9.99978040e-01 -2.00454747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.31591999999995 meters Centerline goodness : 0.997368 Centerline is valid? [True, True] Translation: X:242.99, Y:-0.37, Z:-2.01 [[ 9.99925215e-01 1.02784935e-02 6.62697035e-03 2.42989574e+02] [-1.02782669e-02 9.99947175e-01 -6.82540696e-05 -3.71314255e-01] [-6.62732183e-03 1.35195119e-07 9.99978039e-01 -2.00513461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.34592 meters Centerline goodness : 0.997065 Centerline is valid? [True, True] Translation: X:243.02, Y:-0.37, Z:-2.01 [[ 9.99915760e-01 1.11604838e-02 6.62702187e-03 2.43021353e+02] [-1.11602962e-02 9.99937720e-01 -6.52785136e-05 -3.71502801e-01] [-6.62733768e-03 -8.68651278e-06 9.99978039e-01 -2.00857149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.37591999999995 meters Centerline goodness : 0.998807 Centerline is valid? [True, True] Translation: X:243.05, Y:-0.37, Z:-2.03 [[ 9.99865575e-01 1.49973249e-02 6.62657591e-03 2.43053631e+02] [-1.49970560e-02 9.99887534e-01 -9.02637887e-05 -3.69363983e-01] [-6.62718436e-03 -9.12747526e-06 9.99978040e-01 -2.02838795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.40592 meters Centerline goodness : 0.997023 Centerline is valid? [True, True] Translation: X:243.08, Y:-0.37, Z:-2.01 [[ 9.99851058e-01 1.59359996e-02 6.62606600e-03 2.43084027e+02] [-1.59355627e-02 9.99873014e-01 -1.18722537e-04 -3.68706593e-01] [-6.62711654e-03 1.31147637e-05 9.99978040e-01 -2.00838964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.43591999999995 meters Centerline goodness : 0.997119 Centerline is valid? [True, True] Translation: X:243.12, Y:-0.37, Z:-2.01 [[ 9.99797911e-01 1.89795445e-02 6.62680208e-03 2.43117566e+02] [-1.89794445e-02 9.99819871e-01 -7.79737936e-05 -3.68065486e-01] [-6.62708831e-03 -4.78149867e-05 9.99978039e-01 -2.00888667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.46592 meters Centerline goodness : 0.997014 Centerline is valid? [True, True] Translation: X:243.15, Y:-0.37, Z:-2.01 [[ 9.99748017e-01 2.14474469e-02 6.62646408e-03 2.43149673e+02] [-2.14472794e-02 9.99769976e-01 -9.63342290e-05 -3.67873573e-01] [-6.62700596e-03 -4.58096726e-05 9.99978040e-01 -2.00982083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.49591999999996 meters Centerline goodness : 0.997269 Centerline is valid? [True, True] Translation: X:243.18, Y:-0.37, Z:-2.01 [[ 9.99692535e-01 2.38939938e-02 6.62663664e-03 2.43182187e+02] [-2.38939418e-02 9.99714495e-01 -8.70254049e-05 -3.66790146e-01] [-6.62682408e-03 -7.13378225e-05 9.99978040e-01 -2.01071398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.52592 meters Centerline goodness : 0.996721 Centerline is valid? [True, True] Translation: X:243.21, Y:-0.36, Z:-2.01 [[ 9.99624484e-01 2.65891044e-02 6.62656594e-03 2.43214289e+02] [-2.65890866e-02 9.99646444e-01 -9.07960845e-05 -3.64056212e-01] [-6.62663726e-03 -8.54323469e-05 9.99978040e-01 -2.01172422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.55591999999996 meters Centerline goodness : 0.997318 Centerline is valid? [True, True] Translation: X:243.25, Y:-0.36, Z:-2.01 [[ 9.99581169e-01 2.81705203e-02 6.62637716e-03 2.43246980e+02] [-2.81704710e-02 9.99603128e-01 -1.00800215e-04 -3.61960321e-01] [-6.62658694e-03 -8.59101686e-05 9.99978040e-01 -2.01262379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.58592 meters Centerline goodness : 0.932940 Centerline is valid? [True, False] Translation: X:243.25, Y:-0.36, Z:-2.01 [[ 9.99902987e-01 1.27696109e-02 5.56367643e-03 2.43248457e+02] [-1.27900846e-02 9.99911505e-01 3.65998423e-03 -3.63623321e-01] [-5.51644750e-03 -3.73078906e-03 9.99977825e-01 -2.01335093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.61591999999996 meters Centerline goodness : 0.996670 Centerline is valid? [False, True] Translation: X:243.27, Y:-0.36, Z:-2.01 [[ 9.99990641e-01 3.97890857e-03 1.69865751e-03 2.43272737e+02] [-3.98555388e-03 9.99984348e-01 3.92680234e-03 -3.60333506e-01] [-1.68300653e-03 -3.93353568e-03 9.99990847e-01 -2.01168638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.64592 meters Centerline goodness : 0.997169 Centerline is valid? [True, True] Translation: X:243.30, Y:-0.35, Z:-2.01 [[ 9.99988942e-01 4.37611830e-03 1.72207275e-03 2.43304088e+02] [-4.37616826e-03 9.99990424e-01 2.52427074e-05 -3.54589740e-01] [-1.72194579e-03 -3.27785083e-05 9.99998517e-01 -2.01327891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.67591999999996 meters Centerline goodness : 0.996868 Centerline is valid? [True, True] Translation: X:243.34, Y:-0.35, Z:-2.01 [[ 9.99995499e-01 2.45689160e-03 1.72214952e-03 2.43335126e+02] [-2.45691544e-03 9.99996982e-01 1.17289179e-05 -3.50429686e-01] [-1.72211550e-03 -1.59600409e-05 9.99998517e-01 -2.01340969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.70592 meters Centerline goodness : 0.998609 Centerline is valid? [True, True] Translation: X:243.37, Y:-0.35, Z:-2.03 [[ 9.99996783e-01 1.86254577e-03 1.72213539e-03 2.43367201e+02] [-1.86257328e-03 9.99998265e-01 1.43740363e-05 -3.48237153e-01] [-1.72210563e-03 -1.75815934e-05 9.99998517e-01 -2.03127550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.73591999999996 meters Centerline goodness : 0.997613 Centerline is valid? [True, True] Translation: X:243.40, Y:-0.34, Z:-2.01 [[ 9.99998517e-01 1.15776783e-05 1.72216370e-03 2.43397037e+02] [-1.15930040e-05 1.00000000e+00 8.88913495e-06 -3.44070929e-01] [-1.72216360e-03 -8.90908681e-06 9.99998517e-01 -2.01424892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.76592 meters Centerline goodness : 0.997716 Centerline is valid? [True, True] Translation: X:243.43, Y:-0.34, Z:-2.02 [[ 9.99998502e-01 -1.76532362e-04 1.72213666e-03 2.43429300e+02] [ 1.76508290e-04 9.99999984e-01 1.41300337e-05 -3.42315182e-01] [-1.72213912e-03 -1.38260411e-05 9.99998517e-01 -2.01508544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.79591999999997 meters Centerline goodness : 0.997517 Centerline is valid? [True, True] Translation: X:243.46, Y:-0.34, Z:-2.02 [[ 9.99994886e-01 -2.69467632e-03 1.72214953e-03 2.43460742e+02] [ 2.69466066e-03 9.99996369e-01 1.14135086e-05 -3.40267770e-01] [-1.72217403e-03 -6.77284167e-06 9.99998517e-01 -2.01842564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.82592 meters Centerline goodness : 0.997864 Centerline is valid? [True, True] Translation: X:243.49, Y:-0.34, Z:-2.01 [[ 9.99996406e-01 -2.05484315e-03 1.72212418e-03 2.43492558e+02] [ 2.05481655e-03 9.99997889e-01 1.72181420e-05 -3.38442365e-01] [-1.72215592e-03 -1.36794308e-05 9.99998517e-01 -2.01375869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.85591999999997 meters Centerline goodness : 0.777331 Centerline is valid? [True, False] Translation: X:243.50, Y:-0.32, Z:-2.01 [[ 9.99977612e-01 -5.68207838e-04 -6.66727677e-03 2.43496016e+02] [ 4.36899158e-04 9.99806245e-01 -1.96794543e-02 -3.18168565e-01] [ 6.67716697e-03 1.96761008e-02 9.99784110e-01 -2.01206423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.88592 meters Centerline goodness : 0.777331 Centerline is valid? [False, False] Translation: X:243.50, Y:-0.32, Z:-2.01 [[ 9.99978008e-01 -6.10780381e-04 -6.60382757e-03 2.43495830e+02] [ 4.80655722e-04 9.99806055e-01 -1.96880932e-02 -3.18287653e-01] [ 6.61457189e-03 1.96844860e-02 9.99784361e-01 -2.01199480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.91591999999997 meters Centerline goodness : 0.997917 Centerline is valid? [False, True] Translation: X:243.50, Y:-0.32, Z:-2.02 [[ 9.99970554e-01 1.43877069e-03 -7.53800704e-03 2.43501228e+02] [-1.57075138e-03 9.99845066e-01 -1.75321352e-02 -3.18743870e-01] [ 7.51161443e-03 1.75434593e-02 9.99817885e-01 -2.01679958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.94592 meters Centerline goodness : 0.997668 Centerline is valid? [True, True] Translation: X:243.53, Y:-0.33, Z:-2.02 [[ 9.99971485e-01 7.26496102e-04 -7.51674247e-03 2.43530128e+02] [-7.27572941e-04 9.99999725e-01 -1.40525190e-04 -3.32666533e-01] [ 7.51663831e-03 1.45990161e-04 9.99971739e-01 -2.01900330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.97592 meters Centerline goodness : 0.807139 Centerline is valid? [True, False] Translation: X:243.53, Y:-0.32, Z:-2.02 [[ 9.99944532e-01 -7.58299520e-03 -7.30966017e-03 2.43529624e+02] [ 7.50570704e-03 9.99916246e-01 -1.05434970e-02 -3.23738732e-01] [ 7.38899924e-03 1.04880480e-02 9.99917698e-01 -2.01829085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.00592 meters Centerline goodness : 0.977773 Centerline is valid? [False, True] Translation: X:243.53, Y:-0.32, Z:-2.02 [[ 9.99943572e-01 -7.46149979e-03 -7.56171284e-03 2.43530311e+02] [ 7.37732746e-03 9.99911192e-01 -1.10988054e-02 -3.21015897e-01] [ 7.64385503e-03 1.10423939e-02 9.99909814e-01 -2.01863901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.03592 meters Centerline goodness : 0.998013 Centerline is valid? [True, True] Translation: X:243.60, Y:-0.33, Z:-2.00 [[ 9.99572195e-01 -2.81871143e-02 -7.80467579e-03 2.43597356e+02] [ 2.81545835e-02 9.99594559e-01 -4.24709356e-03 -3.25569825e-01] [ 7.92122476e-03 4.02553923e-03 9.99960524e-01 -2.00190427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.06591999999995 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:243.63, Y:-0.32, Z:-2.02 [[ 9.99619894e-01 -2.64084370e-02 -7.91589451e-03 2.43628230e+02] [ 2.64069534e-02 9.99651233e-01 -2.91901032e-04 -3.24837771e-01] [ 7.92084236e-03 8.27554219e-05 9.99968626e-01 -2.01892149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.09592 meters Centerline goodness : 0.998261 Centerline is valid? [True, True] Translation: X:243.66, Y:-0.32, Z:-2.00 [[ 9.99598250e-01 -2.72147937e-02 -7.91786889e-03 2.43657061e+02] [ 2.72138950e-02 9.99629609e-01 -2.21241833e-04 -3.22627116e-01] [ 7.92095724e-03 5.67689688e-06 9.99968629e-01 -2.00466311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.12591999999995 meters Centerline goodness : 0.998409 Centerline is valid? [True, True] Translation: X:243.69, Y:-0.32, Z:-2.00 [[ 9.99568797e-01 -2.82759103e-02 -7.91782740e-03 2.43686543e+02] [ 2.82750331e-02 9.99600157e-01 -2.22724269e-04 -3.20282861e-01] [ 7.92095924e-03 -1.24860240e-06 9.99968629e-01 -2.00338723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.15592 meters Centerline goodness : 0.998510 Centerline is valid? [True, True] Translation: X:243.72, Y:-0.32, Z:-2.00 [[ 9.99555019e-01 -2.87591799e-02 -7.91663828e-03 2.43715160e+02] [ 2.87579794e-02 9.99586369e-01 -2.65467111e-04 -3.16875945e-01] [ 7.92099833e-03 3.76824625e-05 9.99968628e-01 -2.00357546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.18591999999995 meters Centerline goodness : 0.998708 Centerline is valid? [True, True] Translation: X:243.74, Y:-0.31, Z:-2.00 [[ 9.99550787e-01 -2.89058246e-02 -7.91690604e-03 2.43743302e+02] [ 2.89047052e-02 9.99582139e-01 -2.55802723e-04 -3.14208013e-01] [ 7.92099206e-03 2.68519778e-05 9.99968628e-01 -2.00088065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.21592 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:243.77, Y:-0.31, Z:-2.02 [[ 9.99577516e-01 -2.79663576e-02 -7.91659615e-03 2.43774772e+02] [ 2.79651191e-02 9.99608864e-01 -2.67111259e-04 -3.10632281e-01] [ 7.92096981e-03 4.56098545e-05 9.99968628e-01 -2.01696452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.24591999999996 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:243.80, Y:-0.31, Z:-2.00 [[ 9.99563360e-01 -2.84675240e-02 -7.91768570e-03 2.43804011e+02] [ 2.84666194e-02 9.99594718e-01 -2.26945006e-04 -3.08905111e-01] [ 7.92093737e-03 1.45616713e-06 9.99968629e-01 -2.00335610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.27592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:243.84, Y:-0.31, Z:-2.02 [[ 9.99555222e-01 -2.87518361e-02 -7.91771383e-03 2.43835173e+02] [ 2.87509487e-02 9.99586580e-01 -2.25909463e-04 -3.08092925e-01] [ 7.92093581e-03 -1.83280071e-06 9.99968629e-01 -2.02057445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.30591999999996 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:243.86, Y:-0.31, Z:-2.01 [[ 9.99501885e-01 -3.05497562e-02 -7.91802238e-03 2.43863531e+02] [ 3.05490153e-02 9.99533247e-01 -2.14520738e-04 -3.07448660e-01] [ 7.92088018e-03 -2.74739055e-05 9.99968629e-01 -2.00567566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.33592 meters Centerline goodness : 0.823369 Centerline is valid? [True, False] Translation: X:243.87, Y:-0.30, Z:-2.01 [[ 9.99746656e-01 -2.08493070e-02 -8.48121128e-03 2.43865423e+02] [ 2.07518373e-02 9.99719404e-01 -1.14225154e-02 -2.97182856e-01] [ 8.71698302e-03 1.12436209e-02 9.99898792e-01 -2.00643674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.36591999999996 meters Centerline goodness : 0.831481 Centerline is valid? [False, False] Translation: X:243.86, Y:-0.29, Z:-2.01 [[ 9.99957477e-01 -9.09340301e-03 -1.53440089e-03 2.43861735e+02] [ 9.06328793e-03 9.99785773e-01 -1.86081955e-02 -2.90185358e-01] [ 1.70328400e-03 1.85934975e-02 9.99825675e-01 -2.00671125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.39592 meters Centerline goodness : 1.000000 Centerline is valid? [False, True] Translation: X:243.86, Y:-0.30, Z:-2.01 [[ 9.99986254e-01 -4.98312715e-03 -1.63125106e-03 2.43861972e+02] [ 4.96136070e-03 9.99902065e-01 -1.30860486e-02 -2.96268776e-01] [ 1.69630075e-03 1.30777755e-02 9.99913043e-01 -2.00689003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.42591999999996 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:243.89, Y:-0.31, Z:-1.99 [[ 9.99978471e-01 -6.35959404e-03 -1.61656434e-03 2.43890745e+02] [ 6.35960531e-03 9.99979778e-01 1.83114950e-06 -3.12065508e-01] [ 1.61652000e-03 -1.21118212e-05 9.99998693e-01 -1.98955862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.45592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:243.92, Y:-0.31, Z:-1.99 [[ 9.99988260e-01 -4.56789960e-03 -1.61657458e-03 2.43920131e+02] [ 4.56788965e-03 9.99989567e-01 -9.84718022e-06 -3.13942947e-01] [ 1.61660270e-03 2.46273033e-06 9.99998693e-01 -1.99082365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.48591999999996 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:243.95, Y:-0.32, Z:-1.99 [[ 9.99998103e-01 -1.08660218e-03 -1.61657159e-03 2.43948589e+02] [ 1.08659162e-03 9.99999410e-01 -7.41075247e-06 -3.16874451e-01] [ 1.61657869e-03 5.65418527e-06 9.99998693e-01 -1.99133167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.51592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:243.98, Y:-0.32, Z:-1.99 [[ 9.99998540e-01 5.53057720e-04 -1.61657512e-03 2.43977949e+02] [-5.53075535e-04 9.99999847e-01 -1.05729825e-05 -3.17703725e-01] [ 1.61656902e-03 1.14670552e-05 9.99998693e-01 -1.99266360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.54591999999997 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:244.01, Y:-0.32, Z:-1.99 [[ 9.99998472e-01 6.65392739e-04 -1.61657188e-03 2.44006241e+02] [-6.65405392e-04 9.99999779e-01 -7.28908627e-06 -3.18092185e-01] [ 1.61656667e-03 8.36475078e-06 9.99998693e-01 -1.99347595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.57592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:244.04, Y:-0.32, Z:-1.99 [[ 9.99992114e-01 3.62737416e-03 -1.61657971e-03 2.44036998e+02] [-3.62740690e-03 9.99993421e-01 -1.73180887e-05 -3.17784065e-01] [ 1.61650625e-03 2.31819445e-05 9.99998693e-01 -1.99402161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.60591999999997 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:244.07, Y:-0.32, Z:-1.99 [[ 9.99996271e-01 2.20102279e-03 -1.61656933e-03 2.44065382e+02] [-2.20103488e-03 9.99997578e-01 -5.70363977e-06 -3.20609307e-01] [ 1.61655286e-03 9.26174400e-06 9.99998693e-01 -1.99314264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.63592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:244.09, Y:-0.32, Z:-1.99 [[ 9.99996570e-01 2.06098678e-03 -1.61657685e-03 2.44094279e+02] [-2.06101161e-03 9.99997876e-01 -1.36935950e-05 -3.21782512e-01] [ 1.61654520e-03 1.70253317e-05 9.99998693e-01 -1.99356471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.66591999999997 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:244.12, Y:-0.32, Z:-1.99 [[ 9.99997449e-01 1.57775332e-03 -1.61657573e-03 2.44122730e+02] [-1.57777565e-03 9.99998755e-01 -1.25352668e-05 -3.23660727e-01] [ 1.61655394e-03 1.50858286e-05 9.99998693e-01 -1.99426048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.69592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:244.15, Y:-0.32, Z:-1.99 [[ 9.99997501e-01 1.54399792e-03 -1.61657385e-03 2.44152038e+02] [-1.54401720e-03 9.99998808e-01 -1.06822946e-05 -3.24573678e-01] [ 1.61655543e-03 1.31782858e-05 9.99998693e-01 -1.99498141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.72592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:244.18, Y:-0.33, Z:-2.00 [[ 9.99997177e-01 1.74152765e-03 -1.61657427e-03 2.44181029e+02] [-1.74154809e-03 9.99998483e-01 -1.12312870e-05 -3.25792251e-01] [ 1.61655226e-03 1.40465971e-05 9.99998693e-01 -2.00038792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.75592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:244.21, Y:-0.33, Z:-1.99 [[ 9.99997637e-01 1.45343381e-03 -1.61657365e-03 2.44209710e+02] [-1.45345277e-03 9.99998944e-01 -1.05518520e-05 -3.27535456e-01] [ 1.61655660e-03 1.29014405e-05 9.99998693e-01 -1.99473644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.78592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:244.24, Y:-0.33, Z:-2.01 [[ 9.99993124e-01 3.33738881e-03 -1.61657489e-03 2.44239651e+02] [-3.33741288e-03 9.99994431e-01 -1.21892349e-05 -3.29977113e-01] [ 1.61652521e-03 1.75843289e-05 9.99998693e-01 -2.01005141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.81591999999995 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:244.27, Y:-0.33, Z:-2.01 [[ 9.99987227e-01 4.78873238e-03 -1.61657457e-03 2.44271511e+02] [-4.78875773e-03 9.99988534e-01 -1.18148447e-05 -3.31907104e-01] [ 1.61649945e-03 1.95560777e-05 9.99998693e-01 -2.01263149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.84592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:244.30, Y:-0.33, Z:-2.01 [[ 9.99995116e-01 2.67494858e-03 -1.61656278e-03 2.44300311e+02] [-2.67494975e-03 9.99996422e-01 1.43751759e-06 -3.32885483e-01] [ 1.61656084e-03 2.88671364e-06 9.99998693e-01 -2.01249427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.87591999999995 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:244.33, Y:-0.33, Z:-2.01 [[ 9.99998490e-01 -6.37444122e-04 -1.61656294e-03 2.44329194e+02] [ 6.37446939e-04 9.99999797e-01 1.22704474e-06 -3.32949786e-01] [ 1.61656183e-03 -2.25751598e-06 9.99998693e-01 -2.01226774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.90592 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:244.36, Y:-0.34, Z:-2.00 [[ 9.99983039e-01 -5.59546788e-03 -1.61657273e-03 2.44358447e+02] [ 5.59545891e-03 9.99984345e-01 -1.00762917e-05 -3.35384423e-01] [ 1.61660381e-03 1.03065447e-06 9.99998693e-01 -1.99710849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.93591999999995 meters Centerline goodness : 0.999303 Centerline is valid? [True, True] Translation: X:244.39, Y:-0.34, Z:-2.00 [[ 9.99984464e-01 -5.33468530e-03 -1.61657953e-03 2.44388085e+02] [ 5.33466726e-03 9.99985770e-01 -1.54702834e-05 -3.36825952e-01] [ 1.61663906e-03 6.84612912e-06 9.99998693e-01 -1.99773646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.96592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:244.42, Y:-0.34, Z:-2.01 [[ 9.99984758e-01 -5.27926794e-03 -1.61656719e-03 2.44417974e+02] [ 5.27926275e-03 9.99986065e-01 -7.47687589e-06 -3.37758740e-01] [ 1.61658413e-03 -1.05752101e-06 9.99998693e-01 -2.01377858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.99591999999996 meters Centerline goodness : 0.906151 Centerline is valid? [True, False] Translation: X:244.42, Y:-0.32, Z:-2.01 [[ 9.99964606e-01 -2.03870294e-03 -8.16277481e-03 2.44421193e+02] [ 1.88837115e-03 9.99829248e-01 -1.83822928e-02 -3.20728231e-01] [ 8.19885703e-03 1.83662278e-02 9.99797710e-01 -2.01158314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.02592 meters Centerline goodness : 0.999752 Centerline is valid? [False, True] Translation: X:244.43, Y:-0.33, Z:-2.02 [[ 9.99949024e-01 3.90810090e-03 -9.31000252e-03 2.44426557e+02] [-4.01207675e-03 9.99929500e-01 -1.11758132e-02 -3.27257810e-01] [ 9.26566996e-03 1.12125960e-02 9.99894207e-01 -2.01617604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.05591999999996 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:244.46, Y:-0.34, Z:-2.02 [[ 9.99944260e-01 5.19843646e-03 -9.18980652e-03 2.44456690e+02] [-5.19886778e-03 9.99986486e-01 -2.30460960e-05 -3.39557823e-01] [ 9.18956252e-03 7.08214004e-05 9.99957773e-01 -2.02203616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.08592 meters Centerline goodness : 0.716710 Centerline is valid? [True, False] Translation: X:244.48, Y:-0.34, Z:-2.02 [[ 9.99914257e-01 -2.56142840e-03 -1.28420169e-02 2.44478000e+02] [ 2.59705649e-03 9.99992823e-01 2.75842939e-03 -3.44438164e-01] [ 1.28348592e-02 -2.79154432e-03 9.99913733e-01 -2.01788568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.11591999999996 meters Centerline goodness : 0.999601 Centerline is valid? [False, True] Translation: X:244.50, Y:-0.34, Z:-2.02 [[ 9.99923480e-01 -7.68392727e-04 -1.23467740e-02 2.44499585e+02] [ 6.80871244e-04 9.99974625e-01 -7.09125193e-03 -3.36612967e-01] [ 1.23519095e-02 7.08230275e-03 9.99898631e-01 -2.01729415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.14592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:244.53, Y:-0.34, Z:-2.03 [[ 9.99919996e-01 2.91584107e-03 -1.23084982e-02 2.44530775e+02] [-2.91763087e-03 9.99995736e-01 -1.27457675e-04 -3.42784527e-01] [ 1.23080741e-02 1.63359132e-04 9.99924239e-01 -2.03184282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.17591999999996 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:244.56, Y:-0.34, Z:-2.02 [[ 9.99917516e-01 3.67138784e-03 -1.23077889e-02 2.44561283e+02] [-3.67169810e-03 9.99993259e-01 -2.61295643e-06 -3.43125102e-01] [ 1.23076964e-02 4.78032261e-05 9.99924256e-01 -2.01863789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.20592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:244.59, Y:-0.34, Z:-2.02 [[ 9.99902973e-01 6.52395454e-03 -1.23078371e-02 2.44589528e+02] [-6.52458321e-03 9.99978715e-01 -1.09263735e-05 -3.41389187e-01] [ 1.23075038e-02 9.12288205e-05 9.99924256e-01 -2.01612052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.23591999999996 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:244.62, Y:-0.34, Z:-2.03 [[ 9.99887463e-01 8.57766168e-03 -1.23079021e-02 2.44619321e+02] [-8.57860834e-03 9.99963203e-01 -2.41213163e-05 -3.40232902e-01] [ 1.23072423e-02 1.29703273e-04 9.99924255e-01 -2.02788401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.26592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:244.65, Y:-0.34, Z:-2.02 [[ 9.99877076e-01 9.71339435e-03 -1.23077975e-02 2.44650256e+02] [-9.71415781e-03 9.99952816e-01 -2.24826379e-06 -3.38242108e-01] [ 1.23071949e-02 1.21807875e-04 9.99924256e-01 -2.01936658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.29591999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.68, Y:-0.34, Z:-2.03 [[ 9.99843865e-01 1.26794334e-02 -1.23076339e-02 2.44680376e+02] [-1.26800080e-02 9.99919605e-01 3.13527215e-05 -3.36617399e-01] [ 1.23070420e-02 1.24713070e-04 9.99924258e-01 -2.03358917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.32592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:244.71, Y:-0.34, Z:-2.02 [[ 9.99853608e-01 1.18864691e-02 -1.23075136e-02 2.44709563e+02] [-1.18866652e-02 9.99929349e-01 5.72196576e-05 -3.35976001e-01] [ 1.23073243e-02 8.90840127e-05 9.99924258e-01 -2.01629740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.35591999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.74, Y:-0.33, Z:-2.03 [[ 9.99822237e-01 1.42833352e-02 -1.23077527e-02 2.44741360e+02] [-1.42843893e-02 9.99897973e-01 2.26043955e-06 -3.34783519e-01] [ 1.23065293e-02 1.73548694e-04 9.99924257e-01 -2.03169771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.38592 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:244.77, Y:-0.33, Z:-2.02 [[ 9.99847847e-01 1.23615489e-02 -1.23075291e-02 2.44770561e+02] [-1.23618255e-02 9.99923588e-01 5.36062725e-05 -3.31557479e-01] [ 1.23072513e-02 9.85454110e-05 9.99924258e-01 -2.01515708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.41591999999997 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:244.80, Y:-0.33, Z:-2.01 [[ 9.99866203e-01 1.07748851e-02 -1.23076374e-02 2.44799736e+02] [-1.07753639e-02 9.99941944e-01 2.74101582e-05 -3.31404049e-01] [ 1.23072182e-02 1.05212782e-04 9.99924258e-01 -2.01380250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.44592 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:244.83, Y:-0.33, Z:-2.02 [[ 9.99883962e-01 8.97691172e-03 -1.23076554e-02 2.44828457e+02] [-8.97731368e-03 9.99959703e-01 2.25885810e-05 -3.30824849e-01] [ 1.23073622e-02 8.79037234e-05 9.99924258e-01 -2.01509657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.47592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:244.86, Y:-0.33, Z:-2.02 [[ 9.99888441e-01 8.46318111e-03 -1.23077061e-02 2.44858606e+02] [-8.46372469e-03 9.99964182e-01 7.92098384e-06 -3.28399266e-01] [ 1.23073323e-02 9.62489354e-05 9.99924257e-01 -2.01917986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.50592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:244.89, Y:-0.33, Z:-2.02 [[ 9.99893035e-01 7.90205097e-03 -1.23075606e-02 2.44887537e+02] [-7.90202102e-03 9.99968777e-01 5.10631167e-05 -3.25289113e-01] [ 1.23075798e-02 4.61969475e-05 9.99924258e-01 -2.01868911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.53592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:244.92, Y:-0.32, Z:-2.03 [[ 9.99898320e-01 7.20228809e-03 -1.23076205e-02 2.44917875e+02] [-7.20243901e-03 9.99974062e-01 3.20622417e-05 -3.23795792e-01] [ 1.23075322e-02 5.65859046e-05 9.99924258e-01 -2.02560206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.56591999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.95, Y:-0.32, Z:-2.03 [[ 9.99909378e-01 5.45502091e-03 -1.23076424e-02 2.44948419e+02] [-5.45513414e-03 9.99985120e-01 2.43714593e-05 -3.21639602e-01] [ 1.23075922e-02 4.27705894e-05 9.99924258e-01 -2.03228756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.59592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.98, Y:-0.32, Z:-2.03 [[ 9.99913380e-01 4.66423569e-03 -1.23076173e-02 2.44977784e+02] [-4.66417584e-03 9.99989122e-01 3.35665770e-05 -3.20617918e-01] [ 1.23076400e-02 2.38412218e-05 9.99924258e-01 -2.02860346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.62591999999995 meters Centerline goodness : 0.966280 Centerline is valid? [True, True] Translation: X:244.97, Y:-0.30, Z:-2.05 [[ 9.98059056e-01 6.10462376e-02 -1.23076432e-02 2.44973533e+02] [-6.10505719e-02 9.98134674e-01 2.35943379e-05 -2.98036109e-01] [ 1.22861258e-02 7.27840114e-04 9.99924258e-01 -2.04645480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.65592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:245.03, Y:-0.32, Z:-2.02 [[ 9.99901496e-01 6.74414649e-03 -1.23091666e-02 2.45034212e+02] [-6.76489129e-03 9.99975766e-01 -1.64445506e-03 -3.17429276e-01] [ 1.22977778e-02 1.72756325e-03 9.99922887e-01 -2.02114746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.68591999999995 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:245.06, Y:-0.32, Z:-2.02 [[ 9.99911505e-01 5.07760754e-03 -1.22963543e-02 2.45064556e+02] [-5.07639993e-03 9.99987107e-01 1.29418537e-04 -3.18844386e-01] [ 1.22968529e-02 -6.69858720e-05 9.99924389e-01 -2.01862904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.71592 meters Centerline goodness : 0.941828 Centerline is valid? [True, False] Translation: X:245.06, Y:-0.31, Z:-2.02 [[ 9.99996220e-01 2.46204634e-04 2.73839616e-03 2.45056347e+02] [-2.28884251e-04 9.99979980e-01 -6.32352615e-03 -3.14378752e-01] [-2.73989822e-03 6.32287547e-03 9.99976257e-01 -2.01943385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.74591999999996 meters Centerline goodness : 0.921395 Centerline is valid? [False, False] Translation: X:245.06, Y:-0.32, Z:-2.02 [[ 9.99996418e-01 1.61053745e-04 2.67169068e-03 2.45056454e+02] [-1.45081520e-04 9.99982124e-01 -5.97743817e-03 -3.16337867e-01] [-2.67260561e-03 5.97702915e-03 9.99978566e-01 -2.01932703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.77592 meters Centerline goodness : 0.921395 Centerline is valid? [False, False] Translation: X:245.08, Y:-0.31, Z:-2.02 [[ 9.99995215e-01 2.44640516e-04 -3.08380515e-03 2.45082385e+02] [-2.95366744e-04 9.99864489e-01 -1.64595241e-02 -3.07078939e-01] [ 3.07936060e-03 1.64603562e-02 9.99859777e-01 -2.01781303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.80591999999996 meters Centerline goodness : 0.991395 Centerline is valid? [False, True] Translation: X:245.09, Y:-0.31, Z:-2.02 [[ 9.99989754e-01 2.18718720e-03 -3.96340129e-03 2.45087610e+02] [-2.24210709e-03 9.99900797e-01 -1.39057042e-02 -3.10001483e-01] [ 3.93259373e-03 1.39144481e-02 9.99895456e-01 -2.02245977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.83592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:245.15, Y:-0.33, Z:-2.02 [[ 9.99712895e-01 -2.35865474e-02 -4.21932339e-03 2.45145273e+02] [ 2.35734093e-02 9.99717187e-01 -3.13689263e-03 -3.31293360e-01] [ 4.29211858e-03 3.03652817e-03 9.99986179e-01 -2.01623382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.86591999999996 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:245.17, Y:-0.33, Z:-2.01 [[ 9.99735422e-01 -2.26012044e-02 -4.27451673e-03 2.45174933e+02] [ 2.26010815e-02 9.99744560e-01 -7.70762813e-05 -3.34947502e-01] [ 4.27516687e-03 -1.95528124e-05 9.99990861e-01 -2.01343222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.89592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.21, Y:-0.34, Z:-2.00 [[ 9.99774846e-01 -2.07842311e-02 -4.27475763e-03 2.45205904e+02] [ 2.07841481e-02 9.99783984e-01 -6.38387553e-05 -3.35397000e-01] [ 4.27516106e-03 -2.50228140e-05 9.99990861e-01 -2.00307022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.92591999999996 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:245.23, Y:-0.33, Z:-2.01 [[ 9.99835689e-01 -1.76159052e-02 -4.27499692e-03 2.45234739e+02] [ 1.76158500e-02 9.99844828e-01 -5.05790796e-05 -3.34843514e-01] [ 4.27522456e-03 -2.47369356e-05 9.99990861e-01 -2.01405923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.95592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:245.26, Y:-0.33, Z:-2.00 [[ 9.99886564e-01 -1.44423964e-02 -4.27500610e-03 2.45263416e+02] [ 1.44423143e-02 9.99895703e-01 -5.00820135e-05 -3.33709370e-01] [ 4.27528353e-03 -1.16646491e-05 9.99990861e-01 -2.00074597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.98591999999996 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:245.29, Y:-0.33, Z:-2.00 [[ 9.99924302e-01 -1.15375779e-02 -4.27499287e-03 2.45292936e+02] [ 1.15374662e-02 9.99933440e-01 -5.07901009e-05 -3.33262192e-01] [ 4.27529432e-03 1.46367039e-06 9.99990861e-01 -2.00205415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.01592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.32, Y:-0.33, Z:-2.01 [[ 9.99945934e-01 -9.47916971e-03 -4.27494444e-03 2.45321679e+02] [ 9.47902830e-03 9.99955072e-01 -5.33390571e-05 -3.32750797e-01] [ 4.27525799e-03 1.28138539e-05 9.99990861e-01 -2.01128318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.04591999999997 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:245.35, Y:-0.33, Z:-2.00 [[ 9.99977319e-01 -5.20449818e-03 -4.27496320e-03 2.45351155e+02] [ 5.20432186e-03 9.99986456e-01 -5.23684488e-05 -3.29794262e-01] [ 4.27517785e-03 3.01189766e-05 9.99990861e-01 -2.00048059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.07592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:245.38, Y:-0.33, Z:-2.00 [[ 9.99982402e-01 -4.11320556e-03 -4.27511878e-03 2.45380738e+02] [ 4.11305296e-03 9.99991540e-01 -4.44876380e-05 -3.27283797e-01] [ 4.27526560e-03 2.69030651e-05 9.99990861e-01 -2.00149959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.10591999999997 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:245.41, Y:-0.32, Z:-2.00 [[ 9.99990696e-01 -5.74946360e-04 -4.27512414e-03 2.45408464e+02] [ 5.74762567e-04 9.99999834e-01 -4.42199048e-05 -3.23155765e-01] [ 4.27514886e-03 4.17623120e-05 9.99990861e-01 -2.00316549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.13592 meters Centerline goodness : 0.998757 Centerline is valid? [True, True] Translation: X:245.43, Y:-0.32, Z:-2.00 [[ 9.99976089e-01 5.43573454e-03 -4.27479998e-03 2.45428732e+02] [-5.43603985e-03 9.99985223e-01 -5.98049692e-05 -3.17824285e-01] [ 4.27441172e-03 8.30415222e-05 9.99990861e-01 -2.00272517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.16591999999997 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:245.47, Y:-0.31, Z:-2.00 [[ 9.99977530e-01 5.16731487e-03 -4.27067549e-03 2.45468840e+02] [-5.16846184e-03 9.99986610e-01 -2.57575755e-04 -3.12155998e-01] [ 4.26928733e-03 2.79642791e-04 9.99990847e-01 -2.00148426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.19592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.50, Y:-0.31, Z:-2.00 [[ 9.99970514e-01 6.37937008e-03 -4.27484207e-03 2.45496281e+02] [-6.37960904e-03 9.99979649e-01 -4.22654904e-05 -3.07599394e-01] [ 4.27448545e-03 6.95360654e-05 9.99990862e-01 -2.00301518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.22592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:245.52, Y:-0.30, Z:-2.01 [[ 9.99958445e-01 8.05209328e-03 -4.27467030e-03 2.45524825e+02] [-8.05238405e-03 9.99967578e-01 -5.08133844e-05 -3.02822347e-01] [ 4.27412255e-03 8.52325598e-05 9.99990862e-01 -2.00798409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.25592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:245.55, Y:-0.30, Z:-2.00 [[ 9.99970087e-01 6.44611840e-03 -4.27469787e-03 2.45553458e+02] [-6.44638874e-03 9.99979221e-01 -4.94665590e-05 -3.00558654e-01] [ 4.27429017e-03 7.70214435e-05 9.99990862e-01 -2.00164959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.28592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:245.58, Y:-0.29, Z:-2.00 [[ 9.99990145e-01 1.19930512e-03 -4.27463689e-03 2.45580064e+02] [-1.19953977e-03 9.99999279e-01 -5.23289600e-05 -2.93902867e-01] [ 4.27457105e-03 5.74560412e-05 9.99990862e-01 -2.00122434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.31591999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.61, Y:-0.29, Z:-2.00 [[ 9.99988274e-01 -2.27706475e-03 -4.27404092e-03 2.45608727e+02] [ 2.27674545e-03 9.99997405e-01 -7.95713938e-05 -2.91356175e-01] [ 4.27421102e-03 6.98395575e-05 9.99990863e-01 -1.99910221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.34592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:245.64, Y:-0.29, Z:-2.00 [[ 9.99954459e-01 -8.53312306e-03 -4.27392395e-03 2.45637597e+02] [ 8.53283821e-03 9.99963591e-01 -8.48798284e-05 -2.89345883e-01] [ 4.27449263e-03 4.84072613e-05 9.99990863e-01 -2.00173429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.37591999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.67, Y:-0.29, Z:-2.00 [[ 9.99920589e-01 -1.18553700e-02 -4.27385320e-03 2.45666339e+02] [ 1.18551018e-02 9.99929722e-01 -8.80679635e-05 -2.88113096e-01] [ 4.27459692e-03 3.73940050e-05 9.99990863e-01 -2.00091670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.40592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.70, Y:-0.29, Z:-2.00 [[ 9.99814737e-01 -1.87677049e-02 -4.27374733e-03 2.45695812e+02] [ 1.87674796e-02 9.99823871e-01 -9.28244238e-05 -2.85233452e-01] [ 4.27473670e-03 1.25997610e-05 9.99990863e-01 -1.99995342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.43591999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.73, Y:-0.29, Z:-2.00 [[ 9.99710549e-01 -2.36760215e-02 -4.27358881e-03 2.45725936e+02] [ 2.36758103e-02 9.99719684e-01 -9.99949047e-05 -2.87107985e-01] [ 4.27475834e-03 -1.21471711e-06 9.99990863e-01 -1.99804022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.46592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.76, Y:-0.29, Z:-2.00 [[ 9.99679140e-01 -2.49671269e-02 -4.27321953e-03 2.45755991e+02] [ 2.49668551e-02 9.99688273e-01 -1.16962366e-04 -2.88555541e-01] [ 4.27480766e-03 1.02359849e-05 9.99990863e-01 -1.99900179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.49591999999996 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:245.79, Y:-0.29, Z:-2.00 [[ 9.99664023e-01 -2.55651765e-02 -4.27345275e-03 2.45785404e+02] [ 2.55649562e-02 9.99673157e-01 -1.06173788e-04 -2.88794921e-01] [ 4.27477036e-03 -3.11251626e-06 9.99990863e-01 -1.99703281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.52592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:245.82, Y:-0.29, Z:-2.00 [[ 9.99630042e-01 -2.68610526e-02 -4.27341641e-03 2.45816706e+02] [ 2.68608369e-02 9.99639177e-01 -1.07856514e-04 -2.87872050e-01] [ 4.27477160e-03 -6.97092939e-06 9.99990863e-01 -1.99648754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.55591999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.85, Y:-0.29, Z:-2.01 [[ 9.99612821e-01 -2.74943836e-02 -4.27397049e-03 2.45846758e+02] [ 2.74942839e-02 9.99621957e-01 -8.20968677e-05 -2.88937980e-01] [ 4.27461195e-03 -3.54446766e-05 9.99990863e-01 -2.00953641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.58592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:245.88, Y:-0.30, Z:-2.00 [[ 9.99674564e-01 -2.51495947e-02 -4.27354119e-03 2.45877559e+02] [ 2.51493873e-02 9.99683699e-01 -1.02272441e-04 -2.95053283e-01] [ 4.27476157e-03 -5.23778442e-06 9.99990863e-01 -1.99930877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.61591999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.91, Y:-0.30, Z:-2.00 [[ 9.99684270e-01 -2.47607440e-02 -4.27392788e-03 2.45907245e+02] [ 2.47606106e-02 9.99693406e-01 -8.41280665e-05 -2.96447445e-01] [ 4.27470059e-03 -2.17235591e-05 9.99990863e-01 -2.00009822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.64592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:245.94, Y:-0.30, Z:-2.00 [[ 9.99762384e-01 -2.13754297e-02 -4.27390936e-03 2.45936485e+02] [ 2.13752617e-02 9.99771519e-01 -8.49928441e-05 -2.96465137e-01] [ 4.27474962e-03 -6.38328251e-06 9.99990863e-01 -1.99798566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.67591999999996 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:245.97, Y:-0.30, Z:-2.01 [[ 9.99818483e-01 -1.85671524e-02 -4.27347496e-03 2.45966020e+02] [ 1.85668715e-02 9.99827615e-01 -1.05383055e-04 -2.96217530e-01] [ 4.27469494e-03 2.60188651e-05 9.99990863e-01 -2.01107832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.70592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:246.00, Y:-0.30, Z:-2.01 [[ 9.99892209e-01 -1.40466264e-02 -4.27348745e-03 2.45996822e+02] [ 1.40463068e-02 9.99901340e-01 -1.04795111e-04 -2.96443632e-01] [ 4.27453785e-03 4.47570999e-05 9.99990863e-01 -2.00764271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.73591999999996 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:246.03, Y:-0.30, Z:-2.00 [[ 9.99904805e-01 -1.31193314e-02 -4.27372500e-03 2.46026602e+02] [ 1.31190515e-02 9.99913937e-01 -9.35366123e-05 -2.95808977e-01] [ 4.27458433e-03 3.74604897e-05 9.99990863e-01 -1.99877593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.76592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:246.06, Y:-0.30, Z:-2.00 [[ 9.99937278e-01 -1.03525148e-02 -4.27377814e-03 2.46056631e+02] [ 1.03522203e-02 9.99946410e-01 -9.10324798e-05 -2.95145256e-01] [ 4.27449152e-03 4.67836773e-05 9.99990863e-01 -1.99755378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.79591999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.09, Y:-0.29, Z:-2.01 [[ 9.99947067e-01 -9.35922466e-03 -4.27413310e-03 2.46085381e+02] [ 9.35899197e-03 9.99956201e-01 -7.44410130e-05 -2.94770530e-01] [ 4.27464261e-03 3.44354953e-05 9.99990863e-01 -2.00939479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.82592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.11, Y:-0.29, Z:-2.01 [[ 9.99964947e-01 -7.19996569e-03 -4.27372110e-03 2.46114554e+02] [ 7.19963112e-03 9.99974078e-01 -9.36663649e-05 -2.93794251e-01] [ 4.27428471e-03 6.28938662e-05 9.99990863e-01 -2.01125240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.85591999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.14, Y:-0.29, Z:-2.01 [[ 9.99977257e-01 -5.21758827e-03 -4.27353201e-03 2.46141209e+02] [ 5.21719814e-03 9.99986385e-01 -1.02433448e-04 -2.92519652e-01] [ 4.27400828e-03 8.01352549e-05 9.99990863e-01 -2.01010092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.88592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.17, Y:-0.29, Z:-2.00 [[ 9.99980530e-01 -4.54806579e-03 -4.27250880e-03 2.46174185e+02] [ 4.54746541e-03 9.99989649e-01 -1.50226183e-04 -2.91034871e-01] [ 4.27314781e-03 1.30794172e-04 9.99990862e-01 -1.99927340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.91591999999997 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:246.19, Y:-0.29, Z:-2.00 [[ 9.99990864e-01 -6.14826938e-05 -4.27419954e-03 2.46188950e+02] [ 6.11859240e-05 9.99999996e-01 -6.95635655e-05 -2.91129117e-01] [ 4.27420380e-03 6.93014091e-05 9.99990863e-01 -2.00259164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.94592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.23, Y:-0.29, Z:-2.01 [[ 9.99989396e-01 1.72928467e-03 -4.26825569e-03 2.46232692e+02] [-1.73078205e-03 9.99998442e-01 -3.47149478e-04 -2.85036585e-01] [ 4.26764872e-03 3.54533217e-04 9.99990831e-01 -2.00928583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.97592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:246.26, Y:-0.28, Z:-2.00 [[ 9.99987783e-01 2.48419510e-03 -4.27346032e-03 2.46262173e+02] [-2.48453846e-03 9.99996911e-01 -7.50381271e-05 -2.83717021e-01] [ 4.27326071e-03 8.56547868e-05 9.99990866e-01 -1.99915165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.00592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.29, Y:-0.28, Z:-2.01 [[ 9.99989237e-01 1.80538856e-03 -4.27389437e-03 2.46289312e+02] [-1.80563084e-03 9.99998368e-01 -5.28294840e-05 -2.81965335e-01] [ 4.27379202e-03 6.05459909e-05 9.99990865e-01 -2.01132315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.03592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.32, Y:-0.28, Z:-2.01 [[ 9.99985321e-01 3.33126606e-03 -4.27317307e-03 2.46318150e+02] [-3.33167571e-03 9.99994446e-01 -8.87505108e-05 -2.78642139e-01] [ 4.27285368e-03 1.02986035e-04 9.99990866e-01 -2.01119333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.06591999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.35, Y:-0.28, Z:-2.01 [[ 9.99988267e-01 2.28170821e-03 -4.27321712e-03 2.46346351e+02] [-2.28209900e-03 9.99997392e-01 -8.65760403e-05 -2.76515949e-01] [ 4.27300844e-03 9.63269290e-05 9.99990866e-01 -2.01110923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.09592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:246.37, Y:-0.27, Z:-2.01 [[ 9.99989408e-01 1.70993116e-03 -4.27317064e-03 2.46374667e+02] [-1.71032628e-03 9.99998533e-01 -8.88126146e-05 -2.73753293e-01] [ 4.27301251e-03 9.61201899e-05 9.99990866e-01 -2.01041990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.12591999999995 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:246.41, Y:-0.27, Z:-2.00 [[ 9.99988925e-01 1.97206284e-03 -4.27315896e-03 2.46405039e+02] [-1.97246273e-03 9.99998051e-01 -8.93708949e-05 -2.71665158e-01] [ 4.27297439e-03 9.77985520e-05 9.99990866e-01 -1.99868043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.15592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:246.43, Y:-0.27, Z:-2.00 [[ 9.99990761e-01 4.60553014e-04 -4.27381366e-03 2.46432810e+02] [-4.60806441e-04 9.99999892e-01 -5.83131044e-05 -2.65475389e-01] [ 4.27378634e-03 6.02819665e-05 9.99990866e-01 -1.99691006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.18591999999995 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:246.46, Y:-0.26, Z:-2.00 [[ 9.99990370e-01 9.98693871e-04 -4.27347746e-03 2.46462058e+02] [-9.99019264e-04 9.99999498e-01 -7.40083261e-05 -2.60626529e-01] [ 4.27340141e-03 7.82768997e-05 9.99990866e-01 -1.99849284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.21592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.49, Y:-0.25, Z:-2.01 [[ 9.99990550e-01 7.96652519e-04 -4.27370786e-03 2.46490044e+02] [-7.96930724e-04 9.99999680e-01 -6.33942790e-05 -2.53914236e-01] [ 4.27365599e-03 6.67995290e-05 9.99990866e-01 -2.00878474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.24591999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.52, Y:-0.25, Z:-2.00 [[ 9.99990860e-01 -1.47593778e-04 -4.27304104e-03 2.46519510e+02] [ 1.47194402e-04 9.99999985e-01 -9.37782330e-05 -2.49970111e-01] [ 4.27305482e-03 9.31484081e-05 9.99990866e-01 -1.99506901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.27592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.55, Y:-0.24, Z:-2.01 [[ 9.99990869e-01 7.16875057e-05 -4.27281104e-03 2.46550720e+02] [-7.21334454e-05 9.99999992e-01 -1.04212795e-04 -2.42783781e-01] [ 4.27280353e-03 1.04520056e-04 9.99990866e-01 -2.00873105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.30591999999996 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:246.58, Y:-0.24, Z:-2.00 [[ 9.99990073e-01 -1.26273614e-03 -4.27301721e-03 2.46581522e+02] [ 1.26234201e-03 9.99999199e-01 -9.49328191e-05 -2.39411235e-01] [ 4.27313366e-03 8.95378676e-05 9.99990866e-01 -2.00090872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.33592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.61, Y:-0.23, Z:-1.99 [[ 9.99973495e-01 -5.89462016e-03 -4.27345566e-03 2.46609722e+02] [ 5.89435206e-03 9.99982625e-01 -7.53272676e-05 -2.34726997e-01] [ 4.27382543e-03 5.01360188e-05 9.99990866e-01 -1.99472491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.36591999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.64, Y:-0.23, Z:-2.00 [[ 9.99946997e-01 -9.36718749e-03 -4.27294030e-03 2.46639572e+02] [ 9.36685413e-03 9.99956125e-01 -9.80238658e-05 -2.33482980e-01] [ 4.27367104e-03 5.79946618e-05 9.99990866e-01 -2.00039737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.39592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.67, Y:-0.23, Z:-2.00 [[ 9.99855212e-01 -1.64710693e-02 -4.27300936e-03 2.46668427e+02] [ 1.64708137e-02 9.99864342e-01 -9.50037243e-05 -2.31877203e-01] [ 4.27399450e-03 2.46100280e-05 9.99990866e-01 -2.00393309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.42591999999996 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:246.70, Y:-0.23, Z:-1.99 [[ 9.99781703e-01 -2.04521065e-02 -4.27294016e-03 2.46696558e+02] [ 2.04518744e-02 9.99790834e-01 -9.80201729e-05 -2.31345555e-01] [ 4.27405112e-03 1.06091400e-05 9.99990866e-01 -1.99302323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.45592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:246.73, Y:-0.23, Z:-1.99 [[ 9.99653391e-01 -2.59777819e-02 -4.27235226e-03 2.46725864e+02] [ 2.59774912e-02 9.99662520e-01 -1.23527624e-04 -2.30823206e-01] [ 4.27411940e-03 1.24998151e-05 9.99990866e-01 -1.99198293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.48591999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.76, Y:-0.23, Z:-2.00 [[ 9.99654450e-01 -2.59370491e-02 -4.27209359e-03 2.46757140e+02] [ 2.59367094e-02 9.99663578e-01 -1.34901864e-04 -2.29712037e-01] [ 4.27415531e-03 2.40511988e-05 9.99990865e-01 -2.00253519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.51592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:246.79, Y:-0.23, Z:-1.99 [[ 9.99639452e-01 -2.65086639e-02 -4.27274064e-03 2.46786549e+02] [ 2.65084519e-02 9.99648584e-01 -1.06251351e-04 -2.29089414e-01] [ 4.27405571e-03 -7.05069695e-06 9.99990866e-01 -1.99367116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.54591999999997 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:246.82, Y:-0.23, Z:-1.99 [[ 9.99673621e-01 -2.51873067e-02 -4.27220754e-03 2.46816621e+02] [ 2.51869815e-02 9.99682749e-01 -1.29914833e-04 -2.28689178e-01] [ 4.27412438e-03 2.22684190e-05 9.99990866e-01 -1.99200524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.57592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:246.85, Y:-0.23, Z:-1.99 [[ 9.99743347e-01 -2.22483209e-02 -4.27236068e-03 2.46846271e+02] [ 2.22479983e-02 9.99752475e-01 -1.23015198e-04 -2.28159774e-01] [ 4.27404004e-03 2.79321522e-05 9.99990866e-01 -1.98746398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.60591999999997 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:246.88, Y:-0.23, Z:-2.00 [[ 9.99767917e-01 -2.11153176e-02 -4.27257181e-03 2.46876644e+02] [ 2.11150259e-02 9.99777047e-01 -1.13390501e-04 -2.27085078e-01] [ 4.27401350e-03 2.31487208e-05 9.99990866e-01 -1.99967618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.63592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:246.91, Y:-0.23, Z:-2.00 [[ 9.99849351e-01 -1.68231604e-02 -4.27283799e-03 2.46905793e+02] [ 1.68228816e-02 9.99858480e-01 -1.01180748e-04 -2.25642376e-01] [ 4.27393548e-03 2.92840578e-05 9.99990866e-01 -1.99636114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.66591999999997 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:246.94, Y:-0.22, Z:-2.00 [[ 9.99894200e-01 -1.39043455e-02 -4.27282980e-03 2.46935080e+02] [ 1.39040385e-02 9.99903329e-01 -1.01556005e-04 -2.24318783e-01] [ 4.27382881e-03 4.21356700e-05 9.99990866e-01 -1.99709172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.69592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:246.96, Y:-0.22, Z:-2.00 [[ 9.99893162e-01 -1.39787906e-02 -4.27283037e-03 2.46964392e+02] [ 1.39784844e-02 9.99902291e-01 -1.01529994e-04 -2.23687853e-01] [ 4.27383215e-03 4.17914541e-05 9.99990866e-01 -1.99696641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.72592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.99, Y:-0.22, Z:-2.00 [[ 9.99931549e-01 -1.08922015e-02 -4.27282120e-03 2.46991885e+02] [ 1.08918653e-02 9.99940677e-01 -1.01946979e-04 -2.19763217e-01] [ 4.27367815e-03 5.54010074e-05 9.99990866e-01 -1.99647885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.75592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.02, Y:-0.22, Z:-2.00 [[ 9.99954855e-01 -8.48722490e-03 -4.27261235e-03 2.47021013e+02] [ 8.48682669e-03 9.99963980e-01 -1.11322270e-04 -2.16681072e-01] [ 4.27340327e-03 7.50563234e-05 9.99990866e-01 -1.99704607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.78592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:247.05, Y:-0.21, Z:-2.00 [[ 9.99976572e-01 -5.34778338e-03 -4.27282860e-03 2.47049639e+02] [ 5.34739813e-03 9.99985697e-01 -1.01582927e-04 -2.10524807e-01] [ 4.27331073e-03 7.87320311e-05 9.99990866e-01 -1.99704942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.81591999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.08, Y:-0.21, Z:-2.00 [[ 9.99976159e-01 -5.42423019e-03 -4.27298762e-03 2.47077890e+02] [ 5.42387608e-03 9.99985286e-01 -9.44550981e-05 -2.07648233e-01] [ 4.27343709e-03 7.12766909e-05 9.99990866e-01 -1.99848168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.84592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:247.11, Y:-0.20, Z:-2.00 [[ 9.99976547e-01 -5.35235404e-03 -4.27291826e-03 2.47106791e+02] [ 5.35198605e-03 9.99985673e-01 -9.75507141e-05 -2.04430574e-01] [ 4.27337917e-03 7.46798274e-05 9.99990866e-01 -1.99766637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.87591999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.14, Y:-0.20, Z:-2.00 [[ 9.99964850e-01 -7.21396342e-03 -4.27291247e-03 2.47135017e+02] [ 7.21361132e-03 9.99973977e-01 -9.78077716e-05 -1.99021974e-01] [ 4.27350685e-03 6.69812039e-05 9.99990866e-01 -1.99764738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.90592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:247.17, Y:-0.20, Z:-1.99 [[ 9.99960718e-01 -7.76567306e-03 -4.27275246e-03 2.47165086e+02] [ 7.76529555e-03 9.99969844e-01 -1.04936948e-04 -1.97145407e-01] [ 4.27343852e-03 7.17536406e-05 9.99990866e-01 -1.99401873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.93591999999995 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:247.19, Y:-0.20, Z:-1.99 [[ 9.99885181e-01 -1.45383570e-02 -4.27337571e-03 2.47193535e+02] [ 1.45381592e-02 9.99894312e-01 -7.73505385e-05 -1.95637061e-01] [ 4.27404862e-03 1.52146407e-05 9.99990866e-01 -1.98893397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.96592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:247.22, Y:-0.19, Z:-1.99 [[ 9.99781259e-01 -2.04737491e-02 -4.27308486e-03 2.47223252e+02] [ 2.04735513e-02 9.99790391e-01 -9.00396581e-05 -1.94708847e-01] [ 4.27403263e-03 2.53474078e-06 9.99990866e-01 -1.99254658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.99591999999996 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:247.25, Y:-0.19, Z:-1.98 [[ 9.99718311e-01 -2.33460825e-02 -4.27296409e-03 2.47253015e+02] [ 2.33458884e-02 9.99727443e-01 -9.53134241e-05 -1.94320861e-01] [ 4.27402466e-03 -4.46956730e-06 9.99990866e-01 -1.98415877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.02592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:247.28, Y:-0.19, Z:-1.98 [[ 9.99661988e-01 -2.56447507e-02 -4.27287957e-03 2.47283265e+02] [ 2.56445617e-02 9.99671119e-01 -9.90075497e-05 -1.94431003e-01] [ 4.27401332e-03 -1.06020399e-05 9.99990866e-01 -1.98407438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.05591999999996 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:247.31, Y:-0.20, Z:-1.99 [[ 9.99596348e-01 -2.80871006e-02 -4.27266483e-03 2.47313792e+02] [ 2.80868933e-02 9.99605479e-01 -1.08535214e-04 -1.96194801e-01] [ 4.27402762e-03 -1.15144774e-05 9.99990866e-01 -1.99151519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.08592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:247.34, Y:-0.20, Z:-1.98 [[ 9.99570630e-01 -2.89879203e-02 -4.27276684e-03 2.47344854e+02] [ 2.89877408e-02 9.99579762e-01 -1.03946521e-04 -1.98344441e-01] [ 4.27398446e-03 -1.99559684e-05 9.99990866e-01 -1.98227050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.11591999999996 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:247.38, Y:-0.20, Z:-1.98 [[ 9.99637200e-01 -2.65934738e-02 -4.27254864e-03 2.47375149e+02] [ 2.65932303e-02 9.99646331e-01 -1.13804422e-04 -1.98916425e-01] [ 4.27406403e-03 1.42264108e-07 9.99990866e-01 -1.97943127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.14592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.41, Y:-0.20, Z:-1.99 [[ 9.99653757e-01 -2.59635643e-02 -4.27302979e-03 2.47405170e+02] [ 2.59634087e-02 9.99662890e-01 -9.18883379e-05 -1.99668761e-01] [ 4.27397506e-03 -1.90858966e-05 9.99990866e-01 -1.99211181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.17591999999996 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:247.44, Y:-0.20, Z:-1.98 [[ 9.99739820e-01 -2.24061020e-02 -4.27313975e-03 2.47435814e+02] [ 2.24059355e-02 9.99748952e-01 -8.68334149e-05 -2.01965586e-01] [ 4.27401258e-03 -8.93287107e-06 9.99990866e-01 -1.98043816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.20592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:247.46, Y:-0.20, Z:-1.98 [[ 9.99796269e-01 -1.97271846e-02 -4.27304141e-03 2.47464983e+02] [ 1.97269742e-02 9.99805400e-01 -9.13734725e-05 -2.01317875e-01] [ 4.27401242e-03 7.06067925e-06 9.99990866e-01 -1.98074149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.23591999999996 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:247.49, Y:-0.20, Z:-1.98 [[ 9.99883637e-01 -1.46442465e-02 -4.27297478e-03 2.47494306e+02] [ 1.46439766e-02 9.99892767e-01 -9.44495141e-05 -2.00956263e-01] [ 4.27389972e-03 3.18651811e-05 9.99990866e-01 -1.98039813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.26592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:247.52, Y:-0.20, Z:-1.98 [[ 9.99925665e-01 -1.14194492e-02 -4.27313342e-03 2.47523608e+02] [ 1.14191812e-02 9.99934795e-01 -8.71043482e-05 -1.99595981e-01] [ 4.27384947e-03 3.83021884e-05 9.99990866e-01 -1.98332018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.29591999999997 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:247.55, Y:-0.20, Z:-1.98 [[ 9.99950327e-01 -9.00462725e-03 -4.27313316e-03 2.47554057e+02] [ 9.00433717e-03 9.99959456e-01 -8.71162757e-05 -1.98855479e-01] [ 4.27374436e-03 4.86352167e-05 9.99990866e-01 -1.98069486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.32592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:247.58, Y:-0.20, Z:-1.98 [[ 9.99947946e-01 -9.26518915e-03 -4.27333234e-03 2.47582973e+02] [ 9.26494077e-03 9.99957076e-01 -7.79164634e-05 -1.97912700e-01] [ 4.27387082e-03 3.83202366e-05 9.99990866e-01 -1.98163101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.35591999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.61, Y:-0.20, Z:-1.99 [[ 9.99935090e-01 -1.05620044e-02 -4.27325485e-03 2.47612585e+02] [ 1.05617526e-02 9.99944220e-01 -8.14828126e-05 -1.95813336e-01] [ 4.27387711e-03 3.63444631e-05 9.99990866e-01 -1.99318617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.38592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:247.64, Y:-0.20, Z:-1.98 [[ 9.99907487e-01 -1.29135566e-02 -4.27299281e-03 2.47642028e+02] [ 1.29132751e-02 9.99916616e-01 -9.34631264e-05 -1.95836356e-01] [ 4.27384345e-03 3.82761483e-05 9.99990866e-01 -1.97973392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.41591999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.67, Y:-0.20, Z:-1.99 [[ 9.99895921e-01 -1.37799655e-02 -4.27304094e-03 2.47671888e+02] [ 1.37797012e-02 9.99905051e-01 -9.12789144e-05 -1.96061046e-01] [ 4.27389304e-03 3.23881867e-05 9.99990866e-01 -1.98896492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.44592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.70, Y:-0.20, Z:-1.99 [[ 9.99877831e-01 -1.50354360e-02 -4.27313835e-03 2.47700374e+02] [ 1.50352022e-02 9.99886961e-01 -8.68289567e-05 -1.95557642e-01] [ 4.27396083e-03 2.25708497e-05 9.99990866e-01 -1.99039982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.47592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.73, Y:-0.19, Z:-1.99 [[ 9.99868870e-01 -1.56199943e-02 -4.27307955e-03 2.47729577e+02] [ 1.56197544e-02 9.99878000e-01 -8.94994745e-05 -1.94318993e-01] [ 4.27395621e-03 2.27432854e-05 9.99990866e-01 -1.98766377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.50592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:247.76, Y:-0.19, Z:-1.98 [[ 9.99895572e-01 -1.38053239e-02 -4.27301564e-03 2.47759181e+02] [ 1.38050552e-02 9.99904701e-01 -9.23898674e-05 -1.93588243e-01] [ 4.27388390e-03 3.33910025e-05 9.99990866e-01 -1.97995503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.53592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:247.79, Y:-0.19, Z:-1.98 [[ 9.99899588e-01 -1.35113214e-02 -4.27306724e-03 2.47789071e+02] [ 1.35110599e-02 9.99908717e-01 -9.00716221e-05 -1.93576851e-01] [ 4.27389417e-03 3.23289104e-05 9.99990866e-01 -1.97800514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.56591999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.82, Y:-0.19, Z:-1.99 [[ 9.99892094e-01 -1.40548857e-02 -4.27319456e-03 2.47818838e+02] [ 1.40546537e-02 9.99901225e-01 -8.43192910e-05 -1.94641186e-01] [ 4.27395758e-03 2.42519226e-05 9.99990866e-01 -1.98732625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.59592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:247.85, Y:-0.20, Z:-1.98 [[ 9.99873482e-01 -1.53219346e-02 -4.27307086e-03 2.47847203e+02] [ 1.53216903e-02 9.99882612e-01 -8.99099943e-05 -1.95159464e-01] [ 4.27394685e-03 2.44279506e-05 9.99990866e-01 -1.97664210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.62591999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.88, Y:-0.20, Z:-1.98 [[ 9.99822797e-01 -1.83334838e-02 -4.27291173e-03 2.47876519e+02] [ 1.83332362e-02 9.99831927e-01 -9.71129113e-05 -1.99316868e-01] [ 4.27397399e-03 1.87594026e-05 9.99990866e-01 -1.97754446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.65592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:247.91, Y:-0.20, Z:-1.98 [[ 9.99803470e-01 -1.93587808e-02 -4.27297500e-03 2.47905574e+02] [ 1.93585547e-02 9.99812601e-01 -9.42554873e-05 -2.00594552e-01] [ 4.27399892e-03 1.15183431e-05 9.99990866e-01 -1.97563949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.68591999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.94, Y:-0.20, Z:-1.98 [[ 9.99780182e-01 -2.05263004e-02 -4.27301297e-03 2.47935180e+02] [ 2.05260922e-02 9.99789313e-01 -9.25566884e-05 -2.01242993e-01] [ 4.27401255e-03 4.82808433e-06 9.99990866e-01 -1.97692804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.71592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:247.96, Y:-0.20, Z:-1.98 [[ 9.99743737e-01 -2.22306535e-02 -4.27290789e-03 2.47964705e+02] [ 2.22304408e-02 9.99752868e-01 -9.72686064e-05 -2.02914304e-01] [ 4.27401427e-03 2.25505410e-06 9.99990866e-01 -1.98056284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.74591999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.99, Y:-0.21, Z:-1.98 [[ 9.99776369e-01 -2.07112494e-02 -4.27272441e-03 2.47994020e+02] [ 2.07109874e-02 9.99785499e-01 -1.05560824e-04 -2.05741155e-01] [ 4.27399420e-03 1.70448759e-05 9.99990866e-01 -1.97782088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.77592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.02, Y:-0.21, Z:-1.98 [[ 9.99772363e-01 -2.09036959e-02 -4.27294537e-03 2.48023321e+02] [ 2.09034784e-02 9.99781494e-01 -9.55495017e-05 -2.06120949e-01] [ 4.27400905e-03 6.20832973e-06 9.99990866e-01 -1.98339718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.80591999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.05, Y:-0.21, Z:-1.98 [[ 9.99815766e-01 -1.87130186e-02 -4.27280181e-03 2.48053512e+02] [ 1.87127532e-02 9.99824896e-01 -1.02095017e-04 -2.06983044e-01] [ 4.27396413e-03 2.21203219e-05 9.99990866e-01 -1.97793934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.83592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:248.08, Y:-0.21, Z:-1.98 [[ 9.99824748e-01 -1.82267576e-02 -4.27308577e-03 2.48082899e+02] [ 1.82265430e-02 9.99833879e-01 -8.91564260e-05 -2.11006492e-01] [ 4.27400096e-03 1.12572195e-05 9.99990866e-01 -1.97589583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.86591999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.11, Y:-0.21, Z:-1.98 [[ 9.99815328e-01 -1.87362924e-02 -4.27321001e-03 2.48112037e+02] [ 1.87361067e-02 9.99824460e-01 -8.34783282e-05 -2.11325105e-01] [ 4.27402397e-03 3.39959333e-06 9.99990866e-01 -1.98228072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.89592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.14, Y:-0.21, Z:-1.99 [[ 9.99823646e-01 -1.82871351e-02 -4.27279703e-03 2.48142083e+02] [ 1.82868645e-02 9.99832776e-01 -1.02394153e-04 -2.12070262e-01] [ 4.27395501e-03 2.42400350e-05 9.99990866e-01 -1.98675078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.92591999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.17, Y:-0.21, Z:-1.99 [[ 9.99800625e-01 -1.95051256e-02 -4.27317193e-03 2.48170835e+02] [ 1.95049401e-02 9.99809757e-01 -8.50743933e-05 -2.14780726e-01] [ 4.27401837e-03 1.70946909e-06 9.99990866e-01 -1.98800888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.95592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.20, Y:-0.22, Z:-1.98 [[ 9.99820509e-01 -1.84578658e-02 -4.27290935e-03 2.48202043e+02] [ 1.84576194e-02 9.99829639e-01 -9.70878854e-05 -2.15964489e-01] [ 4.27397345e-03 1.82027242e-05 9.99990866e-01 -1.97893520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.98591999999996 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:248.23, Y:-0.22, Z:-1.99 [[ 9.99801388e-01 -1.94659211e-02 -4.27335738e-03 2.48231769e+02] [ 1.94657725e-02 9.99810521e-01 -7.63568119e-05 -2.16762536e-01] [ 4.27403403e-03 -6.84255598e-06 9.99990866e-01 -1.98699814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.01592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:248.26, Y:-0.22, Z:-1.98 [[ 9.99819375e-01 -1.85191571e-02 -4.27299512e-03 2.48262329e+02] [ 1.85189286e-02 9.99828506e-01 -9.30324581e-05 -2.16798321e-01] [ 4.27398521e-03 1.38843625e-05 9.99990866e-01 -1.97695396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.04591999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.29, Y:-0.22, Z:-1.99 [[ 9.99785810e-01 -2.02502518e-02 -4.27333267e-03 2.48291994e+02] [ 2.02501052e-02 9.99794943e-01 -7.75650369e-05 -2.16875116e-01] [ 4.27402711e-03 -8.98701291e-06 9.99990866e-01 -1.98786930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.07592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.32, Y:-0.22, Z:-1.99 [[ 9.99792457e-01 -1.99194270e-02 -4.27304186e-03 2.48320842e+02] [ 1.99192208e-02 9.99801589e-01 -9.08018608e-05 -2.17649849e-01] [ 4.27400276e-03 5.66735114e-06 9.99990866e-01 -1.98820407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.10591999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.35, Y:-0.22, Z:-1.99 [[ 9.99794132e-01 -1.98351858e-02 -4.27302810e-03 2.48349807e+02] [ 1.98349762e-02 9.99803263e-01 -9.14236909e-05 -2.17761654e-01] [ 4.27400084e-03 6.64945904e-06 9.99990866e-01 -1.98878694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.13592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.38, Y:-0.22, Z:-1.98 [[ 9.99828906e-01 -1.79972335e-02 -4.27290344e-03 2.48379974e+02] [ 1.79969831e-02 9.99838036e-01 -9.70564104e-05 -2.17977490e-01] [ 4.27395813e-03 2.01404337e-05 9.99990866e-01 -1.97816182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.16591999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.41, Y:-0.22, Z:-1.99 [[ 9.99827992e-01 -1.80478961e-02 -4.27313515e-03 2.48409609e+02] [ 1.80476907e-02 9.99837123e-01 -8.66274289e-05 -2.17247600e-01] [ 4.27400260e-03 9.49230653e-06 9.99990866e-01 -1.98789149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.19592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.44, Y:-0.22, Z:-1.99 [[ 9.99856740e-01 -1.63780706e-02 -4.27301434e-03 2.48438313e+02] [ 1.63778268e-02 9.99865870e-01 -9.20433701e-05 -2.16615072e-01] [ 4.27394870e-03 2.20474951e-05 9.99990866e-01 -1.98915059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.22592 meters Centerline goodness : 0.841177 Centerline is valid? [True, False] Translation: X:248.44, Y:-0.21, Z:-1.99 [[ 9.99997597e-01 -2.15480659e-03 -4.03351109e-04 2.48436037e+02] [ 2.15245965e-03 9.99981259e-01 -5.73128831e-03 -2.09384975e-01] [ 4.15693368e-04 5.73040634e-03 9.99983495e-01 -1.98940709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.25592 meters Centerline goodness : 1.000000 Centerline is valid? [False, True] Translation: X:248.44, Y:-0.21, Z:-1.99 [[ 9.99980836e-01 -6.17201688e-03 -4.83181057e-04 2.48436384e+02] [ 6.16649650e-03 9.99923781e-01 -1.06960615e-02 -2.05623522e-01] [ 5.49160501e-04 1.06928770e-02 9.99942679e-01 -1.98915948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.28592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:248.47, Y:-0.21, Z:-1.98 [[ 9.99991546e-01 -4.06102818e-03 -6.44672929e-04 2.48467967e+02] [ 4.06102274e-03 9.99991754e-01 -9.74008662e-06 -2.14304634e-01] [ 6.44707168e-04 7.12197285e-06 9.99999792e-01 -1.97631417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.31591999999995 meters Centerline goodness : 0.964126 Centerline is valid? [True, True] Translation: X:248.46, Y:-0.19, Z:-1.99 [[ 9.98266576e-01 5.88509010e-02 -6.44733217e-04 2.48456792e+02] [-5.88509169e-02 9.98266783e-01 -5.76463449e-06 -1.92499752e-01] [ 6.43276500e-04 4.36977829e-05 9.99999792e-01 -1.99286170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.34592 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:248.52, Y:-0.21, Z:-1.98 [[ 9.99958785e-01 9.05616558e-03 -6.43194768e-04 2.48523217e+02] [-9.05623539e-03 9.99958986e-01 -1.05711458e-04 -2.09507721e-01] [ 6.42211047e-04 1.11532025e-04 9.99999788e-01 -1.97571796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.37591999999995 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:248.55, Y:-0.21, Z:-1.98 [[ 9.99949079e-01 1.00709992e-02 -6.44016494e-04 2.48552078e+02] [-1.00710008e-02 9.99949286e-01 8.50526249e-07 -2.07810396e-01] [ 6.43992399e-04 5.63540767e-06 9.99999793e-01 -1.97608019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.40592 meters Centerline goodness : 0.998560 Centerline is valid? [True, True] Translation: X:248.58, Y:-0.20, Z:-1.98 [[ 9.99903905e-01 1.38479511e-02 -6.43993683e-04 2.48580993e+02] [-1.38479552e-02 9.99904112e-01 -1.96071037e-06 -2.04275194e-01] [ 6.43904780e-04 1.08785176e-05 9.99999793e-01 -1.97620683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.43591999999995 meters Centerline goodness : 0.978796 Centerline is valid? [True, True] Translation: X:248.66, Y:-0.20, Z:-2.00 [[ 9.99925678e-01 -1.21747184e-02 -6.43996479e-04 2.48657533e+02] [ 1.21747198e-02 9.99925885e-01 -1.61916895e-06 -1.96201106e-01] [ 6.43968462e-04 -6.22142810e-06 9.99999793e-01 -2.00378986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.46592 meters Centerline goodness : 0.997964 Centerline is valid? [True, True] Translation: X:248.63, Y:-0.20, Z:-1.98 [[ 9.99940970e-01 1.08462386e-02 -6.44962893e-04 2.48631851e+02] [-1.08461470e-02 9.99941168e-01 1.45274545e-04 -2.03334007e-01] [ 6.46500631e-04 -1.38270607e-04 9.99999781e-01 -1.97612451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.49591999999996 meters Centerline goodness : 0.998063 Centerline is valid? [True, True] Translation: X:248.66, Y:-0.20, Z:-1.98 [[ 9.99914494e-01 1.30610972e-02 -6.42622163e-04 2.48659857e+02] [-1.30611047e-02 9.99914700e-01 -7.50506947e-06 -1.99884918e-01] [ 6.42469323e-04 1.58977831e-05 9.99999793e-01 -1.98209202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.52592 meters Centerline goodness : 0.997370 Centerline is valid? [True, True] Translation: X:248.69, Y:-0.20, Z:-1.98 [[ 9.99881795e-01 1.53617256e-02 -6.42576878e-04 2.48688970e+02] [-1.53617355e-02 9.99882002e-01 -1.03880849e-05 -1.95230820e-01] [ 6.42341476e-04 2.02579530e-05 9.99999793e-01 -1.97710191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.55591999999996 meters Centerline goodness : 0.996164 Centerline is valid? [True, True] Translation: X:248.68, Y:-0.20, Z:-1.99 [[ 9.99846805e-01 1.74915379e-02 -6.42654383e-04 2.48675997e+02] [-1.74915453e-02 9.99847011e-01 -5.95779306e-06 -2.02601597e-01] [ 6.42451853e-04 1.71978986e-05 9.99999793e-01 -1.99444441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.58592 meters Centerline goodness : 0.996164 Centerline is valid? [True, True] Translation: X:248.71, Y:-0.20, Z:-1.99 [[ 9.99758041e-01 2.19876138e-02 -6.36152164e-04 2.48705803e+02] [-2.19876964e-02 9.99758234e-01 -1.23212378e-04 -2.00200329e-01] [ 6.33289218e-04 1.37170087e-04 9.99999790e-01 -1.99440769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.61591999999996 meters Centerline goodness : 0.997417 Centerline is valid? [True, True] Translation: X:248.77, Y:-0.18, Z:-1.98 [[ 9.99563727e-01 2.95288053e-02 -6.36323019e-04 2.48773926e+02] [-2.95288821e-02 9.99563921e-01 -1.11730098e-04 -1.79870506e-01] [ 6.32746275e-04 1.30471261e-04 9.99999791e-01 -1.97638081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.64592 meters Centerline goodness : 0.997417 Centerline is valid? [True, True] Translation: X:248.80, Y:-0.17, Z:-1.98 [[ 9.99506540e-01 3.14049367e-02 -6.37312745e-04 2.48802803e+02] [-3.14049421e-02 9.99506743e-01 1.51659295e-06 -1.74581688e-01] [ 6.37046015e-04 1.84989253e-05 9.99999797e-01 -1.97616389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.67591999999996 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:248.82, Y:-0.17, Z:-2.01 [[ 9.98892409e-01 4.70483700e-02 -6.37292070e-04 2.48818485e+02] [-4.70483800e-02 9.98892612e-01 -7.20973271e-07 -1.66073246e-01] [ 6.36552420e-04 3.07037342e-05 9.99999797e-01 -2.01271854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.70592 meters Centerline goodness : 0.997316 Centerline is valid? [True, True] Translation: X:248.86, Y:-0.16, Z:-1.98 [[ 9.99415606e-01 3.41766004e-02 -6.36966192e-04 2.48861905e+02] [-3.41766301e-02 9.99415808e-01 -3.58451695e-05 -1.60656132e-01] [ 6.35369015e-04 5.75935797e-05 9.99999796e-01 -1.97659464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.73591999999996 meters Centerline goodness : 0.885996 Centerline is valid? [True, False] Translation: X:248.85, Y:-0.16, Z:-1.98 [[ 9.99782742e-01 1.85345223e-02 9.53625562e-03 2.48852409e+02] [-1.85289100e-02 9.99828096e-01 -6.76547197e-04 -1.55022315e-01] [-9.54715578e-03 4.99703790e-04 9.99954300e-01 -1.97721663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.76592 meters Centerline goodness : 0.936187 Centerline is valid? [False, False] Translation: X:248.88, Y:-0.15, Z:-1.98 [[ 9.99959528e-01 7.45540151e-03 5.03581871e-03 2.48880775e+02] [-7.45581185e-03 9.99972203e-01 6.27163901e-05 -1.54382613e-01] [-5.03521115e-03 -1.00259969e-04 9.99987318e-01 -1.97573134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.79591999999997 meters Centerline goodness : 0.997171 Centerline is valid? [False, True] Translation: X:248.86, Y:-0.14, Z:-1.97 [[ 9.99974618e-01 5.51246292e-03 4.51394260e-03 2.48860103e+02] [-5.43640467e-03 9.99845899e-01 -1.66920062e-02 -1.37271515e-01] [-4.60526106e-03 1.66670429e-02 9.99850489e-01 -1.97437996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.82592 meters Centerline goodness : 0.897964 Centerline is valid? [True, False] Translation: X:248.86, Y:-0.13, Z:-1.98 [[ 9.99987031e-01 3.53062489e-03 3.67050361e-03 2.48864943e+02] [-3.45888899e-03 9.99806403e-01 -1.93698878e-02 -1.33396782e-01] [-3.73818081e-03 1.93569407e-02 9.99805649e-01 -1.97837211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.85591999999997 meters Centerline goodness : 0.998608 Centerline is valid? [False, True] Translation: X:248.87, Y:-0.12, Z:-1.98 [[ 9.99982742e-01 -4.63452144e-03 3.61059920e-03 2.48865111e+02] [ 4.74127490e-03 9.99534391e-01 -3.01416774e-02 -1.23520042e-01] [-3.46922582e-03 3.01582761e-02 9.99539115e-01 -1.97637867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.88592 meters Centerline goodness : 0.998561 Centerline is valid? [True, True] Translation: X:248.91, Y:-0.14, Z:-1.98 [[ 9.99958763e-01 -8.68667759e-03 2.64827715e-03 2.48910408e+02] [ 8.70180915e-03 9.99945567e-01 -5.75678868e-03 -1.42276067e-01] [-2.59812563e-03 5.77959609e-03 9.99979923e-01 -1.97563671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.91591999999997 meters Centerline goodness : 0.927605 Centerline is valid? [True, False] Translation: X:248.94, Y:-0.14, Z:-1.97 [[ 9.99991058e-01 -4.15777041e-03 -7.72549534e-04 2.48935290e+02] [ 4.14846545e-03 9.99923191e-01 -1.16791247e-02 -1.36041636e-01] [ 8.21049315e-04 1.16758154e-02 9.99931498e-01 -1.97424736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.94592 meters Centerline goodness : 0.935985 Centerline is valid? [False, False] Translation: X:248.94, Y:-0.13, Z:-1.97 [[ 9.99966426e-01 -8.12839320e-03 -1.03689210e-03 2.48936145e+02] [ 8.11021012e-03 9.99831357e-01 -1.64767187e-02 -1.33556518e-01] [ 1.17064648e-03 1.64677561e-02 9.99863712e-01 -1.97372987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.97592 meters Centerline goodness : 0.912931 Centerline is valid? [False, False] Translation: X:248.94, Y:-0.14, Z:-1.97 [[ 9.99991177e-01 -4.03062314e-03 -1.18291315e-03 2.48936445e+02] [ 4.01684118e-03 9.99926599e-01 -1.14307194e-02 -1.37637042e-01] [ 1.22889924e-03 1.14258670e-02 9.99933968e-01 -1.97420798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.00592 meters Centerline goodness : 0.973071 Centerline is valid? [False, True] Translation: X:248.96, Y:-0.13, Z:-1.97 [[ 9.99984468e-01 -1.39979799e-03 -5.39487483e-03 2.48958329e+02] [ 1.30013366e-03 9.99829246e-01 -1.84333301e-02 -1.32184171e-01] [ 5.41975658e-03 1.84260297e-02 9.99815537e-01 -1.96989565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.03592 meters Centerline goodness : 0.951737 Centerline is valid? [True, True] Translation: X:248.99, Y:-0.14, Z:-1.97 [[ 9.99965654e-01 5.74603008e-03 -5.97268474e-03 2.48988765e+02] [-5.78836922e-03 9.99958071e-01 -7.09584789e-03 -1.42697473e-01] [ 5.93166135e-03 7.13017629e-03 9.99956987e-01 -1.97472795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.06591999999995 meters Centerline goodness : 0.933886 Centerline is valid? [True, False] Translation: X:249.01, Y:-0.13, Z:-1.97 [[ 9.99927941e-01 2.23921622e-03 -1.17939755e-02 2.49008783e+02] [-2.46486625e-03 9.99813526e-01 -1.91529964e-02 -1.33430255e-01] [ 1.17488885e-02 1.91806869e-02 9.99747000e-01 -1.96960263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.09592 meters Centerline goodness : 0.925481 Centerline is valid? [False, False] Translation: X:249.03, Y:-0.14, Z:-1.97 [[ 9.99881692e-01 -5.94600071e-03 -1.41861829e-02 2.49028058e+02] [ 5.71519503e-03 9.99851542e-01 -1.62551904e-02 -1.38407469e-01] [ 1.42807302e-02 1.61721905e-02 9.99767233e-01 -1.96552909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.12591999999995 meters Centerline goodness : 0.997319 Centerline is valid? [False, True] Translation: X:249.03, Y:-0.14, Z:-1.97 [[ 9.99896037e-01 -1.82181462e-03 -1.43037281e-02 2.49028381e+02] [ 1.66366317e-03 9.99937444e-01 -1.10607835e-02 -1.43321249e-01] [ 1.43229840e-02 1.10358370e-02 9.99836518e-01 -1.96595674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.15592 meters Centerline goodness : 0.995827 Centerline is valid? [True, True] Translation: X:249.06, Y:-0.15, Z:-1.95 [[ 9.99886835e-01 -4.64969786e-03 -1.43072492e-02 2.49057170e+02] [ 4.64715009e-03 9.99989180e-01 -2.11316311e-04 -1.54064620e-01] [ 1.43080770e-02 1.44804463e-04 9.99897624e-01 -1.95217578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.18591999999995 meters Centerline goodness : 0.880974 Centerline is valid? [True, False] Translation: X:249.08, Y:-0.14, Z:-1.95 [[ 9.99870195e-01 -4.61414694e-03 -1.54370471e-02 2.49078225e+02] [ 4.43680823e-03 9.99924001e-01 -1.15024558e-02 -1.44637966e-01] [ 1.54889479e-02 1.14324715e-02 9.99814678e-01 -1.94801775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.21592 meters Centerline goodness : 0.995586 Centerline is valid? [False, True] Translation: X:249.10, Y:-0.14, Z:-1.95 [[ 9.99842878e-01 -4.91507085e-04 -1.77193933e-02 2.49100556e+02] [ 1.78705113e-04 9.99844204e-01 -1.76503490e-02 -1.39428248e-01] [ 1.77253080e-02 1.76444092e-02 9.99687195e-01 -1.94512400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.24591999999996 meters Centerline goodness : 0.996870 Centerline is valid? [True, True] Translation: X:249.13, Y:-0.15, Z:-1.96 [[ 9.99839608e-01 3.09185685e-03 -1.76408028e-02 2.49132234e+02] [-3.09956145e-03 9.99995113e-01 -4.09424325e-04 -1.54192499e-01] [ 1.76394507e-02 4.64037409e-04 9.99844305e-01 -1.95571702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.27592 meters Centerline goodness : 0.996480 Centerline is valid? [True, True] Translation: X:249.16, Y:-0.15, Z:-1.95 [[ 9.99835900e-01 4.12783459e-03 -1.76390117e-02 2.49156852e+02] [-4.12944589e-03 9.99991472e-01 -5.49270711e-05 -1.54029796e-01] [ 1.76386346e-02 1.27757402e-04 9.99844419e-01 -1.94804992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.30591999999996 meters Centerline goodness : 0.994685 Centerline is valid? [True, True] Translation: X:249.15, Y:-0.16, Z:-1.96 [[ 9.99793906e-01 1.00479500e-02 -1.76404288e-02 2.49153193e+02] [-1.00558312e-02 9.99949375e-01 -3.58124070e-04 -1.60439588e-01] [ 1.76359374e-02 5.35439438e-04 9.99844331e-01 -1.96062466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.33592 meters Centerline goodness : 0.997616 Centerline is valid? [True, True] Translation: X:249.22, Y:-0.15, Z:-1.96 [[ 9.99662894e-01 1.90269464e-02 -1.76656006e-02 2.49218054e+02] [-1.90644156e-02 9.99816346e-01 -1.95503199e-03 -1.45659374e-01] [ 1.76251579e-02 2.29115729e-03 9.99842040e-01 -1.96052586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.36591999999996 meters Centerline goodness : 0.941938 Centerline is valid? [True, False] Translation: X:249.21, Y:-0.15, Z:-1.96 [[ 9.99967084e-01 6.94731471e-03 -4.19104150e-03 2.49206013e+02] [-6.94630941e-03 9.99975842e-01 2.54377719e-04 -1.49953098e-01] [ 4.19270750e-03 -2.25257075e-04 9.99991185e-01 -1.96276409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.39592 meters Centerline goodness : 0.997222 Centerline is valid? [False, True] Translation: X:249.23, Y:-0.14, Z:-1.96 [[ 9.99947890e-01 4.75232262e-03 -9.03506502e-03 2.49227195e+02] [-4.86310388e-03 9.99912783e-01 -1.22790843e-02 -1.39545919e-01] [ 8.97592284e-03 1.23223829e-02 9.99883789e-01 -1.95671592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.42591999999996 meters Centerline goodness : 0.996221 Centerline is valid? [True, True] Translation: X:249.25, Y:-0.15, Z:-1.95 [[ 9.99956477e-01 2.73312905e-03 -8.92045173e-03 2.49251581e+02] [-2.73249562e-03 9.99996263e-01 8.31953485e-05 -1.54125404e-01] [ 8.92064578e-03 -5.88166323e-05 9.99960209e-01 -1.94579439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.45592 meters Centerline goodness : 0.997915 Centerline is valid? [True, True] Translation: X:249.28, Y:-0.16, Z:-1.96 [[ 9.99955916e-01 2.92810924e-03 -8.92146840e-03 2.49283157e+02] [-2.92847364e-03 9.99995712e-01 -2.77820589e-05 -1.55307997e-01] [ 8.92134880e-03 5.39071192e-05 9.99960203e-01 -1.95776672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.48591999999996 meters Centerline goodness : 0.925655 Centerline is valid? [True, False] Translation: X:249.28, Y:-0.16, Z:-1.96 [[ 9.99958278e-01 -1.36692863e-03 -9.03179284e-03 2.49283431e+02] [ 1.33268431e-03 9.99991905e-01 -3.79646242e-03 -1.57559382e-01] [ 9.03690923e-03 3.78426750e-03 9.99952006e-01 -1.95792333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.51592 meters Centerline goodness : 0.997819 Centerline is valid? [False, True] Translation: X:249.28, Y:-0.16, Z:-1.96 [[ 9.99958037e-01 -1.46983611e-03 -9.04238972e-03 2.49283495e+02] [ 1.44202767e-03 9.99994214e-01 -3.08109341e-03 -1.61101387e-01] [ 9.04686611e-03 3.06792474e-03 9.99954370e-01 -1.95801926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.54591999999997 meters Centerline goodness : 0.998165 Centerline is valid? [True, True] Translation: X:249.31, Y:-0.17, Z:-1.95 [[ 9.99951250e-01 -4.02836903e-03 -9.01494891e-03 2.49312735e+02] [ 4.02923973e-03 9.99991880e-01 7.84243769e-05 -1.70670915e-01] [ 9.01455979e-03 -1.14743944e-04 9.99959361e-01 -1.94677272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.57592 meters Centerline goodness : 0.998463 Centerline is valid? [True, True] Translation: X:249.34, Y:-0.18, Z:-1.94 [[ 9.99924702e-01 -8.32602957e-03 -9.01489389e-03 2.49339426e+02] [ 8.32713305e-03 9.99965325e-01 8.48777003e-05 -1.75609330e-01] [ 9.01387461e-03 -1.59939530e-04 9.99959361e-01 -1.94046899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.60591999999997 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:249.37, Y:-0.18, Z:-1.96 [[ 9.99920965e-01 -8.76236764e-03 -9.01577991e-03 2.49372179e+02] [ 8.76251056e-03 9.99961608e-01 -2.36498165e-05 -1.78893907e-01] [ 9.01564101e-03 -5.53529193e-05 9.99959357e-01 -1.95705508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.63592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:249.40, Y:-0.19, Z:-1.96 [[ 9.99902860e-01 -1.06302188e-02 -9.01491797e-03 2.49400106e+02] [ 1.06313459e-02 9.99943483e-01 7.71164016e-05 -1.88673256e-01] [ 9.01358871e-03 -1.72949622e-04 9.99959362e-01 -1.95575139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.66591999999997 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:249.43, Y:-0.20, Z:-1.94 [[ 9.99903065e-01 -1.06109021e-02 -9.01493186e-03 2.49429547e+02] [ 1.06120135e-02 9.99943688e-01 7.54571870e-05 -1.97844677e-01] [ 9.01362354e-03 -1.71116452e-04 9.99959362e-01 -1.94429620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.69592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.46, Y:-0.20, Z:-1.96 [[ 9.99893208e-01 -1.15021929e-02 -9.01505332e-03 2.49459652e+02] [ 1.15032067e-02 9.99933834e-01 6.06188556e-05 -2.02512087e-01] [ 9.01375958e-03 -1.64314404e-04 9.99959362e-01 -1.95573482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.72592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.49, Y:-0.21, Z:-1.94 [[ 9.99877035e-01 -1.28313938e-02 -9.01495799e-03 2.49488064e+02] [ 1.28325686e-02 9.99917657e-01 7.24758356e-05 -2.08146402e-01] [ 9.01328570e-03 -1.88151990e-04 9.99959362e-01 -1.94433455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.75592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:249.52, Y:-0.22, Z:-1.94 [[ 9.99863270e-01 -1.38623165e-02 -9.01542730e-03 2.49518717e+02] [ 1.38629941e-02 9.99903904e-01 1.26683797e-05 -2.20684146e-01] [ 9.01438534e-03 -1.37647463e-04 9.99959360e-01 -1.94405240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.78592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.55, Y:-0.23, Z:-1.94 [[ 9.99841113e-01 -1.53777398e-02 -9.01520781e-03 2.49546959e+02] [ 1.53787252e-02 9.99881740e-01 3.99924750e-05 -2.26697868e-01] [ 9.01352667e-03 -1.78628524e-04 9.99959361e-01 -1.94404653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.81591999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.58, Y:-0.24, Z:-1.94 [[ 9.99837593e-01 -1.56048135e-02 -9.01535577e-03 2.49576213e+02] [ 1.56056408e-02 9.99878224e-01 2.14242607e-05 -2.38475838e-01] [ 9.01392360e-03 -1.62111185e-04 9.99959361e-01 -1.94408051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.84592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:249.61, Y:-0.24, Z:-1.94 [[ 9.99838136e-01 -1.55700604e-02 -9.01525325e-03 2.49605384e+02] [ 1.55710054e-02 9.99878764e-01 3.46331405e-05 -2.44670266e-01] [ 9.01362103e-03 -1.75004091e-04 9.99959361e-01 -1.94249658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.87591999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.64, Y:-0.26, Z:-1.96 [[ 9.99843731e-01 -1.52065255e-02 -9.01522903e-03 2.49635998e+02] [ 1.52074838e-02 9.99884359e-01 3.77606401e-05 -2.56411259e-01] [ 9.01361229e-03 -1.74853689e-04 9.99959361e-01 -1.95516795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.90592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.66, Y:-0.26, Z:-1.94 [[ 9.99853224e-01 -1.45691741e-02 -9.01496563e-03 2.49664176e+02] [ 1.45704074e-02 9.99893843e-01 7.11398598e-05 -2.62608149e-01] [ 9.01297218e-03 -2.02481140e-04 9.99959362e-01 -1.94185292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.93591999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.69, Y:-0.27, Z:-1.94 [[ 9.99899433e-01 -1.09475322e-02 -9.01525077e-03 2.49693516e+02] [ 1.09482791e-02 9.99940065e-01 3.35046781e-05 -2.72967187e-01] [ 9.01434365e-03 -1.32202791e-04 9.99959361e-01 -1.94390780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.96592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:249.72, Y:-0.28, Z:-1.94 [[ 9.99918603e-01 -9.02860085e-03 -9.01510003e-03 2.49721414e+02] [ 9.02944649e-03 9.99959232e-01 5.31045683e-05 -2.79487123e-01] [ 9.01425305e-03 -1.34501609e-04 9.99959362e-01 -1.93591534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.99591999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.75, Y:-0.29, Z:-1.94 [[ 9.99957082e-01 -2.13453324e-03 -9.01546581e-03 2.49752186e+02] [ 2.13466180e-03 9.99997722e-01 4.63668774e-06 -2.87735849e-01] [ 9.01543537e-03 -2.38814592e-05 9.99959360e-01 -1.94038516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.02592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.78, Y:-0.29, Z:-1.94 [[ 9.99959117e-01 7.00526123e-04 -9.01523435e-03 2.49780428e+02] [-7.00240356e-04 9.99999754e-01 3.48547494e-05 -2.91461909e-01] [ 9.01525655e-03 -2.85404935e-05 9.99959361e-01 -1.93961003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.05591999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.81, Y:-0.30, Z:-1.94 [[ 9.99934679e-01 7.02574439e-03 -9.01534714e-03 2.49811057e+02] [-7.02585185e-03 9.99975318e-01 1.97520568e-05 -2.97452045e-01] [ 9.01526340e-03 4.35897268e-05 9.99959361e-01 -1.94114260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.08592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.84, Y:-0.30, Z:-1.94 [[ 9.99927560e-01 7.97517927e-03 -9.01503224e-03 2.49840134e+02] [-7.97494101e-03 9.99968198e-01 6.23777942e-05 -3.00852394e-01] [ 9.01524301e-03 9.52107465e-06 9.99959362e-01 -1.93998569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.11591999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.87, Y:-0.31, Z:-1.94 [[ 9.99910517e-01 9.88368562e-03 -9.01499534e-03 2.49869394e+02] [-9.88347893e-03 9.99951155e-01 6.74787181e-05 -3.06025415e-01] [ 9.01522194e-03 2.16268366e-05 9.99959362e-01 -1.93992017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.14592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.90, Y:-0.31, Z:-1.95 [[ 9.99906372e-01 1.02945677e-02 -9.01494133e-03 2.49898944e+02] [-1.02943080e-02 9.99947009e-01 7.52156495e-05 -3.08930389e-01] [ 9.01523793e-03 1.75939752e-05 9.99959362e-01 -1.95117362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.17591999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.93, Y:-0.31, Z:-1.95 [[ 9.99888379e-01 1.19146088e-02 -9.01504080e-03 2.49928067e+02] [-1.19145488e-02 9.99929017e-01 6.03593539e-05 -3.14195482e-01] [ 9.01512005e-03 4.70575272e-05 9.99959362e-01 -1.94584045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.20592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.96, Y:-0.32, Z:-1.94 [[ 9.99883362e-01 1.23285365e-02 -9.01496905e-03 2.49955818e+02] [-1.23283921e-02 9.99924000e-01 7.15922931e-05 -3.16281816e-01] [ 9.01516654e-03 3.95561306e-05 9.99959362e-01 -1.94458199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.23591999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.98, Y:-0.32, Z:-1.95 [[ 9.99865667e-01 1.36885811e-02 -9.01507461e-03 2.49984304e+02] [-1.36886510e-02 9.99906305e-01 5.39565785e-05 -3.19445577e-01] [ 9.01496852e-03 6.94548796e-05 9.99959362e-01 -1.94870113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.26592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:250.01, Y:-0.32, Z:-1.94 [[ 9.99840332e-01 1.54285211e-02 -9.01509814e-03 2.50013192e+02] [-1.54287002e-02 9.99880969e-01 4.96862984e-05 -3.20983342e-01] [ 9.01479165e-03 8.94128812e-05 9.99959362e-01 -1.93917338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.29591999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.04, Y:-0.32, Z:-1.94 [[ 9.99806897e-01 1.74613325e-02 -9.01503433e-03 2.50042384e+02] [-1.74614833e-02 9.99847535e-01 6.19943565e-05 -3.22483214e-01] [ 9.01474235e-03 9.54334858e-05 9.99959362e-01 -1.93766639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.32592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.07, Y:-0.32, Z:-1.94 [[ 9.99769826e-01 1.94685002e-02 -9.01513407e-03 2.50073472e+02] [-1.94689115e-02 9.99810462e-01 4.21430802e-05 -3.23141529e-01] [ 9.01424582e-03 1.33381468e-04 9.99959362e-01 -1.93992688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.35591999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.10, Y:-0.32, Z:-1.95 [[ 9.99759871e-01 1.99732149e-02 -9.01503119e-03 2.50101237e+02] [-1.99734521e-02 9.99800509e-01 6.37303995e-05 -3.23955437e-01] [ 9.01450567e-03 1.16346198e-04 9.99959362e-01 -1.94809707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.38592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.13, Y:-0.33, Z:-1.95 [[ 9.99737327e-01 2.10713926e-02 -9.01513582e-03 2.50129814e+02] [-2.10718851e-02 9.99777962e-01 4.03593475e-05 -3.25101679e-01] [ 9.01398455e-03 1.49617160e-04 9.99959362e-01 -1.94712898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.41591999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.16, Y:-0.33, Z:-1.94 [[ 9.99730382e-01 2.13983739e-02 -9.01515257e-03 2.50159588e+02] [-2.13989173e-02 9.99771016e-01 3.61843806e-05 -3.26567090e-01] [ 9.01386254e-03 1.56739880e-04 9.99959362e-01 -1.94011344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.44592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.19, Y:-0.33, Z:-1.94 [[ 9.99761774e-01 1.98777363e-02 -9.01508819e-03 2.50187707e+02] [-1.98780594e-02 9.99802410e-01 5.37682043e-05 -3.27140556e-01] [ 9.01437569e-03 1.25447063e-04 9.99959362e-01 -1.94224125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.47592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:250.22, Y:-0.33, Z:-1.94 [[ 9.99776864e-01 1.91036279e-02 -9.01521280e-03 2.50216165e+02] [-1.91042731e-02 9.99817497e-01 1.45559852e-05 -3.27847965e-01] [ 9.01384556e-03 1.57676350e-04 9.99959362e-01 -1.94167554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.50592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:250.24, Y:-0.33, Z:-1.94 [[ 9.99782221e-01 1.88211803e-02 -9.01514459e-03 2.50243658e+02] [-1.88215848e-02 9.99822857e-01 3.99847017e-05 -3.28037953e-01] [ 9.01430018e-03 1.29703314e-04 9.99959362e-01 -1.94142771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.53592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:250.27, Y:-0.33, Z:-1.94 [[ 9.99818005e-01 1.68131838e-02 -9.01515101e-03 2.50272026e+02] [-1.68135308e-02 9.99858642e-01 3.72996458e-05 -3.29859419e-01] [ 9.01450378e-03 1.14283662e-04 9.99959362e-01 -1.94200928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.56591999999995 meters Centerline goodness : 0.898901 Centerline is valid? [True, False] Translation: X:250.27, Y:-0.34, Z:-1.94 [[ 9.99977166e-01 6.30568447e-03 -2.43014168e-03 2.50268464e+02] [-6.28222828e-03 9.99934741e-01 9.54188682e-03 -3.41406947e-01] [ 2.49015122e-03 -9.52640224e-03 9.99951522e-01 -1.94260265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.59592 meters Centerline goodness : 1.000000 Centerline is valid? [False, True] Translation: X:250.27, Y:-0.35, Z:-1.94 [[ 9.99977479e-01 6.14084730e-03 -2.70780465e-03 2.50269268e+02] [-6.11222414e-03 9.99926663e-01 1.04551355e-02 -3.45393588e-01] [ 2.77180945e-03 -1.04383494e-02 9.99941677e-01 -1.94289675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.62591999999995 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:250.30, Y:-0.34, Z:-1.95 [[ 9.99983092e-01 5.18913825e-03 -2.62447336e-03 2.50298601e+02] [-5.18920990e-03 9.99986536e-01 -2.04928917e-05 -3.36775339e-01] [ 2.62433169e-03 3.41114884e-05 9.99996556e-01 -1.94589208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.65592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.33, Y:-0.34, Z:-1.95 [[ 9.99969271e-01 7.38711387e-03 -2.62446782e-03 2.50327395e+02] [-7.38719489e-03 9.99972714e-01 -2.11802342e-05 -3.37036312e-01] [ 2.62423974e-03 4.05670386e-05 9.99996556e-01 -1.94514398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.68591999999995 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:250.36, Y:-0.34, Z:-1.94 [[ 9.99962694e-01 8.22936710e-03 -2.62445741e-03 2.50356112e+02] [-8.22945423e-03 9.99966137e-01 -2.23991793e-05 -3.36912837e-01] [ 2.62418421e-03 4.39961959e-05 9.99996556e-01 -1.94335217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.71592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.39, Y:-0.34, Z:-1.94 [[ 9.99940599e-01 1.05787720e-02 -2.62445074e-03 2.50385478e+02] [-1.05788691e-02 9.99944042e-01 -2.31376516e-05 -3.37009854e-01] [ 2.62405911e-03 5.08999980e-05 9.99996556e-01 -1.94339545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.74591999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.41, Y:-0.34, Z:-1.94 [[ 9.99922004e-01 1.22105555e-02 -2.62446813e-03 2.50414390e+02] [-1.22106534e-02 9.99925447e-01 -2.12603251e-05 -3.37118455e-01] [ 2.62401287e-03 5.33051376e-05 9.99996556e-01 -1.94328979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.77592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.44, Y:-0.34, Z:-1.94 [[ 9.99915194e-01 1.27560519e-02 -2.62452676e-03 2.50442744e+02] [-1.27561358e-02 9.99918637e-01 -1.52208861e-05 -3.36827068e-01] [ 2.62411906e-03 4.86984151e-05 9.99996556e-01 -1.94415191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.80591999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.47, Y:-0.34, Z:-1.93 [[ 9.99920924e-01 1.22986953e-02 -2.62441144e-03 2.50474107e+02] [-1.22988075e-02 9.99924366e-01 -2.65986044e-05 -3.35301951e-01] [ 2.62388582e-03 5.88736321e-05 9.99996556e-01 -1.93093332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.83592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:250.50, Y:-0.33, Z:-1.93 [[ 9.99908702e-01 1.32551330e-02 -2.62462665e-03 2.50503749e+02] [-1.32551907e-02 9.99912146e-01 -4.58709048e-06 -3.33487615e-01] [ 2.62433526e-03 3.93765983e-05 9.99996556e-01 -1.92997824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.86591999999996 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:250.54, Y:-0.33, Z:-1.93 [[ 9.99883887e-01 1.50108409e-02 -2.62450602e-03 2.50535086e+02] [-1.50109357e-02 9.99887329e-01 -1.64335376e-05 -3.28541509e-01] [ 2.62396364e-03 5.58279206e-05 9.99996556e-01 -1.93255898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.89592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:250.56, Y:-0.33, Z:-1.93 [[ 9.99907900e-01 1.33154932e-02 -2.62468850e-03 2.50563318e+02] [-1.33155379e-02 9.99911344e-01 4.27245348e-07 -3.27362325e-01] [ 2.62446149e-03 3.45219331e-05 9.99996555e-01 -1.93005128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.92591999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.59, Y:-0.33, Z:-1.94 [[ 9.99944675e-01 1.01861272e-02 -2.62465188e-03 2.50591609e+02] [-1.01861696e-02 9.99948120e-01 -2.78891173e-06 -3.26177782e-01] [ 2.62448731e-03 2.95239068e-05 9.99996556e-01 -1.94197667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.95592 meters Centerline goodness : 0.920205 Centerline is valid? [True, False] Translation: X:250.59, Y:-0.32, Z:-1.94 [[ 9.99978206e-01 6.06256487e-03 -2.61381098e-03 2.50591535e+02] [-6.07570052e-03 9.99968805e-01 -5.04717289e-03 -3.22286958e-01] [ 2.58313063e-03 5.06294362e-03 9.99983847e-01 -1.94199303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.98591999999996 meters Centerline goodness : 0.999950 Centerline is valid? [False, True] Translation: X:250.61, Y:-0.33, Z:-1.94 [[ 9.99975801e-01 2.23840518e-03 -6.58684142e-03 2.50614282e+02] [-2.22930061e-03 9.99996550e-01 1.38925386e-03 -3.26496237e-01] [ 6.58992840e-03 -1.37453619e-03 9.99977341e-01 -1.93888159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.01592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:250.64, Y:-0.32, Z:-1.94 [[ 9.99977523e-01 1.38591972e-03 -6.55988602e-03 2.50643189e+02] [-1.38640779e-03 9.99999036e-01 -6.98546491e-05 -3.23461849e-01] [ 6.55978289e-03 7.89477560e-05 9.99978481e-01 -1.93911264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.04591999999997 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:250.67, Y:-0.32, Z:-1.94 [[ 9.99977233e-01 1.58130941e-03 -6.55993804e-03 2.50670984e+02] [-1.58178376e-03 9.99998747e-01 -6.71218773e-05 -3.20323278e-01] [ 6.55982368e-03 7.74967526e-05 9.99978481e-01 -1.93940956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.07592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.70, Y:-0.32, Z:-1.94 [[ 9.99977008e-01 1.71867702e-03 -6.55968188e-03 2.50699619e+02] [-1.71924003e-03 9.99998519e-01 -8.01910643e-05 -3.18252678e-01] [ 6.55953434e-03 9.14668882e-05 9.99978482e-01 -1.93852310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.10591999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.73, Y:-0.31, Z:-1.94 [[ 9.99975647e-01 2.38223502e-03 -6.55969257e-03 2.50729189e+02] [-2.38280881e-03 9.99997158e-01 -7.96580355e-05 -3.14529926e-01] [ 6.55948416e-03 9.52865889e-05 9.99978482e-01 -1.94253829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.13592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.76, Y:-0.31, Z:-1.94 [[ 9.99977121e-01 1.65190930e-03 -6.55961753e-03 2.50758007e+02] [-1.65249149e-03 9.99998631e-01 -8.33349315e-05 -3.13365748e-01] [ 6.55947089e-03 9.41727371e-05 9.99978482e-01 -1.93862245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.16591999999997 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:250.79, Y:-0.31, Z:-1.94 [[ 9.99978294e-01 6.19794622e-04 -6.55956479e-03 2.50787280e+02] [-6.20371281e-04 9.99999804e-01 -8.58768846e-05 -3.11920278e-01] [ 6.55951027e-03 8.99443862e-05 9.99978482e-01 -1.94159854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.19592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.82, Y:-0.31, Z:-1.94 [[ 9.99978234e-01 -7.08464878e-04 -6.55970794e-03 2.50816266e+02] [ 7.07960877e-04 9.99999746e-01 -7.91545450e-05 -3.10666377e-01] [ 6.55976235e-03 7.45088055e-05 9.99978482e-01 -1.94335478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.22592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.84, Y:-0.31, Z:-1.94 [[ 9.99969335e-01 -4.27783627e-03 -6.55970630e-03 2.50844436e+02] [ 4.27740856e-03 9.99990849e-01 -7.92297840e-05 -3.07456314e-01] [ 6.55998520e-03 5.11688105e-05 9.99978482e-01 -1.94476624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.25592 meters Centerline goodness : 0.962195 Centerline is valid? [True, True] Translation: X:250.83, Y:-0.34, Z:-1.97 [[ 9.94048622e-01 -1.08739654e-01 -6.55930756e-03 2.50828323e+02] [ 1.08741360e-01 9.94070072e-01 -9.70893173e-05 -3.37472820e-01] [ 6.53096879e-03 -6.16756521e-04 9.99978483e-01 -1.96680325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.28592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.89, Y:-0.30, Z:-1.95 [[ 9.99973116e-01 -3.32455654e-03 -6.53563576e-03 2.50893562e+02] [ 3.31717235e-03 9.99993848e-01 -1.14035089e-03 -3.03223513e-01] [ 6.53938671e-03 1.11864041e-03 9.99977992e-01 -1.94770344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.31591999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.92, Y:-0.30, Z:-1.94 [[ 9.99972387e-01 -3.50740103e-03 -6.55159243e-03 2.50923876e+02] [ 3.50681775e-03 9.99993846e-01 -1.00514258e-04 -3.04262834e-01] [ 6.55190466e-03 7.75362424e-05 9.99978533e-01 -1.94450379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.34592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:250.95, Y:-0.30, Z:-1.93 [[ 9.99950749e-01 -7.45447465e-03 -6.55214646e-03 2.50952744e+02] [ 7.45421263e-03 9.99972215e-01 -6.44089583e-05 -3.04486956e-01] [ 6.55244455e-03 1.55646931e-05 9.99978532e-01 -1.93450810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.37591999999995 meters Centerline goodness : 0.935889 Centerline is valid? [True, False] Translation: X:250.93, Y:-0.30, Z:-1.94 [[ 9.99978425e-01 -6.55044386e-03 -4.90188648e-04 2.50933026e+02] [ 6.54653404e-03 9.99949746e-01 -7.59271644e-03 -2.97425002e-01] [ 5.39899677e-04 7.58934359e-03 9.99971055e-01 -1.93888387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.40592 meters Centerline goodness : 0.951726 Centerline is valid? [False, True] Translation: X:250.93, Y:-0.30, Z:-1.94 [[ 9.99978212e-01 -6.58875081e-03 -4.05130094e-04 2.50932829e+02] [ 6.58566227e-03 9.99952371e-01 -7.20313594e-03 -2.99243716e-01] [ 4.52570466e-04 7.20031095e-03 9.99973975e-01 -1.93871592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.43591999999995 meters Centerline goodness : 0.922481 Centerline is valid? [True, False] Translation: X:250.94, Y:-0.30, Z:-1.94 [[ 9.99988768e-01 -4.56094704e-03 -1.28942747e-03 2.50938041e+02] [ 4.55510839e-03 9.99979521e-01 -4.49533666e-03 -3.02413564e-01] [ 1.30990406e-03 4.48941269e-03 9.99989065e-01 -1.94333804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.46592 meters Centerline goodness : 0.972389 Centerline is valid? [False, True] Translation: X:250.94, Y:-0.30, Z:-1.94 [[ 9.99988482e-01 -4.60870406e-03 -1.34017875e-03 2.50938212e+02] [ 4.60290711e-03 9.99980175e-01 -4.29689166e-03 -3.03475553e-01] [ 1.35995528e-03 4.29067345e-03 9.99989870e-01 -1.94332270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.49591999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.00, Y:-0.29, Z:-1.90 [[ 9.95414967e-01 9.56448712e-02 -1.05022115e-03 2.51004114e+02] [-9.56459131e-02 9.95414927e-01 -9.91060983e-04 -2.87619785e-01] [ 9.50615913e-04 1.08696630e-03 9.99998957e-01 -1.90336820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.52592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:251.03, Y:-0.29, Z:-1.90 [[ 9.95468144e-01 9.50908875e-02 -9.47800089e-04 2.51034092e+02] [-9.50908424e-02 9.95468595e-01 9.25673819e-05 -2.93724126e-01] [ 9.52307537e-04 -2.02077096e-06 9.99999547e-01 -1.90048974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.55591999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.06, Y:-0.30, Z:-1.91 [[ 9.95560195e-01 9.41222567e-02 -9.47817662e-04 2.51064318e+02] [-9.41222114e-02 9.95560646e-01 9.23809512e-05 -2.99807783e-01] [ 9.52305068e-04 -2.76010354e-06 9.99999547e-01 -1.90758797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.58592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:251.09, Y:-0.30, Z:-1.90 [[ 9.95679627e-01 9.28503216e-02 -9.48105674e-04 2.51094201e+02] [-9.28502786e-02 9.95680078e-01 8.93239209e-05 -3.04560325e-01] [ 9.52303686e-04 -9.06132227e-07 9.99999547e-01 -1.90032479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.61591999999996 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:251.12, Y:-0.31, Z:-1.90 [[ 9.95235643e-01 9.74941845e-02 -9.48278161e-04 2.51124506e+02] [-9.74941454e-02 9.95236095e-01 8.74920985e-05 -3.08814731e-01] [ 9.52290624e-04 5.37631397e-06 9.99999547e-01 -1.90273566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.64592 meters Centerline goodness : 0.827512 Centerline is valid? [True, False] Translation: X:251.12, Y:-0.32, Z:-1.90 [[ 9.96477890e-01 8.38138526e-02 -2.65564712e-03 2.51124929e+02] [-8.37948710e-02 9.96461197e-01 6.59562700e-03 -3.16783577e-01] [ 3.19905422e-03 -6.34986687e-03 9.99974722e-01 -1.90237679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.67591999999996 meters Centerline goodness : 0.999801 Centerline is valid? [False, True] Translation: X:251.12, Y:-0.32, Z:-1.90 [[ 9.97861583e-01 6.52945599e-02 2.98009543e-03 2.51120824e+02] [-6.53117872e-02 9.97846232e-01 6.10478668e-03 -3.20176394e-01] [-2.57506764e-03 -6.28636746e-03 9.99976925e-01 -1.90224684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.70592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:251.15, Y:-0.32, Z:-1.90 [[ 9.97579670e-01 6.94834504e-02 2.61783496e-03 2.51152333e+02] [-6.94832010e-02 9.97583104e-01 -1.86203184e-04 -3.17488633e-01] [-2.62444597e-03 3.85695729e-06 9.99996556e-01 -1.90258616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.73591999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.18, Y:-0.32, Z:-1.91 [[ 9.97516979e-01 7.03776672e-02 2.61943943e-03 2.51183354e+02] [-7.03774939e-02 9.97520417e-01 -1.58374667e-04 -3.23253332e-01] [-2.62409035e-03 -2.63681634e-05 9.99996557e-01 -1.91409043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.76592 meters Centerline goodness : 0.997863 Centerline is valid? [True, True] Translation: X:251.18, Y:-0.34, Z:-1.92 [[ 9.97484926e-01 7.08304781e-02 2.62016039e-03 2.51179950e+02] [-7.08303393e-02 9.97488367e-01 -1.45846268e-04 -3.35738264e-01] [-2.62390987e-03 -4.01073951e-05 9.99996557e-01 -1.91820141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.79591999999997 meters Centerline goodness : 0.990865 Centerline is valid? [True, True] Translation: X:251.21, Y:-0.34, Z:-1.92 [[ 9.96673650e-01 8.14537419e-02 2.63133023e-03 2.51207887e+02] [-8.14547922e-02 9.96676994e-01 2.94321050e-04 -3.36079731e-01] [-2.59861275e-03 -5.07676493e-04 9.99996495e-01 -1.92063483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.82592 meters Centerline goodness : 0.987877 Centerline is valid? [True, True] Translation: X:251.24, Y:-0.34, Z:-1.92 [[ 9.96328793e-01 8.55686185e-02 2.63571808e-03 2.51235953e+02] [-8.55700644e-02 9.96332058e-01 4.40607550e-04 -3.38193997e-01] [-2.58834824e-03 -6.64528555e-04 9.99996429e-01 -1.92221189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.85591999999997 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:251.30, Y:-0.33, Z:-1.90 [[ 9.95309978e-01 9.67013582e-02 2.62579620e-03 2.51301109e+02] [-9.67024938e-02 9.95313284e-01 3.08691924e-04 -3.25968143e-01] [-2.58363891e-03 -5.61165193e-04 9.99996505e-01 -1.90130324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.88592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:251.33, Y:-0.33, Z:-1.90 [[ 9.95082694e-01 9.90139769e-02 2.58173735e-03 2.51332885e+02] [-9.90137174e-02 9.95086042e-01 -2.28450734e-04 -3.29823553e-01] [-2.59167062e-03 -2.83000409e-05 9.99996641e-01 -1.90037704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.91591999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.37, Y:-0.33, Z:-1.90 [[ 9.94965038e-01 1.00189348e-01 2.58214334e-03 2.51365012e+02] [-1.00189105e-01 9.94968388e-01 -2.23504626e-04 -3.33030794e-01] [-2.59154378e-03 -3.63233420e-05 9.99996641e-01 -1.90069061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.94592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.40, Y:-0.34, Z:-1.90 [[ 9.94846427e-01 1.01360353e-01 2.58174529e-03 2.51396837e+02] [-1.01360102e-01 9.94849776e-01 -2.28371097e-04 -3.37439720e-01] [-2.59159650e-03 -3.44917956e-05 9.99996641e-01 -1.90242660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.97592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:251.43, Y:-0.34, Z:-1.90 [[ 9.94817921e-01 1.01639745e-01 2.58180669e-03 2.51429216e+02] [-1.01639497e-01 9.94821271e-01 -2.27619462e-04 -3.41906078e-01] [-2.59157140e-03 -3.59736121e-05 9.99996641e-01 -1.90152475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.00592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.46, Y:-0.35, Z:-1.90 [[ 9.94836461e-01 1.01458130e-01 2.58123703e-03 2.51460516e+02] [-1.01457863e-01 9.94839810e-01 -2.34599679e-04 -3.46160407e-01] [-2.59171940e-03 -2.84984789e-05 9.99996641e-01 -1.90209045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.03592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.49, Y:-0.35, Z:-1.91 [[ 9.94952435e-01 1.00314441e-01 2.58161533e-03 2.51490766e+02] [-1.00314182e-01 9.94955784e-01 -2.29943492e-04 -3.50430698e-01] [-2.59165976e-03 -3.01897921e-05 9.99996641e-01 -1.91381813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.06591999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.52, Y:-0.35, Z:-1.91 [[ 9.94828500e-01 1.01536109e-01 2.58329430e-03 2.51524163e+02] [-1.01535908e-01 9.94831853e-01 -2.09212070e-04 -3.53419252e-01] [-2.59118604e-03 -5.41670029e-05 9.99996641e-01 -1.90876447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.09592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.55, Y:-0.36, Z:-1.90 [[ 9.94918567e-01 1.00649785e-01 2.58202047e-03 2.51554797e+02] [-1.00649540e-01 9.94921916e-01 -2.24902538e-04 -3.56606035e-01] [-2.59154515e-03 -3.61194617e-05 9.99996641e-01 -1.90091975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.12591999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.59, Y:-0.36, Z:-1.91 [[ 9.94813601e-01 1.01682008e-01 2.58235424e-03 2.51585812e+02] [-1.01681778e-01 9.94816952e-01 -2.20775790e-04 -3.58551307e-01] [-2.59141870e-03 -4.29476116e-05 9.99996641e-01 -1.91224995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.15592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.62, Y:-0.36, Z:-1.90 [[ 9.94855801e-01 1.01268279e-01 2.58286975e-03 2.51617409e+02] [-1.01268063e-01 9.94859153e-01 -2.14390522e-04 -3.60473071e-01] [-2.59130257e-03 -4.82745625e-05 9.99996641e-01 -1.90253187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.18591999999995 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:251.65, Y:-0.36, Z:-1.90 [[ 9.94858631e-01 1.01240498e-01 2.58201134e-03 2.51647233e+02] [-1.01240255e-01 9.94861980e-01 -2.25053642e-04 -3.63622719e-01] [-2.59152945e-03 -3.75069276e-05 9.99996641e-01 -1.90340338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.21592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.68, Y:-0.37, Z:-1.92 [[ 9.94782336e-01 1.01987388e-01 2.58408558e-03 2.51679093e+02] [-1.01987214e-01 9.94785690e-01 -1.99287500e-04 -3.67036612e-01] [-2.59093617e-03 -6.52960050e-05 9.99996641e-01 -1.91533008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.24591999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.71, Y:-0.37, Z:-1.91 [[ 9.94849297e-01 1.01332140e-01 2.58335989e-03 2.51710879e+02] [-1.01331940e-01 9.94852650e-01 -2.08288156e-04 -3.66884595e-01] [-2.59116871e-03 -5.45615444e-05 9.99996641e-01 -1.91205559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.27592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.74, Y:-0.37, Z:-1.92 [[ 9.95013219e-01 9.97096941e-02 2.58267512e-03 2.51741052e+02] [-9.97094672e-02 9.95016570e-01 -2.16767209e-04 -3.68269965e-01] [-2.59141833e-03 -4.18309211e-05 9.99996641e-01 -1.91562422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.30591999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.77, Y:-0.37, Z:-1.92 [[ 9.95209324e-01 9.77329440e-02 2.58333481e-03 2.51773212e+02] [-9.77327317e-02 9.95212676e-01 -2.08597363e-04 -3.71546910e-01] [-2.59135438e-03 -4.48783274e-05 9.99996641e-01 -1.91712935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.33592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.81, Y:-0.38, Z:-1.90 [[ 9.95268382e-01 9.71296777e-02 2.58330709e-03 2.51806318e+02] [-9.71294624e-02 9.95271734e-01 -2.08940128e-04 -3.75722263e-01] [-2.59138681e-03 -4.29637257e-05 9.99996641e-01 -1.90215144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.36591999999996 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:251.84, Y:-0.38, Z:-1.92 [[ 9.95584993e-01 9.38288643e-02 2.58175119e-03 2.51835339e+02] [-9.38285881e-02 9.95588341e-01 -2.28152960e-04 -3.79120432e-01] [-2.59176872e-03 -1.50964066e-05 9.99996641e-01 -1.91505691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.39592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:251.87, Y:-0.38, Z:-1.92 [[ 9.95572577e-01 9.39604770e-02 2.58329064e-03 2.51867896e+02] [-9.39602506e-02 9.95575928e-01 -2.09137585e-04 -3.81741726e-01] [-2.59151264e-03 -3.45149912e-05 9.99996641e-01 -1.91514122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.42591999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.90, Y:-0.38, Z:-1.90 [[ 9.95682564e-01 9.27877073e-02 2.58326293e-03 2.51899865e+02] [-9.27874760e-02 9.95685915e-01 -2.09479214e-04 -3.84618726e-01] [-2.59155561e-03 -3.11196466e-05 9.99996641e-01 -1.90338348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.45592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.93, Y:-0.39, Z:-1.90 [[ 9.95794714e-01 9.15762942e-02 2.58248800e-03 2.51931812e+02] [-9.15760341e-02 9.95798063e-01 -2.19041504e-04 -3.90032464e-01] [-2.59169555e-03 -1.83736373e-05 9.99996641e-01 -1.90311075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.48591999999996 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:251.96, Y:-0.39, Z:-1.90 [[ 9.95846192e-01 9.10148038e-02 2.58231551e-03 2.51963910e+02] [-9.10145363e-02 9.95849539e-01 -2.21173042e-04 -3.94493048e-01] [-2.59172774e-03 -1.47739175e-05 9.99996641e-01 -1.90362081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.51592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:252.00, Y:-0.40, Z:-1.90 [[ 9.95826507e-01 9.12299368e-02 2.58214222e-03 2.51995691e+02] [-9.12296644e-02 9.95829854e-01 -2.23316595e-04 -3.98942950e-01] [-2.59174747e-03 -1.31833831e-05 9.99996641e-01 -1.90479887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.54591999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.03, Y:-0.40, Z:-1.90 [[ 9.95562953e-01 9.40624257e-02 2.58187444e-03 2.52027337e+02] [-9.40621542e-02 9.95566301e-01 -2.26636414e-04 -4.04452001e-01] [-2.59174516e-03 -1.72258542e-05 9.99996641e-01 -1.90377754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.57592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.06, Y:-0.41, Z:-1.91 [[ 9.95389428e-01 9.58812752e-02 2.58222973e-03 2.52058095e+02] [-9.58810214e-02 9.95392777e-01 -2.22214397e-04 -4.08129930e-01] [-2.59163902e-03 -2.63969628e-05 9.99996641e-01 -1.91346720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.60591999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.09, Y:-0.41, Z:-1.90 [[ 9.94880558e-01 1.01024764e-01 2.58301394e-03 2.52091252e+02] [-1.01024553e-01 9.94883910e-01 -2.12459804e-04 -4.12110135e-01] [-2.59126271e-03 -4.95756993e-05 9.99996641e-01 -1.90414850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.63592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.12, Y:-0.41, Z:-1.91 [[ 9.94613389e-01 1.03622112e-01 2.58141597e-03 2.52123728e+02] [-1.03621858e-01 9.94616739e-01 -2.32397331e-04 -4.14230783e-01] [-2.59160103e-03 -3.63456212e-05 9.99996641e-01 -1.90603944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.66591999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.15, Y:-0.42, Z:-1.90 [[ 9.94446829e-01 1.05208559e-01 2.58154682e-03 2.52152337e+02] [-1.05208314e-01 9.94450178e-01 -2.30763101e-04 -4.15519752e-01] [-2.59149795e-03 -4.21185551e-05 9.99996641e-01 -1.90480044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.69592 meters Centerline goodness : 0.972119 Centerline is valid? [True, True] Translation: X:252.23, Y:-0.38, Z:-1.92 [[ 9.83717873e-01 1.79701062e-01 2.58342594e-03 2.52229196e+02] [-1.79701131e-01 9.83721231e-01 -2.07211376e-04 -3.83745113e-01] [-2.57860705e-03 -2.60407029e-04 9.99996641e-01 -1.91724282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.72592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:252.21, Y:-0.42, Z:-1.90 [[ 9.93802617e-01 1.11130289e-01 2.53319863e-03 2.52205225e+02] [-1.11128629e-01 9.93805719e-01 -7.87381870e-04 -4.19280871e-01] [-2.60500926e-03 5.00991272e-04 9.99996481e-01 -1.90400292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.75592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.24, Y:-0.42, Z:-1.91 [[ 9.93615424e-01 1.12790728e-01 2.57701773e-03 2.52237188e+02] [-1.12790536e-01 9.93618763e-01 -2.20001055e-04 -4.20178890e-01] [-2.58538725e-03 -7.20667699e-05 9.99996655e-01 -1.90576118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.78592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.27, Y:-0.42, Z:-1.92 [[ 9.93614357e-01 1.12800138e-01 2.57652685e-03 2.52267113e+02] [-1.12799930e-01 9.93617695e-01 -2.26369969e-04 -4.20074758e-01] [-2.58561723e-03 -6.57075968e-05 9.99996655e-01 -1.91709557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.81591999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.30, Y:-0.42, Z:-1.91 [[ 9.93025360e-01 1.17872750e-01 2.57870874e-03 2.52300385e+02] [-1.17872633e-01 9.93028702e-01 -1.97945710e-04 -4.15186997e-01] [-2.58406420e-03 -1.07394079e-04 9.99996656e-01 -1.90627477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.84592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.33, Y:-0.41, Z:-1.91 [[ 9.92652558e-01 1.20972127e-01 2.57743790e-03 2.52333024e+02] [-1.20971977e-01 9.92655899e-01 -2.14500724e-04 -4.12626091e-01] [-2.58445755e-03 -9.88730677e-05 9.99996655e-01 -1.90648091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.87591999999995 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:252.36, Y:-0.41, Z:-1.90 [[ 9.92637063e-01 1.21099228e-01 2.57636044e-03 2.52362031e+02] [-1.21099043e-01 9.92640403e-01 -2.28549646e-04 -4.10490726e-01] [-2.58507665e-03 -8.51279336e-05 9.99996655e-01 -1.90421243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.90592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.39, Y:-0.41, Z:-1.92 [[ 9.92477592e-01 1.22399278e-01 2.57818555e-03 2.52392744e+02] [-1.22399158e-01 9.92480934e-01 -2.04634424e-04 -4.08626903e-01] [-2.58384711e-03 -1.12472661e-04 9.99996656e-01 -1.91742618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.93591999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.43, Y:-0.40, Z:-1.92 [[ 9.92108735e-01 1.25353933e-01 2.57879048e-03 2.52425538e+02] [-1.25353844e-01 9.92112078e-01 -1.96703743e-04 -4.02360242e-01] [-2.58310677e-03 -1.28109798e-04 9.99996656e-01 -1.91800320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.96592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.46, Y:-0.40, Z:-1.90 [[ 9.91999139e-01 1.26218298e-01 2.57876656e-03 2.52457003e+02] [-1.26218211e-01 9.92002482e-01 -1.97016855e-04 -4.00310433e-01] [-2.58300996e-03 -1.30046751e-04 9.99996656e-01 -1.90476197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.99591999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.49, Y:-0.40, Z:-1.92 [[ 9.92110044e-01 1.25343572e-01 2.57863123e-03 2.52488517e+02] [-1.25343477e-01 9.92113387e-01 -1.98789522e-04 -3.95737062e-01] [-2.58321155e-03 -1.25993524e-04 9.99996656e-01 -1.91564357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.02592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.52, Y:-0.39, Z:-1.91 [[ 9.91965659e-01 1.26481149e-01 2.57881848e-03 2.52520822e+02] [-1.26481065e-01 9.91969002e-01 -1.96329956e-04 -3.93940261e-01] [-2.58294003e-03 -1.31419134e-04 9.99996656e-01 -1.91112123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.05591999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.55, Y:-0.39, Z:-1.91 [[ 9.92411621e-01 1.22933052e-01 2.57680749e-03 2.52551162e+02] [-1.22932887e-01 9.92414961e-01 -2.22815560e-04 -3.89875833e-01] [-2.58465370e-03 -9.56496330e-05 9.99996655e-01 -1.90565623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.08592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.58, Y:-0.39, Z:-1.92 [[ 9.92851611e-01 1.19327430e-01 2.57722252e-03 2.52580163e+02] [-1.19327268e-01 9.92854952e-01 -2.17316471e-04 -3.89814898e-01] [-2.58473996e-03 -9.17699127e-05 9.99996655e-01 -1.91605676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.11591999999996 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:252.61, Y:-0.39, Z:-1.91 [[ 9.93018015e-01 1.17934600e-01 2.57899229e-03 2.52611212e+02] [-1.17934494e-01 9.93021358e-01 -1.93760465e-04 -3.87768857e-01] [-2.58384549e-03 -1.11744519e-04 9.99996656e-01 -1.90518278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.14592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.64, Y:-0.38, Z:-1.91 [[ 9.93258634e-01 1.15890636e-01 2.57820040e-03 2.52641232e+02] [-1.15890496e-01 9.93261975e-01 -2.04324489e-04 -3.82294943e-01] [-2.58450771e-03 -9.58418584e-05 9.99996656e-01 -1.90592860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.17591999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.67, Y:-0.38, Z:-1.91 [[ 9.93664656e-01 1.12356149e-01 2.57801843e-03 2.52670172e+02] [-1.12355991e-01 9.93667997e-01 -2.06765112e-04 -3.82101488e-01] [-2.58492574e-03 -8.42006301e-05 9.99996656e-01 -1.90528271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.20592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:252.70, Y:-0.38, Z:-1.90 [[ 9.93889927e-01 1.10345656e-01 2.57869606e-03 2.52699643e+02] [-1.10345515e-01 9.93893268e-01 -1.97604883e-04 -3.78092160e-01] [-2.58475350e-03 -8.81500419e-05 9.99996656e-01 -1.90492855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.23591999999996 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:252.73, Y:-0.38, Z:-1.91 [[ 9.94097457e-01 1.08460125e-01 2.57822331e-03 2.52727347e+02] [-1.08459960e-01 9.94100797e-01 -2.04039382e-04 -3.77394434e-01] [-2.58514398e-03 -7.67989654e-05 9.99996656e-01 -1.90528308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.26592 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:252.76, Y:-0.38, Z:-1.90 [[ 9.94302886e-01 1.06560398e-01 2.57911757e-03 2.52756924e+02] [-1.06560258e-01 9.94306228e-01 -1.91786362e-04 -3.77554372e-01] [-2.58486949e-03 -8.41377004e-05 9.99996656e-01 -1.90308422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.29591999999997 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:252.79, Y:-0.37, Z:-1.91 [[ 9.94580738e-01 1.03935111e-01 2.57824241e-03 2.52785529e+02] [-1.03934932e-01 9.94584078e-01 -2.03838592e-04 -3.74908926e-01] [-2.58546484e-03 -6.52355117e-05 9.99996656e-01 -1.90616324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.32592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.82, Y:-0.37, Z:-1.92 [[ 9.94827185e-01 1.01549116e-01 2.57850919e-03 2.52815037e+02] [-1.01548938e-01 9.94830525e-01 -2.00133551e-04 -3.71726009e-01] [-2.58550304e-03 -6.27465725e-05 9.99996656e-01 -1.91559352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.35591999999997 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:252.85, Y:-0.37, Z:-1.90 [[ 9.95048670e-01 9.93553774e-02 2.57958639e-03 2.52845393e+02] [-9.93552311e-02 9.95052011e-01 -1.85123376e-04 -3.71067776e-01] [-2.58521563e-03 -7.20886330e-05 9.99996656e-01 -1.90426350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.38592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.88, Y:-0.37, Z:-1.91 [[ 9.94929396e-01 1.00542731e-01 2.57986329e-03 2.52875984e+02] [-1.00542598e-01 9.94932738e-01 -1.81253512e-04 -3.70999940e-01] [-2.58501417e-03 -7.90517118e-05 9.99996656e-01 -1.91479789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.41591999999997 meters Centerline goodness : 0.998805 Centerline is valid? [True, True] Translation: X:252.86, Y:-0.39, Z:-1.91 [[ 9.99099676e-01 4.23459827e-02 2.57964690e-03 2.52860719e+02] [-4.23456479e-02 9.99103004e-01 -1.84282547e-04 -3.92779063e-01] [-2.58513660e-03 7.48798139e-05 9.99996656e-01 -1.90970542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.44592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:252.93, Y:-0.37, Z:-1.90 [[ 9.94668785e-01 1.03088338e-01 2.60804897e-03 2.52931069e+02] [-1.03089276e-01 9.94672081e-01 2.27280187e-04 -3.66636097e-01] [-2.57072356e-03 -4.94930386e-04 9.99996573e-01 -1.90181920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.47592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.96, Y:-0.36, Z:-1.91 [[ 9.94938226e-01 1.00455469e-01 2.57398302e-03 2.52960476e+02] [-1.00455249e-01 9.94941554e-01 -2.15087566e-04 -3.62243310e-01] [-2.58256939e-03 -4.45712636e-05 9.99996664e-01 -1.91349058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.50592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:252.99, Y:-0.36, Z:-1.90 [[ 9.95110407e-01 9.87352266e-02 2.57532180e-03 2.52989656e+02] [-9.87350456e-02 9.95113738e-01 -1.97643046e-04 -3.61423697e-01] [-2.58225243e-03 -5.75978638e-05 9.99996664e-01 -1.90142580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.53592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:253.02, Y:-0.36, Z:-1.90 [[ 9.95343078e-01 9.63614486e-02 2.57465224e-03 2.53019089e+02] [-9.63612370e-02 9.95346407e-01 -2.06391936e-04 -3.61512115e-01] [-2.58255908e-03 -4.26658891e-05 9.99996664e-01 -1.90429200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.56591999999995 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:253.05, Y:-0.36, Z:-1.90 [[ 9.95704961e-01 9.25472894e-02 2.57499969e-03 2.53049307e+02] [-9.25470769e-02 9.95708290e-01 -2.01828406e-04 -3.60177171e-01] [-2.58262721e-03 -3.73471494e-05 9.99996664e-01 -1.90175625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.59592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:253.08, Y:-0.36, Z:-1.90 [[ 9.95878534e-01 9.06604381e-02 2.57491262e-03 2.53079529e+02] [-9.06602163e-02 9.95881862e-01 -2.02975205e-04 -3.61113751e-01] [-2.58271060e-03 -3.13034859e-05 9.99996664e-01 -1.90369645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.62591999999995 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:253.11, Y:-0.36, Z:-1.90 [[ 9.96399745e-01 8.47403035e-02 2.57452634e-03 2.53108573e+02] [-8.47400487e-02 9.96403071e-01 -2.08094326e-04 -3.61217890e-01] [-2.58289993e-03 -1.08203547e-05 9.99996664e-01 -1.90136878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.65592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:253.14, Y:-0.36, Z:-1.90 [[ 9.96570084e-01 8.27129793e-02 2.57486005e-03 2.53138616e+02] [-8.27127293e-02 9.96573411e-01 -2.03637092e-04 -3.63164759e-01] [-2.58288049e-03 -1.00350681e-05 9.99996664e-01 -1.90268176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.68591999999995 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:253.17, Y:-0.37, Z:-1.90 [[ 9.96774383e-01 8.02134639e-02 2.57473500e-03 2.53167384e+02] [-8.02132012e-02 9.96777709e-01 -2.05313993e-04 -3.65761624e-01] [-2.58290740e-03 -1.87600808e-06 9.99996664e-01 -1.90329409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.71592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.19, Y:-0.37, Z:-1.92 [[ 9.96978364e-01 7.76370631e-02 2.57447059e-03 2.53194777e+02] [-7.76367825e-02 9.96981688e-01 -2.08885258e-04 -3.67971094e-01] [-2.58291727e-03 8.38046975e-06 9.99996664e-01 -1.91645912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.74591999999996 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:253.23, Y:-0.37, Z:-1.90 [[ 9.96794338e-01 7.99650713e-02 2.57591062e-03 2.53225509e+02] [-7.99648492e-02 9.96797666e-01 -1.89288836e-04 -3.69584672e-01] [-2.58279819e-03 -1.73002642e-05 9.99996664e-01 -1.90307171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.77592 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:253.25, Y:-0.37, Z:-1.90 [[ 9.96814262e-01 7.97163632e-02 2.57454910e-03 2.53254761e+02] [-7.97160923e-02 9.96817587e-01 -2.07833925e-04 -3.70559914e-01] [-2.58292359e-03 1.93882629e-06 9.99996664e-01 -1.90267386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.80591999999996 meters Centerline goodness : 0.999452 Centerline is valid? [True, True] Translation: X:253.29, Y:-0.37, Z:-1.90 [[ 9.96667190e-01 8.15345362e-02 2.57517780e-03 2.53285541e+02] [-8.15342936e-02 9.96670517e-01 -1.99228926e-04 -3.72676343e-01] [-2.58284783e-03 -1.14003687e-05 9.99996664e-01 -1.90413163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.83592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:253.31, Y:-0.37, Z:-1.90 [[ 9.96536277e-01 8.31193106e-02 2.57475535e-03 2.53313999e+02] [-8.31190583e-02 9.96539603e-01 -2.05035988e-04 -3.74825503e-01] [-2.58288812e-03 -9.68543959e-06 9.99996664e-01 -1.90446199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.86591999999996 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:253.34, Y:-0.38, Z:-1.91 [[ 9.96465511e-01 8.39634163e-02 2.57494794e-03 2.53342301e+02] [-8.39631737e-02 9.96468838e-01 -2.02365378e-04 -3.75967706e-01] [-2.58284667e-03 -1.45506817e-05 9.99996664e-01 -1.90648096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.89592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:253.37, Y:-0.38, Z:-1.91 [[ 9.96430191e-01 8.43815226e-02 2.57541357e-03 2.53370635e+02] [-8.43812982e-02 9.96433519e-01 -1.95866601e-04 -3.76873798e-01] [-2.58275593e-03 -2.21493461e-05 9.99996664e-01 -1.90571187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.92591999999996 meters Centerline goodness : 0.957734 Centerline is valid? [True, True] Translation: X:253.34, Y:-0.40, Z:-1.93 [[ 9.97292934e-01 7.34858500e-02 2.57556291e-03 2.53344346e+02] [-7.34855947e-02 9.97296260e-01 -1.93763477e-04 -3.98826303e-01] [-2.58283813e-03 3.97217444e-06 9.99996664e-01 -1.93206158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.95592 meters Centerline goodness : 0.920836 Centerline is valid? [True, False] Translation: X:253.34, Y:-0.40, Z:-1.93 [[ 9.98245441e-01 5.84000118e-02 9.77126659e-03 2.53340612e+02] [-5.84259733e-02 9.98288876e-01 2.39266047e-03 -3.99353671e-01] [-9.61481535e-03 -2.95935817e-03 9.99949397e-01 -1.93361358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.98591999999996 meters Centerline goodness : 0.999950 Centerline is valid? [False, True] Translation: X:253.34, Y:-0.40, Z:-1.93 [[ 9.98885432e-01 4.36509979e-02 1.79578450e-02 2.53335414e+02] [-4.37482015e-02 9.99029796e-01 5.05593569e-03 -4.01343146e-01] [-1.77197256e-02 -5.83592393e-03 9.99825962e-01 -1.93490718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.01592 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:253.37, Y:-0.39, Z:-1.93 [[ 9.98840463e-01 4.47310232e-02 1.78006959e-02 2.53368699e+02] [-4.47289480e-02 9.98999027e-01 -5.14899124e-04 -3.94828608e-01] [-1.78059099e-02 -2.81904322e-04 9.99841422e-01 -1.93006559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.04591999999997 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:253.40, Y:-0.39, Z:-1.93 [[ 9.98803002e-01 4.55605316e-02 1.77988830e-02 2.53399434e+02] [-4.55574564e-02 9.98961553e-01 -5.78417951e-04 -3.90304759e-01] [-1.78067529e-02 -2.33146251e-04 9.99841420e-01 -1.93122057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.07592 meters Centerline goodness : 0.962886 Centerline is valid? [True, True] Translation: X:253.47, Y:-0.41, Z:-1.95 [[ 9.99729274e-01 -1.49845191e-02 1.78000681e-02 2.53470226e+02] [ 1.49964530e-02 9.99887403e-01 -5.37143679e-04 -4.13489620e-01] [-1.77900150e-02 8.03936144e-04 9.99841422e-01 -1.95060450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.10591999999997 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:253.45, Y:-0.38, Z:-1.93 [[ 9.98856783e-01 4.44335436e-02 1.76291736e-02 2.53450619e+02] [-4.43556175e-02 9.99004336e-01 -4.78713534e-03 -3.82159034e-01] [-1.78243302e-02 3.99970973e-03 9.99833134e-01 -1.93288691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.13592 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:253.48, Y:-0.39, Z:-1.93 [[ 9.98957033e-01 4.20650142e-02 1.77589665e-02 2.53482497e+02] [-4.20614011e-02 9.99114861e-01 -5.77079470e-04 -3.86007367e-01] [-1.77675222e-02 -1.70489416e-04 9.99842131e-01 -1.93335102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.16591999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.51, Y:-0.39, Z:-1.95 [[ 9.98997916e-01 4.10822590e-02 1.77598145e-02 2.53512545e+02] [-4.10789804e-02 9.99155751e-01 -5.49531425e-04 -3.85406070e-01] [-1.77673968e-02 -1.80574322e-04 9.99842131e-01 -1.94606354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.19592 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:253.54, Y:-0.38, Z:-1.93 [[ 9.99088613e-01 3.88140528e-02 1.77598662e-02 2.53543812e+02] [-3.88104457e-02 9.99246441e-01 -5.47855085e-04 -3.83735827e-01] [-1.77677476e-02 -1.41912545e-04 9.99842131e-01 -1.93484263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.22592 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:253.58, Y:-0.38, Z:-1.93 [[ 9.99124489e-01 3.78799466e-02 1.77585044e-02 2.53575800e+02] [-3.78754107e-02 9.99282294e-01 -5.91807419e-04 -3.82805626e-01] [-1.77681767e-02 -8.13213627e-05 9.99842130e-01 -1.93470744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.25592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:253.61, Y:-0.38, Z:-1.95 [[ 9.99171449e-01 3.66200765e-02 1.77590723e-02 2.53608207e+02] [-3.66156655e-02 9.99329257e-01 -5.73579926e-04 -3.81445749e-01] [-1.77681650e-02 -7.71555642e-05 9.99842131e-01 -1.94709194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.28592 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:253.64, Y:-0.38, Z:-1.94 [[ 9.99188789e-01 3.61436329e-02 1.77595751e-02 2.53640519e+02] [-3.61394313e-02 9.99346602e-01 -5.57563905e-04 -3.83348643e-01] [-1.77681234e-02 -8.47093417e-05 9.99842131e-01 -1.93524699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.31591999999995 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:253.67, Y:-0.38, Z:-1.94 [[ 9.99182638e-01 3.63154839e-02 1.77550557e-02 2.53672209e+02] [-3.63087809e-02 9.99340374e-01 -6.99848076e-04 -3.84062892e-01] [-1.77687593e-02 5.46116215e-05 9.99842122e-01 -1.93578986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.34592 meters Centerline goodness : 0.997521 Centerline is valid? [True, True] Translation: X:253.74, Y:-0.38, Z:-1.95 [[ 9.99594538e-01 2.22603904e-02 1.77548641e-02 2.53741473e+02] [-2.22513644e-02 9.99752159e-01 -7.05783378e-04 -3.81136982e-01] [-1.77661748e-02 3.10427258e-04 9.99842121e-01 -1.94912520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.37591999999995 meters Centerline goodness : 0.995335 Centerline is valid? [True, True] Translation: X:253.78, Y:-0.38, Z:-1.95 [[ 9.99763705e-01 1.29750260e-02 1.74408444e-02 2.53779048e+02] [-1.28969627e-02 9.99906337e-01 -4.58094363e-03 -3.79756536e-01] [-1.74986487e-02 4.35492725e-03 9.99837403e-01 -1.95100463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.40592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:253.76, Y:-0.40, Z:-1.94 [[ 9.99788343e-01 1.08744920e-02 1.74646436e-02 2.53755169e+02] [-1.08226085e-02 9.99936744e-01 -3.06254821e-03 -4.02342335e-01] [-1.74968426e-02 2.87288700e-03 9.99842791e-01 -1.93582669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.43591999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.79, Y:-0.41, Z:-1.95 [[ 9.99785797e-01 1.10709548e-02 1.74869937e-02 2.53788690e+02] [-1.10713538e-02 9.99938708e-01 -7.39979598e-05 -4.07172364e-01] [-1.74867411e-02 -1.19622585e-04 9.99847088e-01 -1.95128488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.46592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.82, Y:-0.41, Z:-1.95 [[ 9.99781829e-01 1.14244736e-02 1.74864693e-02 2.53820945e+02] [-1.14237782e-02 9.99934737e-01 -1.39659320e-04 -4.07889384e-01] [-1.74869237e-02 -6.01326966e-05 9.99847090e-01 -1.94990318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.49591999999996 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:253.85, Y:-0.41, Z:-1.94 [[ 9.99758890e-01 1.32810621e-02 1.74864024e-02 2.53852462e+02] [-1.32805120e-02 9.99911799e-01 -1.47589963e-04 -4.06759252e-01] [-1.74868202e-02 -8.46739991e-05 9.99847090e-01 -1.93708466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.52592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.89, Y:-0.41, Z:-1.95 [[ 9.99763998e-01 1.28903849e-02 1.74867412e-02 2.53885536e+02] [-1.28904492e-02 9.99916909e-01 -1.09040427e-04 -4.06724582e-01] [-1.74866937e-02 -1.16397256e-04 9.99847089e-01 -1.95054077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.55591999999996 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:253.92, Y:-0.41, Z:-1.94 [[ 9.99780382e-01 1.15507381e-02 1.74862168e-02 2.53915995e+02] [-1.15496239e-02 9.99933287e-01 -1.64709724e-04 -4.08368472e-01] [-1.74869528e-02 -3.72856762e-05 9.99847091e-01 -1.93667406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.58592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.95, Y:-0.41, Z:-1.95 [[ 9.99774960e-01 1.20098514e-02 1.74869450e-02 2.53948021e+02] [-1.20101381e-02 9.99927872e-01 -8.86252576e-05 -4.08554273e-01] [-1.74867480e-02 -1.21415311e-04 9.99847088e-01 -1.95168341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.61591999999996 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:253.98, Y:-0.41, Z:-1.94 [[ 9.99797398e-01 9.96994991e-03 1.74860988e-02 2.53978401e+02] [-9.96843530e-03 9.99950299e-01 -1.73779138e-04 -4.08029180e-01] [-1.74869623e-02 -5.65113859e-07 9.99847091e-01 -1.93804241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.64592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.01, Y:-0.41, Z:-1.95 [[ 9.99786136e-01 1.10398798e-02 1.74872405e-02 2.54011380e+02] [-1.10405283e-02 9.99939050e-01 -5.94623610e-05 -4.08326033e-01] [-1.74868311e-02 -1.33618729e-04 9.99847085e-01 -1.95194412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.67591999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.04, Y:-0.41, Z:-1.95 [[ 9.99780356e-01 1.15534952e-02 1.74859188e-02 2.54044446e+02] [-1.15520327e-02 9.99933256e-01 -1.84645920e-04 -4.08552789e-01] [-1.74868850e-02 -1.73925415e-05 9.99847093e-01 -1.95219139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.70592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:254.07, Y:-0.41, Z:-1.94 [[ 9.99796650e-01 1.00451832e-02 1.74858184e-02 2.54074031e+02] [-1.00433316e-02 9.99949546e-01 -1.93705440e-04 -4.07077601e-01] [-1.74868820e-02 1.80501778e-05 9.99847093e-01 -1.93923951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.73591999999996 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:254.10, Y:-0.41, Z:-1.94 [[ 9.99792468e-01 1.04499502e-02 1.74876787e-02 2.54104860e+02] [-1.04510487e-02 9.99945386e-01 -2.85763393e-05 -4.06673698e-01] [-1.74870222e-02 -1.54194173e-04 9.99847078e-01 -1.94096543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.76592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.14, Y:-0.41, Z:-1.95 [[ 9.99790574e-01 1.06307355e-02 1.74870146e-02 2.54137182e+02] [-1.06308583e-02 9.99943487e-01 -8.59375975e-05 -4.09046752e-01] [-1.74869400e-02 -9.99823756e-05 9.99847087e-01 -1.95366434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.79591999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.17, Y:-0.41, Z:-1.95 [[ 9.99787351e-01 1.09320746e-02 1.74855005e-02 2.54169068e+02] [-1.09300516e-02 9.99940243e-01 -2.11264280e-04 -4.10958397e-01] [-1.74867652e-02 2.01019321e-05 9.99847095e-01 -1.95375241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.82592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.20, Y:-0.41, Z:-1.95 [[ 9.99788411e-01 1.08348444e-02 1.74854017e-02 2.54202492e+02] [-1.08326685e-02 9.99941301e-01 -2.19148857e-04 -4.11020280e-01] [-1.74867498e-02 2.96889269e-05 9.99847095e-01 -1.95343359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.85591999999997 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:254.24, Y:-0.41, Z:-1.94 [[ 9.99761882e-01 1.30554617e-02 1.74852832e-02 2.54235484e+02] [-1.30534667e-02 9.99914774e-01 -2.28226452e-04 -4.11752462e-01] [-1.74867726e-02 -7.14552519e-08 9.99847095e-01 -1.94183311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.88592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.26, Y:-0.41, Z:-1.95 [[ 9.99772032e-01 1.22570932e-02 1.74827837e-02 2.54264950e+02] [-1.22516814e-02 9.99924859e-01 -4.16625078e-04 -4.14042973e-01] [-1.74865766e-02 2.02336604e-04 9.99847078e-01 -1.95490233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.91591999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.30, Y:-0.42, Z:-1.94 [[ 9.99730170e-01 1.52922626e-02 1.74852371e-02 2.54296546e+02] [-1.52905663e-02 9.99883066e-01 -2.30703956e-04 -4.17521565e-01] [-1.74867204e-02 -3.67174717e-05 9.99847095e-01 -1.94334411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.94592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.33, Y:-0.42, Z:-1.96 [[ 9.99702620e-01 1.69985201e-02 1.74848796e-02 2.54326779e+02] [-1.69966204e-02 9.99855514e-01 -2.57257122e-04 -4.18210930e-01] [-1.74867263e-02 -4.00032420e-05 9.99847095e-01 -1.95627928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.97592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:254.36, Y:-0.42, Z:-1.96 [[ 9.99675843e-01 1.85061539e-02 1.74851456e-02 2.54359279e+02] [-1.85048270e-02 9.99828743e-01 -2.37690872e-04 -4.19006835e-01] [-1.74865499e-02 -8.59457705e-05 9.99847095e-01 -1.95707034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.00592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.39, Y:-0.42, Z:-1.96 [[ 9.99676560e-01 1.84674520e-02 1.74851145e-02 2.54391262e+02] [-1.84660795e-02 9.99829459e-01 -2.39957768e-04 -4.20597078e-01] [-1.74865639e-02 -8.30013570e-05 9.99847095e-01 -1.95778893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.03592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.42, Y:-0.42, Z:-1.96 [[ 9.99663282e-01 1.91727441e-02 1.74850828e-02 2.54423017e+02] [-1.91714396e-02 9.99816182e-01 -2.42239408e-04 -4.20633244e-01] [-1.74865132e-02 -9.30563676e-05 9.99847095e-01 -1.95862886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.06591999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.46, Y:-0.42, Z:-1.96 [[ 9.99643257e-01 2.01898926e-02 1.74850510e-02 2.54455994e+02] [-2.01887038e-02 9.99796157e-01 -2.44519309e-04 -4.19555439e-01] [-1.74864236e-02 -1.08568437e-04 9.99847095e-01 -1.95926928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.09592 meters Centerline goodness : 0.997025 Centerline is valid? [True, True] Translation: X:254.49, Y:-0.40, Z:-1.96 [[ 9.97682878e-01 6.57506656e-02 1.74850027e-02 2.54490637e+02] [-6.57563906e-02 9.97835676e-01 -2.47921282e-04 -3.95988420e-01] [-1.74634605e-02 -9.02403851e-04 9.99847095e-01 -1.95542154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.12591999999995 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:254.52, Y:-0.41, Z:-1.94 [[ 9.99575860e-01 2.32919743e-02 1.74809747e-02 2.54518544e+02] [-2.32863490e-02 9.99728698e-01 -5.25301917e-04 -4.14191279e-01] [-1.74884674e-02 1.18011038e-04 9.99847058e-01 -1.94436598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.15592 meters Centerline goodness : 0.984544 Centerline is valid? [True, True] Translation: X:254.50, Y:-0.43, Z:-1.97 [[ 9.99673377e-01 1.86385814e-02 1.74854701e-02 2.54500995e+02] [-1.86377135e-02 9.99826280e-01 -2.12603767e-04 -4.30025672e-01] [-1.74863952e-02 -1.13354856e-04 9.99847095e-01 -1.97158476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.18591999999995 meters Centerline goodness : 0.852857 Centerline is valid? [True, False] Translation: X:254.53, Y:-0.43, Z:-1.97 [[ 9.99890226e-01 8.02446059e-03 1.24557080e-02 2.54529385e+02] [-8.04045113e-03 9.99966913e-01 1.23424631e-03 -4.31172317e-01] [-1.24453918e-02 -1.33426034e-03 9.99921663e-01 -1.96916646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.21592 meters Centerline goodness : 0.999901 Centerline is valid? [False, True] Translation: X:254.56, Y:-0.41, Z:-1.96 [[ 9.99989605e-01 7.56255482e-04 4.49641512e-03 2.54555698e+02] [-6.76506255e-04 9.99842913e-01 -1.77113233e-02 -4.12434953e-01] [-4.50910308e-03 1.77080974e-02 9.99833032e-01 -1.96401776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.24591999999996 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:254.59, Y:-0.43, Z:-1.97 [[ 9.99988961e-01 -1.49860148e-03 4.45328849e-03 2.54587791e+02] [ 1.49857782e-03 9.99998877e-01 8.65034178e-06 -4.29266376e-01] [-4.45329645e-03 -1.97664693e-06 9.99990084e-01 -1.96796194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.27592 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:254.62, Y:-0.43, Z:-1.97 [[ 9.99985913e-01 -2.88826208e-03 4.45328190e-03 2.54621212e+02] [ 2.88823969e-03 9.99995829e-01 1.14590571e-05 -4.29177385e-01] [-4.45329642e-03 1.40324984e-06 9.99990084e-01 -1.96955258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.30591999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.65, Y:-0.43, Z:-1.98 [[ 9.99971543e-01 -6.08934943e-03 4.45335699e-03 2.54650958e+02] [ 6.08952569e-03 9.99981458e-01 -2.60214010e-05 -4.29217372e-01] [-4.45311597e-03 5.31394923e-05 9.99990083e-01 -1.98238008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.33592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:254.68, Y:-0.43, Z:-1.97 [[ 9.99953122e-01 -8.59783957e-03 4.45328566e-03 2.54681733e+02] [ 8.59788450e-03 9.99963037e-01 9.05681195e-06 -4.28425836e-01] [-4.45319892e-03 2.92324483e-05 9.99990084e-01 -1.96835935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.36591999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.71, Y:-0.43, Z:-1.98 [[ 9.99947174e-01 -9.26376422e-03 4.45329405e-03 2.54712598e+02] [ 9.26383458e-03 9.99957090e-01 4.82709714e-06 -4.29387934e-01] [-4.45314768e-03 3.64277373e-05 9.99990084e-01 -1.98142465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.39592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.75, Y:-0.43, Z:-1.98 [[ 9.99951724e-01 -8.75882181e-03 4.45328768e-03 2.54745430e+02] [ 8.75887186e-03 9.99961640e-01 8.26377619e-06 -4.29768101e-01] [-4.45318923e-03 3.07423989e-05 9.99990084e-01 -1.98082527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.42591999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.78, Y:-0.43, Z:-1.98 [[ 9.99962858e-01 -7.37909307e-03 4.45329071e-03 2.54778675e+02] [ 7.37913945e-03 9.99972774e-01 6.01548464e-06 -4.29709070e-01] [-4.45321386e-03 2.68461920e-05 9.99990084e-01 -1.98141476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.45592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:254.81, Y:-0.43, Z:-1.97 [[ 9.99958236e-01 -7.98084265e-03 4.45329262e-03 2.54807785e+02] [ 7.98090512e-03 9.99968152e-01 3.74429242e-06 -4.30531638e-01] [-4.45318068e-03 3.17971698e-05 9.99990084e-01 -1.96515033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.48591999999996 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:254.84, Y:-0.43, Z:-1.98 [[ 9.99974906e-01 -5.50962530e-03 4.45327159e-03 2.54840223e+02] [ 5.50953297e-03 9.99984822e-01 3.30016833e-05 -4.30653595e-01] [-4.45338582e-03 -8.46540847e-06 9.99990084e-01 -1.98212927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.51592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:254.87, Y:-0.43, Z:-1.97 [[ 9.99966712e-01 -6.83691339e-03 4.45328539e-03 2.54869106e+02] [ 6.83697237e-03 9.99976628e-01 1.98124607e-06 -4.31430825e-01] [-4.45319485e-03 2.84658090e-05 9.99990084e-01 -1.96645020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.54591999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.90, Y:-0.43, Z:-1.98 [[ 9.99980987e-01 -4.26549465e-03 4.45325940e-03 2.54901732e+02] [ 4.26532079e-03 9.99990902e-01 4.85372051e-05 -4.29825212e-01] [-4.45342592e-03 -2.95417024e-05 9.99990083e-01 -1.98119511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.57592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.93, Y:-0.43, Z:-1.98 [[ 9.99982176e-01 -3.97683699e-03 4.45326156e-03 2.54934521e+02] [ 3.97687554e-03 9.99992092e-01 1.98593702e-07 -4.27964257e-01] [-4.45322713e-03 1.75114768e-05 9.99990084e-01 -1.98129033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.60591999999997 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:254.97, Y:-0.43, Z:-1.98 [[ 9.99984867e-01 -3.23026336e-03 4.45326052e-03 2.54967675e+02] [ 3.23030455e-03 9.99994783e-01 -2.05810338e-06 -4.28315279e-01] [-4.45323063e-03 1.64434600e-05 9.99990084e-01 -1.98160736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.63592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:255.00, Y:-0.43, Z:-1.97 [[ 9.99981038e-01 -4.25350120e-03 4.45325831e-03 2.54997505e+02] [ 4.25356263e-03 9.99990954e-01 -4.32476653e-06 -4.29470254e-01] [-4.45319963e-03 2.32668977e-05 9.99990084e-01 -1.96595897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.66591999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.03, Y:-0.43, Z:-1.98 [[ 9.99976777e-01 -5.15876591e-03 4.45326965e-03 2.55029006e+02] [ 5.15878091e-03 9.99986693e-01 8.11690902e-06 -4.28994955e-01] [-4.45325226e-03 1.48567219e-05 9.99990084e-01 -1.98136956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.69592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.06, Y:-0.43, Z:-1.98 [[ 9.99975294e-01 -5.43871479e-03 4.45325607e-03 2.55062419e+02] [ 5.43878971e-03 9.99985210e-01 -4.71255508e-06 -4.28704654e-01] [-4.45316458e-03 2.89327619e-05 9.99990084e-01 -1.98177403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.72592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.09, Y:-0.43, Z:-1.98 [[ 9.99969704e-01 -6.38430920e-03 4.45325255e-03 2.55094196e+02] [ 6.38440352e-03 9.99979619e-01 -6.96526599e-06 -4.31197023e-01] [-4.45311732e-03 3.53964162e-05 9.99990084e-01 -1.98171294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.75592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:255.12, Y:-0.43, Z:-1.97 [[ 9.99972514e-01 -5.92790814e-03 4.45324893e-03 2.55124000e+02] [ 5.92800610e-03 9.99982429e-01 -8.79759591e-06 -4.33766835e-01] [-4.45311853e-03 3.51962409e-05 9.99990084e-01 -1.96609069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.78592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.16, Y:-0.44, Z:-1.98 [[ 9.99965667e-01 -6.98808065e-03 4.45327390e-03 2.55156494e+02] [ 6.98813250e-03 9.99975583e-01 3.91657986e-06 -4.35625887e-01] [-4.45319253e-03 2.72036227e-05 9.99990084e-01 -1.98264659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.81591999999995 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:255.19, Y:-0.44, Z:-1.97 [[ 9.99963659e-01 -7.26969873e-03 4.45324421e-03 2.55186236e+02] [ 7.26981404e-03 9.99973575e-01 -9.70619353e-06 -4.39334296e-01] [-4.45305597e-03 4.20800981e-05 9.99990084e-01 -1.96582973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.84592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.22, Y:-0.44, Z:-1.98 [[ 9.99963483e-01 -7.29392711e-03 4.45331266e-03 2.55219365e+02] [ 7.29390457e-03 9.99973399e-01 2.13037384e-05 -4.44964811e-01] [-4.45334959e-03 1.11790771e-05 9.99990084e-01 -1.98280884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.87591999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.25, Y:-0.45, Z:-1.98 [[ 9.99960247e-01 -7.72479028e-03 4.45322201e-03 2.55251835e+02] [ 7.72492071e-03 9.99970162e-01 -1.20894483e-05 -4.47406387e-01] [-4.45299575e-03 4.64897546e-05 9.99990084e-01 -1.98419303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.90592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.28, Y:-0.45, Z:-1.98 [[ 9.99959420e-01 -7.83117029e-03 4.45321579e-03 2.55283562e+02] [ 7.83131056e-03 9.99969335e-01 -1.40608584e-05 -4.49546183e-01] [-4.45296911e-03 4.89348036e-05 9.99990084e-01 -1.98325112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.93591999999995 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:255.30, Y:-0.45, Z:-1.99 [[ 9.99843608e-01 1.71151408e-02 4.45321217e-03 2.55298995e+02] [-1.71152432e-02 9.99853523e-01 -1.51257615e-05 -4.48833272e-01] [-4.45281876e-03 -6.10944133e-05 9.99990084e-01 -1.98529109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.96592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:255.34, Y:-0.46, Z:-1.97 [[ 9.99983192e-01 -3.71142656e-03 4.45423707e-03 2.55340326e+02] [ 3.71047492e-03 9.99993092e-01 2.21892517e-04 -4.57722012e-01] [-4.45502984e-03 -2.05361453e-04 9.99990055e-01 -1.96589854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.99591999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.37, Y:-0.46, Z:-1.98 [[ 9.99986603e-01 -2.63954464e-03 4.45282173e-03 2.55370785e+02] [ 2.63960113e-03 9.99996516e-01 -6.80879089e-06 -4.59093494e-01] [-4.45278824e-03 1.85623729e-05 9.99990086e-01 -1.98230172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.02592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.40, Y:-0.46, Z:-1.98 [[ 9.99988530e-01 -1.76456535e-03 4.45268567e-03 2.55403058e+02] [ 1.76470864e-03 9.99998443e-01 -2.82527355e-05 -4.60304006e-01] [-4.45262888e-03 3.61101043e-05 9.99990086e-01 -1.98215734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.05591999999996 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:255.44, Y:-0.46, Z:-1.98 [[ 9.99990035e-01 -3.21233652e-04 4.45267211e-03 2.55436113e+02] [ 3.21371526e-04 9.99999948e-01 -3.02488140e-05 -4.63939873e-01] [-4.45266216e-03 3.16794746e-05 9.99990086e-01 -1.98226363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.08592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.47, Y:-0.47, Z:-1.98 [[ 9.99990084e-01 8.02231353e-05 4.45266611e-03 2.55467842e+02] [-8.00854173e-05 9.99999996e-01 -3.11076230e-05 -4.65489051e-01] [-4.45266859e-03 3.07507209e-05 9.99990086e-01 -1.98145952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.11591999999996 meters Centerline goodness : 0.913162 Centerline is valid? [True, False] Translation: X:255.47, Y:-0.47, Z:-1.98 [[ 9.99982652e-01 -4.05128265e-03 4.27585394e-03 2.55468401e+02] [ 4.06882199e-03 9.99983312e-01 -4.10125574e-03 -4.65962969e-01] [-4.25916724e-03 4.11858228e-03 9.99982448e-01 -1.98167557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.14592 meters Centerline goodness : 1.000000 Centerline is valid? [False, True] Translation: X:255.47, Y:-0.47, Z:-1.99 [[ 9.99991472e-01 -2.62400433e-03 3.18897861e-03 2.55473084e+02] [ 2.63094610e-03 9.99994175e-01 -2.17455796e-03 -4.69172871e-01] [-3.18325398e-03 2.18292945e-03 9.99992551e-01 -1.98544974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.17591999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.51, Y:-0.47, Z:-1.98 [[ 9.99991132e-01 -2.73781546e-03 3.20002521e-03 2.55505737e+02] [ 2.73788185e-03 9.99996252e-01 -1.63681394e-05 -4.72362252e-01] [-3.19996840e-03 2.51292851e-05 9.99994880e-01 -1.98478539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.20592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.54, Y:-0.47, Z:-1.98 [[ 9.99992400e-01 -2.22703099e-03 3.20002305e-03 2.55539302e+02] [ 2.22709609e-03 9.99997520e-01 -1.67788000e-05 -4.72224336e-01] [-3.19997775e-03 2.39054313e-05 9.99994880e-01 -1.98489276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.23591999999996 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:255.57, Y:-0.48, Z:-1.97 [[ 9.99984767e-01 -4.49720837e-03 3.20001365e-03 2.55567445e+02] [ 4.49729031e-03 9.99989887e-01 -1.84133350e-05 -4.75117989e-01] [-3.19989848e-03 3.28044449e-05 9.99994880e-01 -1.96881977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.26592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.60, Y:-0.48, Z:-1.98 [[ 9.99992351e-01 -2.24864357e-03 3.20025592e-03 2.55601135e+02] [ 2.24857950e-03 9.99997472e-01 2.36158941e-05 -4.76571165e-01] [-3.20030093e-03 -1.64196836e-05 9.99994879e-01 -1.98381186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.29591999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.63, Y:-0.48, Z:-1.98 [[ 9.99991734e-01 -2.50842923e-03 3.19997491e-03 2.55633799e+02] [ 2.50850741e-03 9.99996853e-01 -2.04206418e-05 -4.79366785e-01] [-3.19991361e-03 2.84476337e-05 9.99994880e-01 -1.98339373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.32592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.67, Y:-0.48, Z:-1.98 [[ 9.99993326e-01 -1.76302628e-03 3.19997154e-03 2.55666524e+02] [ 1.76310230e-03 9.99998446e-01 -2.09356973e-05 -4.80101996e-01] [-3.19992965e-03 2.65774347e-05 9.99994880e-01 -1.98379741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.35591999999997 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:255.69, Y:-0.48, Z:-1.97 [[ 9.99992325e-01 -2.26053811e-03 3.19995991e-03 2.55694738e+02] [ 2.26062195e-03 9.99997445e-01 -2.25837312e-05 -4.82574231e-01] [-3.19990068e-03 2.98174575e-05 9.99994880e-01 -1.96625052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.38592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:255.73, Y:-0.48, Z:-1.97 [[ 9.99993962e-01 -1.35428635e-03 3.20025460e-03 2.55726999e+02] [ 1.35423288e-03 9.99999083e-01 1.88736436e-05 -4.84742204e-01] [-3.20027722e-03 -1.45396396e-05 9.99994879e-01 -1.97246292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.41591999999997 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:255.76, Y:-0.49, Z:-1.97 [[ 9.99994615e-01 7.27934588e-04 3.20013026e-03 2.55759873e+02] [-7.27945468e-04 9.99999735e-01 2.23529833e-06 -4.88938203e-01] [-3.20012778e-03 -4.56480661e-06 9.99994880e-01 -1.97219430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.44592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.79, Y:-0.49, Z:-1.98 [[ 9.99994874e-01 1.11282248e-04 3.19986664e-03 2.55790035e+02] [-1.11181212e-04 9.99999993e-01 -3.17528930e-05 -4.89993238e-01] [-3.19987015e-03 3.13969652e-05 9.99994880e-01 -1.98240801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.47592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:255.82, Y:-0.49, Z:-1.97 [[ 9.99994036e-01 1.29916606e-03 3.19991707e-03 2.55821594e+02] [-1.29909143e-03 9.99999156e-01 -2.53997685e-05 -4.91309105e-01] [-3.19994737e-03 2.12426322e-05 9.99994880e-01 -1.97168781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.50592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:255.85, Y:-0.50, Z:-1.98 [[ 9.99994878e-01 6.97097368e-05 3.19976421e-03 2.55850755e+02] [-6.95682985e-05 9.99999997e-01 -4.43140093e-05 -4.96700327e-01] [-3.19976729e-03 4.40911801e-05 9.99994880e-01 -1.98333722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.53592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:255.88, Y:-0.50, Z:-1.97 [[ 9.99994460e-01 9.16399426e-04 3.19991442e-03 2.55882485e+02] [-9.16322955e-04 9.99999580e-01 -2.53637035e-05 -4.99185163e-01] [-3.19993632e-03 2.24314080e-05 9.99994880e-01 -1.97143085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.56591999999995 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:255.91, Y:-0.50, Z:-1.98 [[ 9.99994773e-01 4.63772860e-04 3.19982722e-03 2.55912564e+02] [-4.63659185e-04 9.99999892e-01 -3.62670818e-05 -5.02401510e-01] [-3.19984370e-03 3.47832630e-05 9.99994880e-01 -1.98138452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.59592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:255.95, Y:-0.51, Z:-1.98 [[ 9.99994742e-01 5.26532101e-04 3.19991326e-03 2.55945674e+02] [-5.26453361e-04 9.99999861e-01 -2.54492551e-05 -5.05145566e-01] [-3.19992621e-03 2.37645162e-05 9.99994880e-01 -1.98175223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.62591999999995 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:255.98, Y:-0.51, Z:-1.98 [[ 9.99994795e-01 4.12024498e-04 3.19990815e-03 2.55981352e+02] [-4.11943165e-04 9.99999915e-01 -2.60762813e-05 -5.09828423e-01] [-3.19991862e-03 2.47579653e-05 9.99994880e-01 -1.97604959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.65592 meters Centerline goodness : 0.998760 Centerline is valid? [True, True] Translation: X:256.01, Y:-0.52, Z:-1.97 [[ 9.99994878e-01 -1.01942430e-04 3.19907726e-03 2.56006082e+02] [ 1.02363379e-04 9.99999986e-01 -1.31420887e-04 -5.17238542e-01] [-3.19906382e-03 1.31747682e-04 9.99994874e-01 -1.97122354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.68591999999995 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:256.04, Y:-0.52, Z:-1.98 [[ 9.99992422e-01 -2.21745173e-03 3.19975817e-03 2.56036888e+02] [ 2.21756322e-03 9.99997541e-01 -3.12961969e-05 -5.19644165e-01] [-3.19968090e-03 3.83916258e-05 9.99994880e-01 -1.98176073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.71592 meters Centerline goodness : 0.998559 Centerline is valid? [True, True] Translation: X:256.07, Y:-0.52, Z:-1.97 [[ 9.99994194e-01 -1.17192067e-03 3.19982355e-03 2.56069881e+02] [ 1.17199585e-03 9.99999313e-01 -2.16173081e-05 -5.24604906e-01] [-3.19979602e-03 2.53673625e-05 9.99994880e-01 -1.97058571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.74591999999996 meters Centerline goodness : 0.998857 Centerline is valid? [True, True] Translation: X:256.10, Y:-0.53, Z:-1.97 [[ 9.99992325e-01 -2.26102699e-03 3.19957252e-03 2.56099847e+02] [ 2.26122537e-03 9.99997442e-01 -5.83854374e-05 -5.27599237e-01] [-3.19943232e-03 6.56199439e-05 9.99994880e-01 -1.96894833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.77592 meters Centerline goodness : 0.939570 Centerline is valid? [True, False] Translation: X:256.12, Y:-0.52, Z:-1.96 [[ 9.99999269e-01 5.84104299e-04 -1.05858411e-03 2.56121168e+02] [-5.91650579e-04 9.99974318e-01 -7.14241687e-03 -5.23226470e-01] [ 1.05438501e-03 7.14303796e-03 9.99973932e-01 -1.96417532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.80591999999996 meters Centerline goodness : 0.998759 Centerline is valid? [False, True] Translation: X:256.12, Y:-0.53, Z:-1.96 [[ 9.99999123e-01 6.08390712e-04 -1.17660139e-03 2.56121473e+02] [-6.15824896e-04 9.99979786e-01 -6.32834634e-03 -5.26695705e-01] [ 1.17272750e-03 6.32906537e-03 9.99979284e-01 -1.96429103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.83592 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:256.15, Y:-0.53, Z:-1.98 [[ 9.99999089e-01 -7.56906500e-04 -1.11783219e-03 2.56150863e+02] [ 7.56946399e-04 9.99999713e-01 3.52713464e-05 -5.34622646e-01] [ 1.11780517e-03 -3.61174533e-05 9.99999375e-01 -1.97799811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.86591999999996 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:256.18, Y:-0.54, Z:-1.97 [[ 9.99998740e-01 1.12694331e-03 -1.11806096e-03 2.56181048e+02] [-1.12693261e-03 9.99999365e-01 1.02031280e-05 -5.40528430e-01] [ 1.11807174e-03 -8.94313577e-06 9.99999375e-01 -1.96972730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.89592 meters Centerline goodness : 0.998758 Centerline is valid? [True, True] Translation: X:256.21, Y:-0.54, Z:-1.97 [[ 9.99991339e-01 4.00901431e-03 -1.11803963e-03 2.56211053e+02] [-4.00900273e-03 9.99991964e-01 1.25984248e-05 -5.42254364e-01] [ 1.11808115e-03 -8.11609177e-06 9.99999375e-01 -1.96665987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.92591999999996 meters Centerline goodness : 0.998709 Centerline is valid? [True, True] Translation: X:256.24, Y:-0.55, Z:-1.97 [[ 9.99972285e-01 7.36059897e-03 -1.11799785e-03 2.56240578e+02] [-7.36058402e-03 9.99972910e-01 1.74837880e-05 -5.46006589e-01] [ 1.11809625e-03 -9.25418635e-06 9.99999375e-01 -1.96730530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.95592 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:256.27, Y:-0.55, Z:-1.97 [[ 9.99955605e-01 9.35615315e-03 -1.11804980e-03 2.56270284e+02] [-9.35614642e-03 9.99956230e-01 1.12419691e-05 -5.48065059e-01] [ 1.11810605e-03 -7.80832339e-07 9.99999375e-01 -1.96606025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.98591999999996 meters Centerline goodness : 0.997914 Centerline is valid? [True, True] Translation: X:256.30, Y:-0.55, Z:-1.96 [[ 9.99934573e-01 1.13841968e-02 -1.11804995e-03 2.56301386e+02] [-1.13841913e-02 9.99935198e-01 1.12232145e-05 -5.50339051e-01] [ 1.11810527e-03 1.50561439e-06 9.99999375e-01 -1.96308612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.01592 meters Centerline goodness : 0.956198 Centerline is valid? [True, True] Translation: X:256.30, Y:-0.60, Z:-1.98 [[ 9.96317095e-01 -8.57379543e-02 -1.11799810e-03 2.56296619e+02] [ 8.57380274e-02 9.96317716e-01 1.75724768e-05 -5.98812957e-01] [ 1.11237468e-03 -1.13362710e-04 9.99999375e-01 -1.98068792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.04591999999997 meters Centerline goodness : 0.998112 Centerline is valid? [True, True] Translation: X:256.36, Y:-0.56, Z:-1.96 [[ 9.99807388e-01 1.95942565e-02 -1.11888548e-03 2.56357774e+02] [-1.95944241e-02 9.99808001e-01 -1.39007058e-04 -5.55576907e-01] [ 1.11594691e-03 1.60904200e-04 9.99999364e-01 -1.96397430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.07592 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:256.39, Y:-0.56, Z:-1.98 [[ 9.99822290e-01 1.88186514e-02 -1.11690783e-03 2.56387523e+02] [-1.88186348e-02 9.99822913e-01 2.53802045e-05 -5.59718622e-01] [ 1.11718766e-03 -4.35701367e-06 9.99999376e-01 -1.97553200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.10591999999997 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:256.42, Y:-0.56, Z:-1.98 [[ 9.99805447e-01 1.96931581e-02 -1.11705178e-03 2.56416866e+02] [-1.96931557e-02 9.99806071e-01 1.31768303e-05 -5.61957561e-01] [ 1.11709464e-03 8.82400785e-06 9.99999376e-01 -1.97568565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.13592 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:256.44, Y:-0.58, Z:-1.98 [[ 9.99737235e-01 -2.28956954e-02 -1.11705265e-03 2.56442305e+02] [ 2.28957243e-02 9.99737858e-01 1.31022488e-05 -5.82486930e-01] [ 1.11645984e-03 -3.86745356e-05 9.99999376e-01 -1.97556485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.16591999999997 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:256.48, Y:-0.57, Z:-1.97 [[ 9.99774525e-01 2.12049511e-02 -1.11740450e-03 2.56477360e+02] [-2.12049834e-02 9.99775149e-01 -1.70404167e-05 -5.67594325e-01] [ 1.11679191e-03 4.07311183e-05 9.99999376e-01 -1.97436790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.19592 meters Centerline goodness : 0.997158 Centerline is valid? [True, True] Translation: X:256.51, Y:-0.57, Z:-1.96 [[ 9.99751362e-01 2.22703043e-02 -1.11701743e-03 2.56509017e+02] [-2.22703026e-02 9.99751986e-01 1.39510948e-05 -5.70235870e-01] [ 1.11705108e-03 1.09286900e-05 9.99999376e-01 -1.96365142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.22592 meters Centerline goodness : 0.997020 Centerline is valid? [True, True] Translation: X:256.54, Y:-0.57, Z:-1.96 [[ 9.99770480e-01 2.13948520e-02 -1.11686414e-03 2.56538372e+02] [-2.13948357e-02 9.99771104e-01 2.65546309e-05 -5.72349817e-01] [ 1.11717663e-03 -2.65341127e-06 9.99999376e-01 -1.96251334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.25592 meters Centerline goodness : 0.996820 Centerline is valid? [True, True] Translation: X:256.57, Y:-0.57, Z:-1.96 [[ 9.99765778e-01 2.16134825e-02 -1.11688676e-03 2.56568517e+02] [-2.16134685e-02 9.99766401e-01 2.45922459e-05 -5.74533047e-01] [ 1.11715738e-03 -4.46689017e-07 9.99999376e-01 -1.96198160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.28592 meters Centerline goodness : 0.996718 Centerline is valid? [True, True] Translation: X:256.60, Y:-0.58, Z:-1.96 [[ 9.99791808e-01 2.03738213e-02 -1.11684199e-03 2.56597928e+02] [-2.03738019e-02 9.99792432e-01 2.87682695e-05 -5.78083690e-01] [ 1.11719629e-03 -6.00796278e-06 9.99999376e-01 -1.96266074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.31591999999995 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:256.63, Y:-0.58, Z:-1.98 [[ 9.99840372e-01 1.78321032e-02 -1.11686649e-03 2.56626176e+02] [-1.78320849e-02 9.99840995e-01 2.63338025e-05 -5.80197472e-01] [ 1.11715849e-03 -6.41354081e-06 9.99999376e-01 -1.97680050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.34592 meters Centerline goodness : 0.998957 Centerline is valid? [True, True] Translation: X:256.66, Y:-0.58, Z:-1.98 [[ 9.99843936e-01 1.76311324e-02 -1.11701603e-03 2.56656235e+02] [-1.76311315e-02 9.99844559e-01 1.06521420e-05 -5.83443300e-01] [ 1.11703021e-03 9.04377707e-06 9.99999376e-01 -1.97687092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.37591999999995 meters Centerline goodness : 0.998809 Centerline is valid? [True, True] Translation: X:256.69, Y:-0.58, Z:-1.98 [[ 9.99832962e-01 1.82427946e-02 -1.11701674e-03 2.56685628e+02] [-1.82427941e-02 9.99833586e-01 1.05773722e-05 -5.84064200e-01] [ 1.11702382e-03 9.80190115e-06 9.99999376e-01 -1.97596586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.40592 meters Centerline goodness : 0.998113 Centerline is valid? [True, True] Translation: X:256.72, Y:-0.59, Z:-1.97 [[ 9.99786599e-01 2.06278390e-02 -1.11701744e-03 2.56716383e+02] [-2.06278402e-02 9.99787223e-01 1.05031856e-05 -5.85846715e-01] [ 1.11699642e-03 1.25407130e-05 9.99999376e-01 -1.96825963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.43591999999995 meters Centerline goodness : 0.997964 Centerline is valid? [True, True] Translation: X:256.75, Y:-0.59, Z:-1.97 [[ 9.99796644e-01 2.01351436e-02 -1.11691466e-03 2.56745738e+02] [-2.01351322e-02 9.99797267e-01 2.14132493e-05 -5.87888976e-01] [ 1.11711938e-03 1.08032956e-06 9.99999376e-01 -1.96599695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.46592 meters Centerline goodness : 0.998263 Centerline is valid? [True, True] Translation: X:256.78, Y:-0.59, Z:-1.97 [[ 9.99809776e-01 1.94721199e-02 -1.11692932e-03 2.56775326e+02] [-1.94721100e-02 9.99810400e-01 1.97167297e-05 -5.90219544e-01] [ 1.11710148e-03 2.03599155e-06 9.99999376e-01 -1.96639849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.49591999999996 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:256.80, Y:-0.59, Z:-1.98 [[ 9.99861186e-01 1.66241262e-02 -1.11694835e-03 2.56804629e+02] [-1.66241172e-02 9.99861810e-01 1.74103386e-05 -5.91119848e-01] [ 1.11708343e-03 1.16035854e-06 9.99999376e-01 -1.97879960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.52592 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:256.83, Y:-0.59, Z:-1.98 [[ 9.99868933e-01 1.61514496e-02 -1.11701619e-03 2.56833990e+02] [-1.61514499e-02 9.99869557e-01 8.77910417e-06 -5.90965759e-01] [ 1.11701228e-03 9.26347748e-06 9.99999376e-01 -1.97883536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.55591999999996 meters Centerline goodness : 0.997811 Centerline is valid? [True, True] Translation: X:256.86, Y:-0.59, Z:-1.97 [[ 9.99876067e-01 1.57036111e-02 -1.11701677e-03 2.56863816e+02] [-1.57036112e-02 9.99876691e-01 8.70491762e-06 -5.91915309e-01] [ 1.11701573e-03 8.83735820e-06 9.99999376e-01 -1.96573155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.58592 meters Centerline goodness : 0.997219 Centerline is valid? [True, True] Translation: X:256.89, Y:-0.59, Z:-1.97 [[ 9.99894314e-01 1.44952460e-02 -1.11700080e-03 2.56893560e+02] [-1.44952430e-02 9.99894938e-01 1.07795421e-05 -5.92401779e-01] [ 1.11703970e-03 5.41279518e-06 9.99999376e-01 -1.96526240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.61591999999996 meters Centerline goodness : 0.997568 Centerline is valid? [True, True] Translation: X:256.92, Y:-0.59, Z:-1.97 [[ 9.99905351e-01 1.37128423e-02 -1.11701917e-03 2.56923137e+02] [-1.37128415e-02 9.99905975e-01 8.32204679e-06 -5.92695904e-01] [ 1.11702826e-03 6.99624772e-06 9.99999376e-01 -1.96558989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.64592 meters Centerline goodness : 0.999006 Centerline is valid? [True, True] Translation: X:256.95, Y:-0.59, Z:-1.98 [[ 9.99931978e-01 1.16099601e-02 -1.11701711e-03 2.56952813e+02] [-1.16099578e-02 9.99932602e-01 8.60140925e-06 -5.92677097e-01] [ 1.11704169e-03 4.36769732e-06 9.99999376e-01 -1.97893569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.67591999999996 meters Centerline goodness : 0.997814 Centerline is valid? [True, True] Translation: X:256.98, Y:-0.59, Z:-1.97 [[ 9.99977283e-01 6.64721911e-03 -1.11702007e-03 2.56982471e+02] [-6.64721411e-03 9.99977907e-01 8.19748446e-06 -5.93842899e-01] [ 1.11704989e-03 -7.72226647e-07 9.99999376e-01 -1.96637419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.70592 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:257.01, Y:-0.59, Z:-1.98 [[ 9.99984320e-01 5.48746687e-03 -1.11705362e-03 2.57013377e+02] [-5.48746643e-03 9.99984944e-01 3.46101189e-06 -5.93600447e-01] [ 1.11705580e-03 2.66883663e-06 9.99999376e-01 -1.98093138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.73591999999996 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:257.04, Y:-0.59, Z:-1.98 [[ 9.99991464e-01 3.97795748e-03 -1.11702234e-03 2.57042733e+02] [-3.97795115e-03 9.99992088e-01 7.89026631e-06 -5.93194645e-01] [ 1.11704488e-03 -3.44673868e-06 9.99999376e-01 -1.98104484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.76592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:257.07, Y:-0.59, Z:-1.98 [[ 9.99997637e-01 1.86518088e-03 -1.11702285e-03 2.57072049e+02] [-1.86517331e-03 9.99998261e-01 7.81706518e-06 -5.94507501e-01] [ 1.11703548e-03 -5.73360550e-06 9.99999376e-01 -1.98205742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.79591999999997 meters Centerline goodness : 0.998510 Centerline is valid? [True, True] Translation: X:257.10, Y:-0.60, Z:-1.97 [[ 9.99999113e-01 7.25090265e-04 -1.11702361e-03 2.57101223e+02] [-7.25082108e-04 9.99999737e-01 7.70717589e-06 -5.96035492e-01] [ 1.11702890e-03 -6.89723522e-06 9.99999376e-01 -1.96547598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.82592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:257.13, Y:-0.60, Z:-1.98 [[ 9.99997494e-01 -1.94006404e-03 -1.11706197e-03 2.57132042e+02] [ 1.94006773e-03 9.99998118e-01 2.22456585e-06 -5.96731265e-01] [ 1.11705555e-03 -4.39173616e-06 9.99999376e-01 -1.98311870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.85591999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.16, Y:-0.60, Z:-1.98 [[ 9.99995486e-01 -2.78913916e-03 -1.11701974e-03 2.57161634e+02] [ 2.78914991e-03 9.99996110e-01 8.06982235e-06 -5.97151844e-01] [ 1.11699289e-03 -1.11853214e-05 9.99999376e-01 -1.98278805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.88592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.19, Y:-0.60, Z:-1.98 [[ 9.99989726e-01 -4.39321299e-03 -1.11702025e-03 2.57190845e+02] [ 4.39322467e-03 9.99990350e-01 7.99816707e-06 -6.01772291e-01] [ 1.11697434e-03 -1.29054058e-05 9.99999376e-01 -1.98431256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.91591999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.22, Y:-0.61, Z:-1.98 [[ 9.99983957e-01 -5.55324811e-03 -1.11702077e-03 2.57219531e+02] [ 5.55326043e-03 9.99984580e-01 7.92585767e-06 -6.05076312e-01] [ 1.11695953e-03 -1.41288377e-05 9.99999376e-01 -1.98392685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.94592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:257.25, Y:-0.61, Z:-1.98 [[ 9.99978381e-01 -6.47999758e-03 -1.11702231e-03 2.57249418e+02] [ 6.48001023e-03 9.99979004e-01 7.70243360e-06 -6.07204806e-01] [ 1.11694894e-03 -1.49405831e-05 9.99999376e-01 -1.98335668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.97592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.28, Y:-0.61, Z:-1.98 [[ 9.99960398e-01 -8.82922024e-03 -1.11702280e-03 2.57279328e+02] [ 8.82923427e-03 9.99961022e-01 7.62976467e-06 -6.11489457e-01] [ 1.11691190e-03 -1.74919185e-05 9.99999376e-01 -1.98378268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.00592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.31, Y:-0.62, Z:-1.98 [[ 9.99949213e-01 -1.00161633e-02 -1.11702329e-03 2.57308619e+02] [ 1.00161780e-02 9.99949837e-01 7.55829741e-06 -6.15478976e-01] [ 1.11689155e-03 -1.87462176e-05 9.99999376e-01 -1.98483547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.03592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.34, Y:-0.62, Z:-1.98 [[ 9.99927040e-01 -1.20277321e-02 -1.11702376e-03 2.57337738e+02] [ 1.20277480e-02 9.99927664e-01 7.48739055e-06 -6.23962059e-01] [ 1.11685291e-03 -2.09221246e-05 9.99999376e-01 -1.98466693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.06591999999995 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:257.37, Y:-0.63, Z:-1.97 [[ 9.99934665e-01 -1.13762070e-02 -1.11702447e-03 2.57368427e+02] [ 1.13762224e-02 9.99935289e-01 7.38069468e-06 -6.26391977e-01] [ 1.11686822e-03 -2.00877312e-05 9.99999376e-01 -1.97155976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.09592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.40, Y:-0.63, Z:-1.99 [[ 9.99915858e-01 -1.29239624e-02 -1.11698983e-03 2.57398064e+02] [ 1.29239845e-02 9.99916482e-01 1.24975046e-05 -6.28435084e-01] [ 1.11673502e-03 -2.69324122e-05 9.99999376e-01 -1.98505250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.12591999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.43, Y:-0.63, Z:-1.99 [[ 9.99914213e-01 -1.30506163e-02 -1.11702320e-03 2.57427389e+02] [ 1.30506329e-02 9.99914837e-01 7.57828946e-06 -6.28661752e-01] [ 1.11682917e-03 -2.21554991e-05 9.99999376e-01 -1.98501995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.15592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.46, Y:-0.64, Z:-1.98 [[ 9.99929195e-01 -1.18472093e-02 -1.11702414e-03 2.57455726e+02] [ 1.18472250e-02 9.99929819e-01 7.43680802e-06 -6.35009261e-01] [ 1.11685764e-03 -2.06699178e-05 9.99999376e-01 -1.98470213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.18591999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.48, Y:-0.64, Z:-1.99 [[ 9.99950590e-01 -9.87772183e-03 -1.11702507e-03 2.57484326e+02] [ 9.87773614e-03 9.99951214e-01 7.29532646e-06 -6.39683099e-01] [ 1.11689851e-03 -1.83286449e-05 9.99999376e-01 -1.98501117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.21592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.51, Y:-0.64, Z:-1.99 [[ 9.99955047e-01 -9.41576034e-03 -1.11702598e-03 2.57513623e+02] [ 9.41577420e-03 9.99955671e-01 7.15178711e-06 -6.41168920e-01] [ 1.11690913e-03 -1.76691301e-05 9.99999376e-01 -1.98520822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.24591999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.54, Y:-0.64, Z:-1.99 [[ 9.99959978e-01 -8.87661133e-03 -1.11702688e-03 2.57542936e+02] [ 8.87662470e-03 9.99960602e-01 7.00846468e-06 -6.42795880e-01] [ 1.11692066e-03 -1.69236126e-05 9.99999376e-01 -1.98611646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.27592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.57, Y:-0.65, Z:-1.99 [[ 9.99963894e-01 -8.42389436e-03 -1.11702777e-03 2.57572129e+02] [ 8.42390728e-03 9.99964518e-01 6.86492509e-06 -6.47711682e-01] [ 1.11693030e-03 -1.62744156e-05 9.99999376e-01 -1.98669929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.30591999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.60, Y:-0.65, Z:-1.99 [[ 9.99958799e-01 -9.00843340e-03 -1.11702864e-03 2.57601348e+02] [ 9.00844653e-03 9.99959423e-01 6.71993551e-06 -6.50329109e-01] [ 1.11692278e-03 -1.67823514e-05 9.99999376e-01 -1.98742884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.33592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:257.63, Y:-0.65, Z:-1.99 [[ 9.99958285e-01 -9.06529271e-03 -1.11702949e-03 2.57630534e+02] [ 9.06530571e-03 9.99958909e-01 6.57472362e-06 -6.53431723e-01] [ 1.11692399e-03 -1.67006632e-05 9.99999376e-01 -1.98612759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.36591999999996 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:257.66, Y:-0.65, Z:-1.98 [[ 9.99968586e-01 -7.84722770e-03 -1.11703012e-03 2.57661330e+02] [ 7.84723982e-03 9.99969210e-01 6.46642691e-06 -6.54739747e-01] [ 1.11694498e-03 -1.52318270e-05 9.99999376e-01 -1.97591078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.39592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:257.69, Y:-0.66, Z:-1.97 [[ 9.99974164e-01 -7.10089876e-03 -1.11700487e-03 2.57690173e+02] [ 7.10091544e-03 9.99974788e-01 1.09614548e-05 -6.56550676e-01] [ 1.11689887e-03 -1.88929287e-05 9.99999376e-01 -1.97454995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.42591999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.72, Y:-0.66, Z:-1.99 [[ 9.99967359e-01 -8.00207935e-03 -1.11699135e-03 2.57719380e+02] [ 8.00209940e-03 9.99967983e-01 1.34778932e-05 -6.60283482e-01] [ 1.11684774e-03 -2.24157291e-05 9.99999376e-01 -1.98684579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.45592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.75, Y:-0.66, Z:-1.98 [[ 9.99981564e-01 -5.96854208e-03 -1.11703132e-03 2.57750527e+02] [ 5.96855235e-03 9.99982188e-01 5.86153756e-06 -6.63005971e-01] [ 1.11697644e-03 -1.25284894e-05 9.99999376e-01 -1.97599095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.48591999999996 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:257.78, Y:-0.67, Z:-1.97 [[ 9.99981049e-01 -6.05428984e-03 -1.11699255e-03 2.57779297e+02] [ 6.05430894e-03 9.99981672e-01 1.37174641e-05 -6.65032309e-01] [ 1.11688903e-03 -2.04798221e-05 9.99999376e-01 -1.97184483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.51592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:257.81, Y:-0.67, Z:-1.98 [[ 9.99976113e-01 -6.82100846e-03 -1.11699586e-03 2.57808104e+02] [ 6.82102725e-03 9.99976736e-01 1.30120519e-05 -6.66903179e-01] [ 1.11688112e-03 -2.06308003e-05 9.99999376e-01 -1.97535535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.54591999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.84, Y:-0.67, Z:-1.99 [[ 9.99953786e-01 -9.54870342e-03 -1.11700150e-03 2.57837296e+02] [ 9.54872251e-03 9.99954410e-01 1.17568800e-05 -6.71654349e-01] [ 1.11683832e-03 -2.24222741e-05 9.99999376e-01 -1.98615942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.57592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.87, Y:-0.67, Z:-1.99 [[ 9.99938832e-01 -1.10038718e-02 -1.11703144e-03 2.57866173e+02] [ 1.10038840e-02 9.99939455e-01 4.82311298e-06 -6.74201461e-01] [ 1.11691074e-03 -1.71145024e-05 9.99999376e-01 -1.98544964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.60591999999997 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:257.89, Y:-0.68, Z:-1.99 [[ 9.99916944e-01 -1.28396580e-02 -1.11703205e-03 2.57894775e+02] [ 1.28396712e-02 9.99917568e-01 4.67742744e-06 -6.77161640e-01] [ 1.11687992e-03 -1.90193633e-05 9.99999376e-01 -1.98550060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.63592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:257.92, Y:-0.68, Z:-1.97 [[ 9.99889053e-01 -1.48537754e-02 -1.11703264e-03 2.57924532e+02] [ 1.48537898e-02 9.99889676e-01 4.53232630e-06 -6.83782714e-01] [ 1.11684208e-03 -2.11239915e-05 9.99999376e-01 -1.97109783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.66591999999997 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:257.95, Y:-0.69, Z:-1.97 [[ 9.99857340e-01 -1.68538615e-02 -1.11701643e-03 2.57953362e+02] [ 1.68538815e-02 9.99857963e-01 8.52771538e-06 -6.86936888e-01] [ 1.11671405e-03 -2.73525614e-05 9.99999376e-01 -1.97308362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.69592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.98, Y:-0.69, Z:-1.98 [[ 9.99806345e-01 -1.96475175e-02 -1.11703016e-03 2.57983004e+02] [ 1.96475353e-02 9.99806969e-01 4.97209253e-06 -6.91703338e-01] [ 1.11671684e-03 -2.69180190e-05 9.99999376e-01 -1.98430329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.72592 meters Centerline goodness : 0.926428 Centerline is valid? [True, False] Translation: X:257.98, Y:-0.69, Z:-1.98 [[ 9.99955696e-01 -6.73998035e-03 6.57103055e-03 2.57977806e+02] [ 6.77915458e-03 9.99959273e-01 -5.95772294e-03 -6.87056741e-01] [-6.53060799e-03 6.00200502e-03 9.99960663e-01 -1.98482597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.75592 meters Centerline goodness : 0.999901 Centerline is valid? [False, True] Translation: X:257.98, Y:-0.71, Z:-1.98 [[ 9.99984120e-01 -5.39191108e-03 -1.63937345e-03 2.57979578e+02] [ 5.42027971e-03 9.99826469e-01 1.78227935e-02 -7.12845074e-01] [ 1.54299005e-03 -1.78313963e-02 9.99839817e-01 -1.98144153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.78592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:258.01, Y:-0.70, Z:-1.98 [[ 9.99980801e-01 -5.88668007e-03 -1.93525287e-03 2.58008049e+02] [ 5.88669110e-03 9.99982673e-01 1.67875165e-09 -6.98536220e-01] [ 1.93521933e-03 -1.13939145e-05 9.99998127e-01 -1.98426973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.81591999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.04, Y:-0.70, Z:-2.00 [[ 9.99982792e-01 -5.53830926e-03 -1.93471890e-03 2.58038466e+02] [ 5.53838184e-03 9.99984663e-01 3.21598403e-05 -7.03348254e-01] [ 1.93451111e-03 -4.28744989e-05 9.99998128e-01 -1.99779475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.84592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:258.07, Y:-0.70, Z:-2.00 [[ 9.99987241e-01 -4.66633050e-03 -1.93471918e-03 2.58066823e+02] [ 4.66640142e-03 9.99989112e-01 3.21427325e-05 -7.04787338e-01] [ 1.93454813e-03 -4.11704987e-05 9.99998128e-01 -1.99705780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.87591999999995 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:258.10, Y:-0.71, Z:-1.98 [[ 9.99997742e-01 -8.78918765e-04 -1.93472331e-03 2.58097106e+02] [ 8.78982113e-04 9.99999613e-01 3.18922274e-05 -7.05954963e-01] [ 1.93469453e-03 -3.35927426e-05 9.99998128e-01 -1.98268445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.90592 meters Centerline goodness : 0.999006 Centerline is valid? [True, True] Translation: X:258.13, Y:-0.71, Z:-1.98 [[ 9.99997155e-01 -1.39563825e-03 -1.93461749e-03 2.58126032e+02] [ 1.39571503e-03 9.99999025e-01 3.83392324e-05 -7.07445759e-01] [ 1.93456210e-03 -4.10392980e-05 9.99998128e-01 -1.98342120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.93591999999995 meters Centerline goodness : 0.998708 Centerline is valid? [True, True] Translation: X:258.16, Y:-0.71, Z:-1.98 [[ 9.99997604e-01 -1.02406566e-03 -1.93472252e-03 2.58155678e+02] [ 1.02412924e-03 9.99999475e-01 3.18759896e-05 -7.08756389e-01] [ 1.93468886e-03 -3.38573192e-05 9.99998128e-01 -1.98420084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.96592 meters Centerline goodness : 0.998657 Centerline is valid? [True, True] Translation: X:258.19, Y:-0.71, Z:-1.99 [[ 9.99995705e-01 -2.20161442e-03 -1.93471146e-03 2.58185855e+02] [ 2.20168154e-03 9.99997576e-01 3.25608062e-05 -7.08426729e-01] [ 1.93463509e-03 -3.68202848e-05 9.99998128e-01 -1.98535648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.99591999999996 meters Centerline goodness : 0.998114 Centerline is valid? [True, True] Translation: X:258.21, Y:-0.71, Z:-1.99 [[ 9.99987301e-01 -4.65343913e-03 -1.93467043e-03 2.58214889e+02] [ 4.65351579e-03 9.99989172e-01 3.51267541e-05 -7.09380758e-01] [ 1.93448602e-03 -4.41293274e-05 9.99998128e-01 -1.98788092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.02592 meters Centerline goodness : 0.998562 Centerline is valid? [True, True] Translation: X:258.24, Y:-0.71, Z:-1.99 [[ 9.99975361e-01 -6.74791235e-03 -1.93479138e-03 2.58243404e+02] [ 6.74797832e-03 9.99977232e-01 2.75667603e-05 -7.12431642e-01] [ 1.93456131e-03 -4.06220114e-05 9.99998128e-01 -1.98687115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.05591999999996 meters Centerline goodness : 0.998258 Centerline is valid? [True, True] Translation: X:258.27, Y:-0.72, Z:-1.99 [[ 9.99962200e-01 -8.47678616e-03 -1.93484471e-03 2.58272108e+02] [ 8.47684899e-03 9.99964071e-01 2.42739918e-05 -7.15234753e-01] [ 1.93456942e-03 -4.06744606e-05 9.99998128e-01 -1.98680737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.08592 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:258.30, Y:-0.72, Z:-2.00 [[ 9.99928634e-01 -1.17891409e-02 -1.93488395e-03 2.58301693e+02] [ 1.17892052e-02 9.99930505e-01 2.18510078e-05 -7.17509722e-01] [ 1.93449188e-03 -4.46601923e-05 9.99998128e-01 -1.99940135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.11591999999996 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:258.33, Y:-0.72, Z:-2.00 [[ 9.99925377e-01 -1.20622439e-02 -1.93472135e-03 2.58330059e+02] [ 1.20623279e-02 9.99927247e-01 3.17569225e-05 -7.21169391e-01] [ 1.93419753e-03 -5.50917961e-05 9.99998128e-01 -1.99883789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.14592 meters Centerline goodness : 0.998458 Centerline is valid? [True, True] Translation: X:258.36, Y:-0.72, Z:-1.99 [[ 9.99927018e-01 -1.19254199e-02 -1.93472537e-03 2.58357329e+02] [ 1.19255032e-02 9.99928888e-01 3.15100799e-05 -7.24284990e-01] [ 1.93421202e-03 -5.45803537e-05 9.99998128e-01 -1.98677941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.17591999999996 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:258.39, Y:-0.73, Z:-2.00 [[ 9.99915378e-01 -1.28643758e-02 -1.93494446e-03 2.58388277e+02] [ 1.28644347e-02 9.99917250e-01 1.79542818e-05 -7.27478303e-01] [ 1.93455337e-03 -4.28447289e-05 9.99998128e-01 -1.99998278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.20592 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:258.42, Y:-0.73, Z:-2.00 [[ 9.99925299e-01 -1.20686547e-02 -1.93472733e-03 2.58417456e+02] [ 1.20687379e-02 9.99927170e-01 3.13526980e-05 -7.31820166e-01] [ 1.93420804e-03 -5.47000731e-05 9.99998128e-01 -1.99979279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.23591999999996 meters Centerline goodness : 0.998561 Centerline is valid? [True, True] Translation: X:258.45, Y:-0.73, Z:-1.99 [[ 9.99946223e-01 -1.01885718e-02 -1.93473135e-03 2.58447303e+02] [ 1.01886510e-02 9.99948094e-01 3.11026655e-05 -7.34713938e-01] [ 1.93431403e-03 -5.08132955e-05 9.99998128e-01 -1.98582297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.26592 meters Centerline goodness : 0.867242 Centerline is valid? [True, False] Translation: X:258.48, Y:-0.74, Z:-1.98 [[ 9.99982120e-01 9.83174790e-04 -5.89863958e-03 2.58475619e+02] [-9.86968424e-04 9.99999308e-01 -6.40260799e-04 -7.36415885e-01] [ 5.89800601e-03 6.46071121e-04 9.99982398e-01 -1.98344370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.29591999999997 meters Centerline goodness : 0.997915 Centerline is valid? [False, True] Translation: X:258.45, Y:-0.75, Z:-1.99 [[ 9.99998729e-01 -2.57665715e-04 1.57363822e-03 2.58453003e+02] [ 2.46374283e-04 9.99974255e-01 7.17135084e-03 -7.45429566e-01] [-1.57544551e-03 -7.17095402e-03 9.99973047e-01 -1.98565349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.32592 meters Centerline goodness : 0.998509 Centerline is valid? [True, True] Translation: X:258.48, Y:-0.74, Z:-1.99 [[ 9.99998901e-01 4.86467953e-04 1.40043829e-03 2.58482346e+02] [-4.86343772e-04 9.99999878e-01 -8.90120842e-05 -7.42325231e-01] [-1.40048142e-03 8.83308919e-05 9.99999015e-01 -1.98818101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.35591999999997 meters Centerline goodness : 0.998213 Centerline is valid? [True, True] Translation: X:258.51, Y:-0.75, Z:-1.99 [[ 9.99998503e-01 1.01480881e-03 1.40182206e-03 2.58512909e+02] [-1.01476627e-03 9.99999485e-01 -3.10580840e-05 -7.45258381e-01] [-1.40185286e-03 2.96355158e-05 9.99999017e-01 -1.98683606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.38592 meters Centerline goodness : 0.998461 Centerline is valid? [True, True] Translation: X:258.54, Y:-0.75, Z:-1.99 [[ 9.99997505e-01 1.73920929e-03 1.40164268e-03 2.58543362e+02] [-1.73915696e-03 9.99998487e-01 -3.85534951e-05 -7.47231712e-01] [-1.40170762e-03 3.61157223e-05 9.99999017e-01 -1.98909477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.41591999999997 meters Centerline goodness : 0.998759 Centerline is valid? [True, True] Translation: X:258.57, Y:-0.75, Z:-2.00 [[ 9.99992568e-01 3.59164834e-03 1.40164145e-03 2.58572943e+02] [-3.59159776e-03 9.99993549e-01 -3.86052779e-05 -7.48675548e-01] [-1.40177106e-03 3.35708587e-05 9.99999017e-01 -1.99975139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.44592 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:258.61, Y:-0.75, Z:-2.00 [[ 9.99983939e-01 5.49144506e-03 1.40176610e-03 2.58605277e+02] [-5.49140368e-03 9.99984922e-01 -3.33691023e-05 -7.50460695e-01] [-1.40192820e-03 2.56709029e-05 9.99999017e-01 -1.99860666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.47592 meters Centerline goodness : 0.997617 Centerline is valid? [True, True] Translation: X:258.64, Y:-0.75, Z:-1.99 [[ 9.99948468e-01 1.00546361e-02 1.40176166e-03 2.58635884e+02] [-1.00545990e-02 9.99949451e-01 -3.35543379e-05 -7.52152845e-01] [-1.40202818e-03 1.94584574e-05 9.99999017e-01 -1.98747880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.50592 meters Centerline goodness : 0.998660 Centerline is valid? [True, True] Translation: X:258.67, Y:-0.75, Z:-2.00 [[ 9.99927651e-01 1.19468465e-02 1.40174831e-03 2.58666612e+02] [-1.19468104e-02 9.99928634e-01 -3.41126898e-05 -7.52496688e-01] [-1.40205581e-03 1.73638006e-05 9.99999017e-01 -2.00001614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.53592 meters Centerline goodness : 0.997965 Centerline is valid? [True, True] Translation: X:258.70, Y:-0.75, Z:-1.99 [[ 9.99828654e-01 1.84580233e-02 1.40176061e-03 2.58697987e+02] [-1.84579943e-02 9.99829636e-01 -3.35996029e-05 -7.52146459e-01] [-1.40214198e-03 7.72015644e-06 9.99999017e-01 -1.98811973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.56591999999995 meters Centerline goodness : 0.998214 Centerline is valid? [True, True] Translation: X:258.73, Y:-0.75, Z:-1.99 [[ 9.99781982e-01 2.08332532e-02 1.40163458e-03 2.58728297e+02] [-2.08332192e-02 9.99782964e-01 -3.88891203e-05 -7.53379693e-01] [-1.40214056e-03 9.68008141e-06 9.99999017e-01 -1.99063021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.59592 meters Centerline goodness : 0.997912 Centerline is valid? [True, True] Translation: X:258.76, Y:-0.75, Z:-1.99 [[ 9.99681009e-01 2.52173653e-02 1.40175870e-03 2.58760175e+02] [-2.52173429e-02 9.99681992e-01 -3.36767361e-05 -7.54553657e-01] [-1.40216217e-03 -1.68263636e-06 9.99999017e-01 -1.99003362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.62591999999995 meters Centerline goodness : 0.998115 Centerline is valid? [True, True] Translation: X:258.79, Y:-0.75, Z:-1.99 [[ 9.99599348e-01 2.82697323e-02 1.40172662e-03 2.58791870e+02] [-2.82697110e-02 9.99600331e-01 -3.50236808e-05 -7.53700832e-01] [-1.40215650e-03 -4.61675795e-06 9.99999017e-01 -1.98933202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.65592 meters Centerline goodness : 0.998312 Centerline is valid? [True, True] Translation: X:258.82, Y:-0.75, Z:-1.99 [[ 9.99482216e-01 3.21455328e-02 1.40173321e-03 2.58824408e+02] [-3.21455157e-02 9.99483199e-01 -3.47479597e-05 -7.53040326e-01] [-1.40212578e-03 -1.03294691e-05 9.99999017e-01 -1.99131141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.68591999999995 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:258.86, Y:-0.75, Z:-2.00 [[ 9.99304876e-01 3.72531989e-02 1.40163164e-03 2.58855185e+02] [-3.72531809e-02 9.99305859e-01 -3.89823046e-05 -7.52041998e-01] [-1.40211093e-03 -1.32600301e-05 9.99999017e-01 -2.00119517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.71592 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:258.89, Y:-0.75, Z:-2.00 [[ 9.99167777e-01 4.07650349e-02 1.40175886e-03 2.58887849e+02] [-4.07650277e-02 9.99168760e-01 -3.36890252e-05 -7.51377875e-01] [-1.40196700e-03 -2.34817503e-05 9.99999017e-01 -2.00068013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.74591999999996 meters Centerline goodness : 0.998261 Centerline is valid? [True, True] Translation: X:258.92, Y:-0.75, Z:-1.99 [[ 9.98976503e-01 4.52104167e-02 1.40175238e-03 2.58918400e+02] [-4.52104136e-02 9.98977486e-01 -3.39563106e-05 -7.46865793e-01] [-1.40185425e-03 -2.94522486e-05 9.99999017e-01 -1.98942540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.77592 meters Centerline goodness : 0.998014 Centerline is valid? [True, True] Translation: X:258.95, Y:-0.74, Z:-1.99 [[ 9.98838970e-01 4.81533675e-02 1.40184438e-03 2.58950914e+02] [-4.81533725e-02 9.98839953e-01 -3.01586114e-05 -7.44898521e-01] [-1.40167041e-03 -3.73799383e-05 9.99999017e-01 -1.98932363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.80591999999996 meters Centerline goodness : 0.998064 Centerline is valid? [True, True] Translation: X:258.98, Y:-0.74, Z:-1.99 [[ 9.98622972e-01 5.24422947e-02 1.40190511e-03 2.58984557e+02] [-5.24423075e-02 9.98623955e-01 -2.76698629e-05 -7.41532162e-01] [-1.40142710e-03 -4.58873785e-05 9.99999017e-01 -1.99089720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.83592 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:259.02, Y:-0.74, Z:-2.00 [[ 9.98481518e-01 5.50698965e-02 1.40177090e-03 2.59016636e+02] [-5.50699042e-02 9.98482501e-01 -3.31217530e-05 -7.40659349e-01] [-1.40146772e-03 -4.41239309e-05 9.99999017e-01 -2.00117018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.86591999999996 meters Centerline goodness : 0.998012 Centerline is valid? [True, True] Translation: X:259.05, Y:-0.74, Z:-1.99 [[ 9.98485386e-01 5.49997159e-02 1.40173657e-03 2.59047855e+02] [-5.49997215e-02 9.98486369e-01 -3.45160671e-05 -7.38604701e-01] [-1.40151323e-03 -4.26313323e-05 9.99999017e-01 -1.98921562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.89592 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:259.08, Y:-0.73, Z:-2.00 [[ 9.98394449e-01 5.66264944e-02 1.40170331e-03 2.59079422e+02] [-5.66264998e-02 9.98395432e-01 -3.58730547e-05 -7.34318528e-01] [-1.40148555e-03 -4.35580935e-05 9.99999017e-01 -2.00073880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.92591999999996 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:259.11, Y:-0.73, Z:-2.00 [[ 9.98398610e-01 5.65530831e-02 1.40173513e-03 2.59111960e+02] [-5.65530903e-02 9.98399593e-01 -3.45832624e-05 -7.32963384e-01] [-1.40144758e-03 -4.47445724e-05 9.99999017e-01 -2.00054822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.95592 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:259.14, Y:-0.73, Z:-2.00 [[ 9.98371132e-01 5.70361071e-02 1.40172864e-03 2.59143934e+02] [-5.70361143e-02 9.98372115e-01 -3.48443889e-05 -7.30119576e-01] [-1.40143418e-03 -4.51615230e-05 9.99999017e-01 -2.00143116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.98591999999996 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:259.18, Y:-0.73, Z:-2.00 [[ 9.98313820e-01 5.80306086e-02 1.40172431e-03 2.59176498e+02] [-5.80306166e-02 9.98314803e-01 -3.50178935e-05 -7.28809912e-01] [-1.40139424e-03 -4.63840788e-05 9.99999017e-01 -2.00116639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.01592 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:259.21, Y:-0.73, Z:-2.00 [[ 9.98302998e-01 5.82164897e-02 1.40171995e-03 2.59209967e+02] [-5.82164976e-02 9.98303981e-01 -3.51915573e-05 -7.29599601e-01] [-1.40139133e-03 -4.64713888e-05 9.99999017e-01 -2.00121336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.04591999999997 meters Centerline goodness : 0.998407 Centerline is valid? [True, True] Translation: X:259.24, Y:-0.73, Z:-1.99 [[ 9.98161980e-01 6.05862714e-02 1.40171335e-03 2.59243617e+02] [-6.05862813e-02 9.98162963e-01 -3.54525506e-05 -7.28134395e-01] [-1.40128628e-03 -4.95372109e-05 9.99999017e-01 -1.98894776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.07592 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:259.27, Y:-0.72, Z:-2.00 [[ 9.98194316e-01 6.00511765e-02 1.40121975e-03 2.59271875e+02] [-6.00511587e-02 9.98195299e-01 -5.48700743e-05 -7.24464862e-01] [-1.40198598e-03 -2.93738734e-05 9.99999017e-01 -2.00114699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.10591999999997 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:259.30, Y:-0.72, Z:-2.00 [[ 9.98017233e-01 6.29256470e-02 1.40171594e-03 2.59304016e+02] [-6.29256598e-02 9.98018216e-01 -3.49956544e-05 -7.20431714e-01] [-1.40114017e-03 -5.32776343e-05 9.99999017e-01 -2.00105469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.13592 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:259.34, Y:-0.72, Z:-2.00 [[ 9.97882998e-01 6.50196644e-02 1.40171167e-03 2.59336488e+02] [-6.50196790e-02 9.97883981e-01 -3.51660909e-05 -7.17989160e-01] [-1.40103211e-03 -5.60471985e-05 9.99999017e-01 -2.00243261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.16591999999997 meters Centerline goodness : 0.993991 Centerline is valid? [True, True] Translation: X:259.35, Y:-0.75, Z:-2.00 [[ 9.99948811e-01 -1.00204593e-02 1.40170737e-03 2.59345405e+02] [ 1.00205187e-02 9.99949793e-01 -3.53363729e-05 -7.49426180e-01] [-1.40128291e-03 4.93803990e-05 9.99999017e-01 -2.00446630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.19592 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:259.40, Y:-0.71, Z:-1.99 [[ 9.97201708e-01 7.47447689e-02 1.40464061e-03 2.59398209e+02] [-7.47449623e-02 9.97202679e-01 8.55861119e-05 -7.07342464e-01] [-1.39431427e-03 -1.90336427e-04 9.99999010e-01 -1.99148007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.22592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:259.43, Y:-0.70, Z:-2.00 [[ 9.97091333e-01 7.62030917e-02 1.40073538e-03 2.59427301e+02] [-7.62030914e-02 9.97092316e-01 -5.36339667e-05 -7.01959912e-01] [-1.40074956e-03 -5.32624030e-05 9.99999018e-01 -2.00125355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.25591999999995 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:259.46, Y:-0.70, Z:-2.00 [[ 9.97028285e-01 7.70236095e-02 1.40114130e-03 2.59459187e+02] [-7.70236305e-02 9.97029267e-01 -3.90809728e-05 -7.00061211e-01] [-1.39998904e-03 -6.89561543e-05 9.99999018e-01 -2.00145395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.28592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:259.49, Y:-0.70, Z:-2.00 [[ 9.96999421e-01 7.73963315e-02 1.40113658e-03 2.59491276e+02] [-7.73963526e-02 9.97000403e-01 -3.92493838e-05 -6.98033668e-01] [-1.39997149e-03 -6.93112479e-05 9.99999018e-01 -2.00222158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.31591999999995 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:259.52, Y:-0.69, Z:-2.00 [[ 9.96890815e-01 7.87828678e-02 1.40113189e-03 2.59524057e+02] [-7.87828900e-02 9.96891797e-01 -3.94161459e-05 -6.93733764e-01] [-1.39988220e-03 -7.10916257e-05 9.99999018e-01 -2.00373905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.34592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:259.56, Y:-0.69, Z:-2.00 [[ 9.96830210e-01 7.95460215e-02 1.40112716e-03 2.59556160e+02] [-7.95460442e-02 9.96831192e-01 -3.95835205e-05 -6.92185035e-01] [-1.39983597e-03 -7.19960740e-05 9.99999018e-01 -2.00407846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.37591999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.59, Y:-0.69, Z:-2.00 [[ 9.96745341e-01 8.06024892e-02 1.40112243e-03 2.59588626e+02] [-8.06025127e-02 9.96746323e-01 -3.97502499e-05 -6.88215358e-01] [-1.39976760e-03 -7.33131120e-05 9.99999018e-01 -2.00395625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.40592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:259.62, Y:-0.68, Z:-2.00 [[ 9.96688813e-01 8.12985016e-02 1.40111768e-03 2.59621324e+02] [-8.12985256e-02 9.96689795e-01 -3.99169788e-05 -6.84318994e-01] [-1.39972488e-03 -7.41239953e-05 9.99999018e-01 -2.00404692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.43591999999995 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:259.65, Y:-0.68, Z:-2.00 [[ 9.96642439e-01 8.18650449e-02 1.40111291e-03 2.59653291e+02] [-8.18650692e-02 9.96643421e-01 -4.00835915e-05 -6.82505257e-01] [-1.39969141e-03 -7.47531973e-05 9.99999018e-01 -2.00442927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.46592 meters Centerline goodness : 0.998806 Centerline is valid? [True, True] Translation: X:259.69, Y:-0.68, Z:-1.99 [[ 9.96575266e-01 8.26787504e-02 1.40110812e-03 2.59685839e+02] [-8.26787753e-02 9.96576248e-01 -4.02503507e-05 -6.79971857e-01] [-1.39963893e-03 -7.57293997e-05 9.99999018e-01 -1.99031104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.49591999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.72, Y:-0.68, Z:-2.00 [[ 9.96461406e-01 8.40399019e-02 1.40077537e-03 2.59715761e+02] [-8.40399120e-02 9.96462388e-01 -5.17738383e-05 -6.75045982e-01] [-1.40017104e-03 -6.61304073e-05 9.99999018e-01 -2.00486198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.52592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:259.75, Y:-0.67, Z:-2.00 [[ 9.96421239e-01 8.45148000e-02 1.40110819e-03 2.59747636e+02] [-8.45148268e-02 9.96422221e-01 -4.01632419e-05 -6.73184520e-01] [-1.39948973e-03 -7.83949092e-05 9.99999018e-01 -2.00457712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.55591999999996 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:259.78, Y:-0.67, Z:-1.99 [[ 9.96463676e-01 8.40129766e-02 1.40110342e-03 2.59781436e+02] [-8.40130027e-02 9.96464658e-01 -4.03291000e-05 -6.67502567e-01] [-1.39953821e-03 -7.75244223e-05 9.99999018e-01 -1.99137755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.58592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:259.81, Y:-0.67, Z:-2.01 [[ 9.96455638e-01 8.41082635e-02 1.40068817e-03 2.59810129e+02] [-8.41082695e-02 9.96456620e-01 -5.47419647e-05 -6.65791038e-01] [-1.40032925e-03 -6.32615184e-05 9.99999018e-01 -2.00632287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.61591999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.84, Y:-0.66, Z:-2.01 [[ 9.96505657e-01 8.35135422e-02 1.40110907e-03 2.59842655e+02] [-8.35135683e-02 9.96506639e-01 -3.99979899e-05 -6.60795382e-01] [-1.39955486e-03 -7.71533946e-05 9.99999018e-01 -2.00562251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.64592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.87, Y:-0.66, Z:-2.01 [[ 9.96576976e-01 8.26581387e-02 1.40110434e-03 2.59874816e+02] [-8.26581637e-02 9.96577958e-01 -4.01629881e-05 -6.59036408e-01] [-1.39962950e-03 -7.57872026e-05 9.99999018e-01 -2.00533145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.67591999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.91, Y:-0.66, Z:-2.01 [[ 9.96647007e-01 8.18094122e-02 1.40109954e-03 2.59906976e+02] [-8.18094361e-02 9.96647989e-01 -4.03297148e-05 -6.57966921e-01] [-1.39970239e-03 -7.44286737e-05 9.99999018e-01 -2.00594508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.70592 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:259.94, Y:-0.65, Z:-2.00 [[ 9.96750297e-01 8.05411888e-02 1.40109466e-03 2.59939593e+02] [-8.05412112e-02 9.96751279e-01 -4.04983896e-05 -6.53861810e-01] [-1.39980469e-03 -7.24790795e-05 9.99999018e-01 -1.99649091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.73591999999996 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:259.97, Y:-0.65, Z:-2.01 [[ 9.96945869e-01 7.80831070e-02 1.40084297e-03 2.59969462e+02] [-7.80831148e-02 9.96946852e-01 -4.92054741e-05 -6.51039603e-01] [-1.40040810e-03 -6.03269881e-05 9.99999018e-01 -2.00557219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.76592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:260.00, Y:-0.65, Z:-2.01 [[ 9.97001013e-01 7.73758157e-02 1.40109708e-03 2.60001623e+02] [-7.73758351e-02 9.97001995e-01 -4.03908308e-05 -6.50314405e-01] [-1.40002185e-03 -6.81413572e-05 9.99999018e-01 -2.00502428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.79591999999997 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:260.03, Y:-0.65, Z:-2.01 [[ 9.97023567e-01 7.70846572e-02 1.40109214e-03 2.60033771e+02] [-7.70846761e-02 9.97024549e-01 -4.05614670e-05 -6.50319395e-01] [-1.40004992e-03 -6.75619951e-05 9.99999018e-01 -2.00644390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.82592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.07, Y:-0.65, Z:-2.01 [[ 9.97044978e-01 7.68072137e-02 1.40108719e-03 2.60066400e+02] [-7.68072321e-02 9.97045961e-01 -4.07315860e-05 -6.50011006e-01] [-1.40007680e-03 -6.70024058e-05 9.99999018e-01 -2.00626832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.85591999999997 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:260.10, Y:-0.65, Z:-2.01 [[ 9.97053038e-01 7.67025145e-02 1.40108222e-03 2.60099019e+02] [-7.67025326e-02 9.97054021e-01 -4.09017921e-05 -6.49383830e-01] [-1.40009193e-03 -6.66852987e-05 9.99999018e-01 -2.00704577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.88592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:260.13, Y:-0.65, Z:-2.01 [[ 9.97073996e-01 7.64296008e-02 1.40107719e-03 2.60130986e+02] [-7.64296183e-02 9.97074978e-01 -4.10735920e-05 -6.45400977e-01] [-1.40011824e-03 -6.61303841e-05 9.99999018e-01 -2.00750676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.91591999999997 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:260.16, Y:-0.64, Z:-1.99 [[ 9.97215200e-01 7.45646210e-02 1.40107345e-03 2.60161093e+02] [-7.45646366e-02 9.97216182e-01 -4.12007846e-05 -6.43254708e-01] [-1.40024523e-03 -6.33844836e-05 9.99999018e-01 -1.99395194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.94592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:260.19, Y:-0.64, Z:-2.01 [[ 9.97274277e-01 7.37702652e-02 1.40136955e-03 2.60193513e+02] [-7.37702941e-02 9.97275259e-01 -3.11040745e-05 -6.44137655e-01] [-1.39984573e-03 -7.23601503e-05 9.99999018e-01 -2.00730223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.97592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:260.23, Y:-0.64, Z:-2.01 [[ 9.97358411e-01 7.26239400e-02 1.40106992e-03 2.60225056e+02] [-7.26239536e-02 9.97359393e-01 -4.12748373e-05 -6.44157862e-01] [-1.40036779e-03 -6.05854308e-05 9.99999018e-01 -2.00663420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.00591999999995 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:260.26, Y:-0.64, Z:-2.01 [[ 9.97385172e-01 7.22554841e-02 1.40106740e-03 2.60256095e+02] [-7.22554972e-02 9.97386155e-01 -4.13604009e-05 -6.44210926e-01] [-1.40039374e-03 -5.99825707e-05 9.99999018e-01 -2.00606329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.03592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.29, Y:-0.64, Z:-2.01 [[ 9.97425646e-01 7.16946169e-02 1.40106487e-03 2.60287269e+02] [-7.16946292e-02 9.97426628e-01 -4.14459496e-05 -6.43222700e-01] [-1.40043086e-03 -5.91095731e-05 9.99999018e-01 -2.00670429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.06591999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.32, Y:-0.64, Z:-2.01 [[ 9.97375935e-01 7.23828746e-02 1.40106230e-03 2.60318198e+02] [-7.23828875e-02 9.97376918e-01 -4.15324446e-05 -6.43111357e-01] [-1.40039344e-03 -5.99894742e-05 9.99999018e-01 -2.00695304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.09592 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:260.35, Y:-0.64, Z:-2.00 [[ 9.97161985e-01 7.52729259e-02 1.40105975e-03 2.60349088e+02] [-7.52729416e-02 9.97162967e-01 -4.16184560e-05 -6.38753405e-01] [-1.40021764e-03 -6.39615462e-05 9.99999018e-01 -1.99569055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.12591999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.38, Y:-0.64, Z:-2.01 [[ 9.97063255e-01 7.65695963e-02 1.40102287e-03 2.60379880e+02] [-7.65696115e-02 9.97064237e-01 -4.28635160e-05 -6.38320714e-01] [-1.40019184e-03 -6.45381401e-05 9.99999018e-01 -2.00765849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.15592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:260.41, Y:-0.63, Z:-2.01 [[ 9.96651716e-01 8.17520275e-02 1.40107146e-03 2.60411640e+02] [-8.17520501e-02 9.96652698e-01 -4.12116831e-05 -6.34427169e-01] [-1.39975079e-03 -7.34667695e-05 9.99999018e-01 -2.00673258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.18591999999995 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:260.44, Y:-0.63, Z:-2.01 [[ 9.96403896e-01 8.47190195e-02 1.40106896e-03 2.60442595e+02] [-8.47190450e-02 9.96404878e-01 -4.12966376e-05 -6.32642023e-01] [-1.39953055e-03 -7.75490932e-05 9.99999018e-01 -2.00619706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.21592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:260.48, Y:-0.65, Z:-2.01 [[ 9.99104439e-01 4.22889620e-02 1.40106648e-03 2.60476993e+02] [-4.22889456e-02 9.99105422e-01 -4.13804864e-05 -6.49605189e-01] [-1.40156305e-03 -1.79061964e-05 9.99999018e-01 -2.00936532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.24591999999996 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:260.50, Y:-0.62, Z:-2.00 [[ 9.95558960e-01 9.41296862e-02 1.40002086e-03 2.60499440e+02] [-9.41296710e-02 9.95559943e-01 -7.68557956e-05 -6.19895890e-01] [-1.40103910e-03 -5.52690271e-05 9.99999017e-01 -1.99933889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.27592 meters Centerline goodness : 0.995082 Centerline is valid? [True, True] Translation: X:260.52, Y:-0.60, Z:-2.01 [[ 9.92601807e-01 1.21407115e-01 1.40162302e-03 2.60521942e+02] [-1.21407209e-01 9.92602785e-01 -1.86941546e-05 -6.02723907e-01] [-1.39352451e-03 -1.51611286e-04 9.99999018e-01 -2.00825903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.30591999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.56, Y:-0.62, Z:-2.01 [[ 9.96129029e-01 8.78919181e-02 1.40285260e-03 2.60562345e+02] [-8.78920339e-02 9.96130007e-01 2.09867804e-05 -6.15218112e-01] [-1.39557900e-03 -1.44205109e-04 9.99999016e-01 -2.00759655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.33592 meters Centerline goodness : 0.995779 Centerline is valid? [True, True] Translation: X:260.56, Y:-0.62, Z:-2.01 [[ 9.95988097e-01 8.94748454e-02 1.40068916e-03 2.60556538e+02] [-8.94748695e-02 9.95989079e-01 -4.55460558e-05 -6.16099369e-01] [-1.39914633e-03 -7.99631505e-05 9.99999018e-01 -2.01028968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.36591999999996 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:260.62, Y:-0.60, Z:-2.00 [[ 9.96076388e-01 8.84864542e-02 1.40611868e-03 2.60616561e+02] [-8.84867053e-02 9.96077351e-01 1.17236620e-04 -6.03509493e-01] [-1.39022912e-03 -2.41199438e-04 9.99999005e-01 -1.99586418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.39592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:260.65, Y:-0.60, Z:-1.99 [[ 9.96091015e-01 8.83217439e-02 1.39983604e-03 2.60646447e+02] [-8.83217652e-02 9.96091996e-01 -4.66801958e-05 -6.01314384e-01] [-1.39848835e-03 -7.71382668e-05 9.99999019e-01 -1.99400951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.42591999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.68, Y:-0.60, Z:-2.01 [[ 9.96189274e-01 8.72064887e-02 1.39957253e-03 2.60676822e+02] [-8.72064993e-02 9.96190255e-01 -5.35870543e-05 -5.97787015e-01] [-1.39891365e-03 -6.86689719e-05 9.99999019e-01 -2.00807433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.45592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:260.71, Y:-0.59, Z:-2.00 [[ 9.96213321e-01 8.69313485e-02 1.39958104e-03 2.60706374e+02] [-8.69313591e-02 9.96214302e-01 -5.33636518e-05 -5.94383972e-01] [-1.39892163e-03 -6.85059016e-05 9.99999019e-01 -1.99521930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.48591999999996 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:260.74, Y:-0.59, Z:-1.99 [[ 9.96593318e-01 8.24608938e-02 1.39957686e-03 2.60737184e+02] [-8.24608998e-02 9.96594299e-01 -5.34736672e-05 -5.91335802e-01] [-1.39921980e-03 -6.21188676e-05 9.99999019e-01 -1.99187296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.51592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:260.77, Y:-0.59, Z:-1.99 [[ 9.96646876e-01 8.18110374e-02 1.39919361e-03 2.60765088e+02] [-8.18110287e-02 9.96647857e-01 -6.35992912e-05 -5.89628349e-01] [-1.39970644e-03 -5.10834338e-05 9.99999019e-01 -1.99470421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.54591999999997 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:260.79, Y:-0.59, Z:-1.99 [[ 9.96967128e-01 7.78112318e-02 1.39956570e-03 2.60794280e+02] [-7.78112331e-02 9.96968108e-01 -5.36157542e-05 -5.86825465e-01] [-1.39949428e-03 -5.54487887e-05 9.99999019e-01 -1.99235299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.57592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:260.82, Y:-0.59, Z:-1.99 [[ 9.97068127e-01 7.65061496e-02 1.39937706e-03 2.60822728e+02] [-7.65061424e-02 9.97069108e-01 -5.87178076e-05 -5.85044040e-01] [-1.39976791e-03 -4.85152862e-05 9.99999019e-01 -1.99259008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.60591999999997 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:260.85, Y:-0.58, Z:-2.00 [[ 9.97403727e-01 7.19989410e-02 1.39937942e-03 2.60851788e+02] [-7.19989295e-02 9.97404708e-01 -5.86533245e-05 -5.80893499e-01] [-1.39997060e-03 -4.22527761e-05 9.99999019e-01 -1.99565683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.63592 meters Centerline goodness : 0.990169 Centerline is valid? [True, True] Translation: X:260.84, Y:-0.61, Z:-2.01 [[ 9.99923238e-01 -1.23110040e-02 1.39933144e-03 2.60843496e+02] [ 1.23111000e-02 9.99924214e-01 -5.99847917e-05 -6.12872620e-01] [-1.39848692e-03 7.72074964e-05 9.99999019e-01 -2.00830938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.66591999999997 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:260.91, Y:-0.57, Z:-2.00 [[ 9.97688095e-01 6.79447404e-02 1.40626110e-03 2.60905210e+02] [-6.79449965e-02 9.97689059e-01 1.35086305e-04 -5.73291411e-01] [-1.39383291e-03 -2.30322404e-04 9.99999002e-01 -1.99545113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.69592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:260.93, Y:-0.57, Z:-2.00 [[ 9.97961131e-01 6.38092936e-02 1.39813556e-03 2.60933820e+02] [-6.38092723e-02 9.97962110e-01 -5.98579368e-05 -5.73167049e-01] [-1.39910581e-03 -2.94781186e-05 9.99999021e-01 -1.99584019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.72592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:260.96, Y:-0.57, Z:-1.99 [[ 9.98215713e-01 5.96945101e-02 1.39821236e-03 2.60963062e+02] [-5.96944874e-02 9.98216692e-01 -5.79970338e-05 -5.73555869e-01] [-1.39918102e-03 -2.55720198e-05 9.99999021e-01 -1.99391161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.75591999999995 meters Centerline goodness : 0.988347 Centerline is valid? [True, True] Translation: X:260.99, Y:-0.61, Z:-2.01 [[ 9.99778493e-01 -2.10002424e-02 1.39835769e-03 2.60985846e+02] [ 2.10003391e-02 9.99779467e-01 -5.44604333e-05 -6.06757737e-01] [-1.39690562e-03 8.38143555e-05 9.99999021e-01 -2.00925595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.78592 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:261.02, Y:-0.58, Z:-2.00 [[ 9.98767487e-01 4.96139735e-02 1.40034332e-03 2.61022694e+02] [-4.96140131e-02 9.98768466e-01 -6.41362119e-06 -5.75616494e-01] [-1.39893695e-03 -6.30709354e-05 9.99999019e-01 -1.99666625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.81591999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.05, Y:-0.58, Z:-2.01 [[ 9.99021180e-01 4.42122766e-02 1.39856462e-03 2.61054952e+02] [-4.42122526e-02 9.99022159e-01 -4.80933862e-05 -5.78649602e-01] [-1.39932336e-03 -1.37873806e-05 9.99999021e-01 -2.01040541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.84592 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:261.08, Y:-0.58, Z:-2.00 [[ 9.99163090e-01 4.08798845e-02 1.39806723e-03 2.61084989e+02] [-4.08798410e-02 9.99164068e-01 -5.97344691e-05 -5.81424123e-01] [-1.39934048e-03 2.53171054e-06 9.99999021e-01 -1.99525834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.87591999999995 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:261.11, Y:-0.59, Z:-1.99 [[ 9.99330241e-01 3.65665770e-02 1.39804617e-03 2.61113621e+02] [-3.65665285e-02 9.99331219e-01 -6.02286431e-05 -5.87053897e-01] [-1.39931354e-03 9.06660935e-06 9.99999021e-01 -1.99406345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.90592 meters Centerline goodness : 0.901008 Centerline is valid? [True, False] Translation: X:261.13, Y:-0.60, Z:-1.99 [[ 9.99792991e-01 1.95678297e-02 -5.57453829e-03 2.61128178e+02] [-1.95226779e-02 9.99777070e-01 8.04208411e-03 -6.01462849e-01] [ 5.73066169e-03 -7.93158941e-03 9.99952124e-01 -1.99416987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.93591999999995 meters Centerline goodness : 0.901008 Centerline is valid? [False, False] Translation: X:261.13, Y:-0.60, Z:-1.99 [[ 9.99792991e-01 1.95678297e-02 -5.57453829e-03 2.61128178e+02] [-1.95226779e-02 9.99777070e-01 8.04208411e-03 -6.01462849e-01] [ 5.73066169e-03 -7.93158941e-03 9.99952124e-01 -1.99416987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.96592 meters Centerline goodness : 0.863508 Centerline is valid? [False, False] Translation: X:261.15, Y:-0.60, Z:-1.99 [[ 9.99949683e-01 5.41961931e-03 -8.44147190e-03 2.61152922e+02] [-5.37502835e-03 9.99971530e-01 5.29612859e-03 -6.03913922e-01] [ 8.46993457e-03 -5.25048896e-03 9.99950345e-01 -1.99205115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.99591999999996 meters Centerline goodness : 0.999702 Centerline is valid? [False, True] Translation: X:261.15, Y:-0.60, Z:-1.99 [[ 9.99963279e-01 1.18756278e-03 -8.48712189e-03 2.61152977e+02] [-1.17936124e-03 9.99998833e-01 9.71290845e-04 -6.03565048e-01] [ 8.48826545e-03 -9.61245795e-04 9.99963512e-01 -1.99191202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.02592 meters Centerline goodness : 0.966280 Centerline is valid? [True, True] Translation: X:261.20, Y:-0.56, Z:-2.01 [[ 9.95412921e-01 9.52939399e-02 -8.49598284e-03 2.61199000e+02] [-9.52973411e-02 9.95448852e-01 4.51471518e-06 -5.64637835e-01] [ 8.45774659e-03 8.05150569e-04 9.99963908e-01 -2.00826448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.05591999999996 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:261.21, Y:-0.61, Z:-1.99 [[ 9.99957361e-01 3.63491248e-03 -8.48908408e-03 2.61213130e+02] [-3.62949490e-03 9.99993200e-01 6.53500784e-04 -6.11101958e-01] [ 8.49140177e-03 -6.22661832e-04 9.99963754e-01 -1.98802044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.08592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:261.24, Y:-0.61, Z:-1.99 [[ 9.99956762e-01 3.78429269e-03 -8.49433041e-03 2.61242550e+02] [-3.78433912e-03 9.99992839e-01 1.06070466e-05 -6.13076723e-01] [ 8.49430972e-03 2.15388389e-05 9.99963922e-01 -1.99056102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.11591999999996 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:261.27, Y:-0.62, Z:-2.00 [[ 9.99915046e-01 9.88649706e-03 -8.49459121e-03 2.61273889e+02] [-9.88704373e-03 9.99951122e-01 -2.23633973e-05 -6.17254972e-01] [ 8.49395491e-03 1.06347892e-04 9.99963920e-01 -2.00420335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.14592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:261.30, Y:-0.62, Z:-1.99 [[ 9.99920994e-01 9.26608733e-03 -8.49387413e-03 2.61301913e+02] [-9.26584689e-03 9.99957069e-01 6.76602872e-05 -6.20849491e-01] [ 8.49413643e-03 1.10479956e-05 9.99963924e-01 -1.98864833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.17591999999996 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:261.33, Y:-0.62, Z:-1.99 [[ 9.99910209e-01 1.03642118e-02 -8.49458770e-03 2.61332214e+02] [-1.03648018e-02 9.99946284e-01 -2.54385060e-05 -6.22282909e-01] [ 8.49386775e-03 1.13480940e-04 9.99963920e-01 -1.98982101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.20592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.36, Y:-0.62, Z:-2.00 [[ 9.99872313e-01 1.35350993e-02 -8.49459445e-03 2.61364259e+02] [-1.35358110e-02 9.99908386e-01 -2.62835503e-05 -6.23725172e-01] [ 8.49346048e-03 1.41261419e-04 9.99963920e-01 -2.00054662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.23591999999996 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:261.39, Y:-0.63, Z:-1.99 [[ 9.99891665e-01 1.20213876e-02 -8.49382849e-03 2.61391833e+02] [-1.20212387e-02 9.99927740e-01 6.85831966e-05 -6.25301758e-01] [ 8.49403919e-03 3.35305732e-05 9.99963924e-01 -1.98837742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.26592 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:261.42, Y:-0.63, Z:-2.00 [[ 9.99863855e-01 1.41461464e-02 -8.49454357e-03 2.61423924e+02] [-1.41468351e-02 9.99899928e-01 -2.09904512e-05 -6.26540557e-01] [ 8.49339657e-03 1.41158500e-04 9.99963920e-01 -1.99992492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.29591999999997 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:261.45, Y:-0.63, Z:-2.00 [[ 9.99865296e-01 1.40444009e-02 -8.49378608e-03 2.61452801e+02] [-1.40443096e-02 9.99901371e-01 7.04021671e-05 -6.28620610e-01] [ 8.49393711e-03 4.88966778e-05 9.99963925e-01 -1.99924057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.32592 meters Centerline goodness : 0.998263 Centerline is valid? [True, True] Translation: X:261.48, Y:-0.63, Z:-1.98 [[ 9.99906364e-01 1.07293364e-02 -8.49381666e-03 2.61480309e+02] [-1.07291586e-02 9.99942439e-01 6.64966289e-05 -6.30265700e-01] [ 8.49404121e-03 2.46411035e-05 9.99963925e-01 -1.98466241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.35591999999997 meters Centerline goodness : 0.997863 Centerline is valid? [True, True] Translation: X:261.51, Y:-0.63, Z:-1.99 [[ 9.99919327e-01 9.44368601e-03 -8.49446664e-03 2.61508825e+02] [-9.44417529e-03 9.99955403e-01 -1.74890527e-05 -6.33502259e-01] [ 8.49392264e-03 9.77108737e-05 9.99963921e-01 -1.98593189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.38592 meters Centerline goodness : 0.997816 Centerline is valid? [True, True] Translation: X:261.54, Y:-0.64, Z:-1.99 [[ 9.99908364e-01 1.05405089e-02 -8.49474616e-03 2.61538010e+02] [-1.05413500e-02 9.99944437e-01 -5.42453088e-05 -6.35150900e-01] [ 8.49370239e-03 1.43786431e-04 9.99963918e-01 -1.98646952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.41591999999997 meters Centerline goodness : 0.998758 Centerline is valid? [True, True] Translation: X:261.57, Y:-0.64, Z:-2.00 [[ 9.99837806e-01 1.58808288e-02 -8.49473081e-03 2.61569776e+02] [-1.58818453e-02 9.99873874e-01 -5.22089418e-05 -6.38389063e-01] [ 8.49283029e-03 1.87112474e-04 9.99963918e-01 -1.99908622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.44592 meters Centerline goodness : 0.998460 Centerline is valid? [True, True] Translation: X:261.60, Y:-0.64, Z:-2.00 [[ 9.99831808e-01 1.62545818e-02 -8.49381809e-03 2.61597575e+02] [-1.62546099e-02 9.99867883e-01 6.57349279e-05 -6.39722723e-01] [ 8.49376440e-03 7.23398275e-05 9.99963925e-01 -1.99755683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.47592 meters Centerline goodness : 0.998907 Centerline is valid? [True, True] Translation: X:261.63, Y:-0.64, Z:-2.00 [[ 9.99805250e-01 1.78133932e-02 -8.49385063e-03 2.61626424e+02] [-1.78135158e-02 9.99841325e-01 6.12193608e-05 -6.43290500e-01] [ 8.49359340e-03 9.00979045e-05 9.99963925e-01 -1.99646005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.50591999999995 meters Centerline goodness : 0.997663 Centerline is valid? [True, True] Translation: X:261.65, Y:-0.65, Z:-1.98 [[ 9.99851910e-01 1.49670028e-02 -8.49387700e-03 2.61653130e+02] [-1.49670560e-02 9.99887986e-01 5.73121740e-05 -6.45555664e-01] [ 8.49378335e-03 6.98246458e-05 9.99963925e-01 -1.98169370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.53592 meters Centerline goodness : 0.998212 Centerline is valid? [True, True] Translation: X:261.68, Y:-0.65, Z:-1.98 [[ 9.99831970e-01 1.62441577e-02 -8.49467935e-03 2.61681688e+02] [-1.62452732e-02 9.99868035e-01 -6.23214156e-05 -6.47682140e-01] [ 8.49254599e-03 2.00309330e-04 9.99963918e-01 -1.98424112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.56591999999995 meters Centerline goodness : 0.997566 Centerline is valid? [True, True] Translation: X:261.71, Y:-0.65, Z:-1.98 [[ 9.99817023e-01 1.71394007e-02 -8.49476618e-03 2.61711651e+02] [-1.71406611e-02 9.99853085e-01 -7.55947797e-05 -6.48887169e-01] [ 8.49222252e-03 2.21186856e-04 9.99963916e-01 -1.98076818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.59592 meters Centerline goodness : 0.997171 Centerline is valid? [True, True] Translation: X:261.74, Y:-0.65, Z:-1.98 [[ 9.99797915e-01 1.82200053e-02 -8.49468247e-03 2.61741634e+02] [-1.82212020e-02 9.99833978e-01 -6.35020067e-05 -6.51799534e-01] [ 8.49211516e-03 2.18272499e-04 9.99963918e-01 -1.98006669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.62591999999995 meters Centerline goodness : 0.997070 Centerline is valid? [True, True] Translation: X:261.77, Y:-0.65, Z:-1.98 [[ 9.99779816e-01 1.91875610e-02 -8.49448655e-03 2.61770120e+02] [-1.91885576e-02 9.99815882e-01 -3.58232292e-05 -6.54108393e-01] [ 8.49223520e-03 1.98812286e-04 9.99963921e-01 -1.98119127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.65592 meters Centerline goodness : 0.998758 Centerline is valid? [True, True] Translation: X:261.80, Y:-0.66, Z:-1.99 [[ 9.99635641e-01 2.56208677e-02 -8.49448781e-03 2.61801814e+02] [-2.56220979e-02 9.99671700e-01 -3.60069198e-05 -6.57497804e-01] [ 8.49077654e-03 2.53640398e-04 9.99963921e-01 -1.99408566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.68591999999995 meters Centerline goodness : 0.997418 Centerline is valid? [True, True] Translation: X:261.83, Y:-0.66, Z:-1.98 [[ 9.99650739e-01 2.50250845e-02 -8.49382626e-03 2.61829653e+02] [-2.50254855e-02 9.99686812e-01 5.90907760e-05 -6.57336725e-01] [ 8.49264485e-03 1.53491988e-04 9.99963925e-01 -1.97926488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.71592 meters Centerline goodness : 0.998857 Centerline is valid? [True, True] Translation: X:261.86, Y:-0.66, Z:-1.99 [[ 9.99485603e-01 3.09253162e-02 -8.49437228e-03 2.61861429e+02] [-3.09266286e-02 9.99521657e-01 -2.31547511e-05 -6.57678066e-01] [ 8.48959299e-03 2.85845137e-04 9.99963922e-01 -1.99271464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.74591999999996 meters Centerline goodness : 0.997215 Centerline is valid? [True, True] Translation: X:261.89, Y:-0.66, Z:-1.98 [[ 9.99392120e-01 3.38119062e-02 -8.49381378e-03 2.61888703e+02] [-3.38126313e-02 9.99428188e-01 5.82659251e-05 -6.55902042e-01] [ 8.49092700e-03 2.28967687e-04 9.99963925e-01 -1.97921312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.77592 meters Centerline goodness : 0.997518 Centerline is valid? [True, True] Translation: X:261.92, Y:-0.65, Z:-1.98 [[ 9.99230970e-01 3.82794515e-02 -8.49427085e-03 2.61918964e+02] [-3.82809305e-02 9.99267016e-01 -1.15426385e-05 -6.54149685e-01] [ 8.48760284e-03 3.36702354e-04 9.99963923e-01 -1.97988848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.80591999999996 meters Centerline goodness : 0.996722 Centerline is valid? [True, True] Translation: X:261.95, Y:-0.65, Z:-1.98 [[ 9.99192421e-01 3.92728394e-02 -8.49407735e-03 2.61947256e+02] [-3.92741082e-02 9.99228474e-01 1.74434720e-05 -6.53926133e-01] [ 8.48820900e-03 3.16167928e-04 9.99963925e-01 -1.97767758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.83592 meters Centerline goodness : 0.972160 Centerline is valid? [True, True] Translation: X:261.94, Y:-0.69, Z:-1.99 [[ 9.98935553e-01 -4.53388469e-02 -8.49409635e-03 2.61940456e+02] [ 4.53406056e-02 9.98971586e-01 1.45011349e-05 -6.93431508e-01] [ 8.48470343e-03 -3.99613172e-04 9.99963924e-01 -1.99071659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.86591999999996 meters Centerline goodness : 0.956278 Centerline is valid? [True, True] Translation: X:261.97, Y:-0.69, Z:-1.99 [[ 9.98986421e-01 -4.42014637e-02 -8.50652019e-03 2.61969884e+02] [ 4.41933164e-02 9.99022344e-01 -1.14346572e-03 -6.88894942e-01] [ 8.54874659e-03 7.66375387e-04 9.99963165e-01 -1.99296978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.89592 meters Centerline goodness : 0.996723 Centerline is valid? [True, True] Translation: X:262.04, Y:-0.64, Z:-1.98 [[ 9.98205340e-01 5.92763355e-02 -8.50974913e-03 2.62036168e+02] [-5.92902765e-02 9.98239809e-01 -1.39519561e-03 -6.42592841e-01] [ 8.41206826e-03 1.89723709e-03 9.99962818e-01 -1.97769661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.92591999999996 meters Centerline goodness : 0.995526 Centerline is valid? [True, True] Translation: X:262.06, Y:-0.64, Z:-1.98 [[ 9.98305241e-01 5.75740663e-02 -8.47777974e-03 2.62063636e+02] [-5.75743155e-02 9.98341200e-01 2.14858303e-04 -6.39658725e-01] [ 8.47608706e-03 2.73608195e-04 9.99964040e-01 -1.97734796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.95592 meters Centerline goodness : 0.996471 Centerline is valid? [True, True] Translation: X:262.10, Y:-0.64, Z:-1.98 [[ 9.98089582e-01 6.11987346e-02 -8.47950327e-03 2.62095715e+02] [-6.11998704e-02 9.98125523e-01 1.25714440e-04 -6.37952183e-01] [ 8.47130220e-03 3.93470229e-04 9.99964040e-01 -1.98007464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.98591999999996 meters Centerline goodness : 0.996273 Centerline is valid? [True, True] Translation: X:262.12, Y:-0.63, Z:-1.98 [[ 9.98244097e-01 5.86246383e-02 -8.47789753e-03 2.62123486e+02] [-5.86249765e-02 9.98280055e-01 2.08822392e-04 -6.33281573e-01] [ 8.47555815e-03 2.88560824e-04 9.99964040e-01 -1.97786122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.01592 meters Centerline goodness : 0.805462 Centerline is valid? [True, False] Translation: X:262.12, Y:-0.64, Z:-1.98 [[ 9.98953675e-01 4.57271616e-02 -7.63241031e-04 2.62117590e+02] [-4.57222891e-02 9.98939044e-01 5.50079393e-03 -6.37209505e-01] [ 1.01396696e-03 -5.46014118e-03 9.99984579e-01 -1.97768937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.04591999999997 meters Centerline goodness : 0.998906 Centerline is valid? [False, True] Translation: X:262.11, Y:-0.64, Z:-1.98 [[ 9.99474364e-01 3.15191071e-02 7.58566888e-03 2.62113130e+02] [-3.15862469e-02 9.99461404e-01 8.90006950e-03 -6.40427842e-01] [-7.30106103e-03 -9.13499411e-03 9.99931621e-01 -1.97916540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.07592 meters Centerline goodness : 0.995930 Centerline is valid? [True, True] Translation: X:262.14, Y:-0.65, Z:-1.99 [[ 9.99924208e-01 -9.83779962e-03 7.40243183e-03 2.62139493e+02] [ 9.82932220e-03 9.99950994e-01 1.18073136e-03 -6.48728506e-01] [-7.41368486e-03 -1.10788098e-03 9.99971905e-01 -1.99129645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.10591999999997 meters Centerline goodness : 0.997717 Centerline is valid? [True, True] Translation: X:262.19, Y:-0.61, Z:-1.99 [[ 9.97629983e-01 6.84093011e-02 7.38816741e-03 2.62191498e+02] [-6.84159216e-02 9.97656676e-01 6.46803085e-04 -6.11455476e-01] [-7.32660719e-03 -1.15073843e-03 9.99972498e-01 -1.98873415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.13592 meters Centerline goodness : 0.995276 Centerline is valid? [True, True] Translation: X:262.22, Y:-0.61, Z:-1.98 [[ 9.97651921e-01 6.80914963e-02 7.36152278e-03 2.62224366e+02] [-6.80916871e-02 9.97679042e-01 -2.25009133e-04 -6.08106621e-01] [-7.35975820e-03 -2.76777712e-04 9.99972878e-01 -1.97631484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.16591999999997 meters Centerline goodness : 0.995631 Centerline is valid? [True, True] Translation: X:262.26, Y:-0.61, Z:-1.98 [[ 9.97708410e-01 6.72589410e-02 7.35957995e-03 2.62257016e+02] [-6.72586411e-02 9.97735532e-01 -2.88520570e-04 -6.07522093e-01] [-7.36232000e-03 -2.07135947e-04 9.99972876e-01 -1.97893291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.19592 meters Centerline goodness : 0.995334 Centerline is valid? [True, True] Translation: X:262.29, Y:-0.61, Z:-1.98 [[ 9.98055091e-01 6.19021728e-02 7.35913067e-03 2.62286132e+02] [-6.19016188e-02 9.98082210e-01 -3.03256234e-04 -6.07552611e-01] [-7.36378962e-03 -1.52875673e-04 9.99972875e-01 -1.97720260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.22592 meters Centerline goodness : 0.995926 Centerline is valid? [True, True] Translation: X:262.32, Y:-0.61, Z:-1.98 [[ 9.98288642e-01 5.80138224e-02 7.36097734e-03 2.62318691e+02] [-5.80136137e-02 9.98315763e-01 -2.42046381e-04 -6.06390606e-01] [-7.36262174e-03 -1.85404743e-04 9.99972878e-01 -1.97822176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.25591999999995 meters Centerline goodness : 0.996870 Centerline is valid? [True, True] Translation: X:262.35, Y:-0.61, Z:-1.98 [[ 9.98422667e-01 5.56597234e-02 7.36018766e-03 2.62349570e+02] [-5.56592576e-02 9.98449786e-01 -2.68251937e-04 -6.06818187e-01] [-7.36370862e-03 -1.41833767e-04 9.99972877e-01 -1.98031534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.28592 meters Centerline goodness : 0.997866 Centerline is valid? [True, True] Translation: X:262.38, Y:-0.61, Z:-1.99 [[ 9.98575641e-01 5.28440911e-02 7.36143483e-03 2.62380976e+02] [-5.28438552e-02 9.98602762e-01 -2.26690335e-04 -6.09251605e-01] [-7.36312839e-03 -1.62639149e-04 9.99972879e-01 -1.99033484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.31591999999995 meters Centerline goodness : 0.995873 Centerline is valid? [True, True] Translation: X:262.41, Y:-0.61, Z:-1.98 [[ 9.98694040e-01 5.05571062e-02 7.36157423e-03 2.62413399e+02] [-5.05568422e-02 9.98721160e-01 -2.22069115e-04 -6.10328487e-01] [-7.36338713e-03 -1.50398845e-04 9.99972879e-01 -1.97892553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.34592 meters Centerline goodness : 0.996081 Centerline is valid? [True, True] Translation: X:262.45, Y:-0.61, Z:-1.98 [[ 9.98724794e-01 4.99460007e-02 7.36093228e-03 2.62445743e+02] [-4.99455640e-02 9.98751912e-01 -2.43261613e-04 -6.11457937e-01] [-7.36389513e-03 -1.24694510e-04 9.99972878e-01 -1.97963374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.37591999999995 meters Centerline goodness : 0.995982 Centerline is valid? [True, True] Translation: X:262.48, Y:-0.61, Z:-1.98 [[ 9.98816108e-01 4.80854174e-02 7.36034806e-03 2.62476225e+02] [-4.80847881e-02 9.98843223e-01 -2.62538627e-04 -6.14482422e-01] [-7.36445806e-03 -9.16929670e-05 9.99972878e-01 -1.98178014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.40592 meters Centerline goodness : 0.996473 Centerline is valid? [True, True] Translation: X:262.51, Y:-0.62, Z:-1.98 [[ 9.98806284e-01 4.82888910e-02 7.36140984e-03 2.62508631e+02] [-4.82885276e-02 9.98833403e-01 -2.27191855e-04 -6.16356043e-01] [-7.36379288e-03 -1.28550990e-04 9.99972879e-01 -1.98081450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.43591999999995 meters Centerline goodness : 0.995925 Centerline is valid? [True, True] Translation: X:262.54, Y:-0.62, Z:-1.98 [[ 9.98755728e-01 4.93235884e-02 7.36071019e-03 2.62540664e+02] [-4.93230823e-02 9.98782845e-01 -2.50387700e-04 -6.16331747e-01] [-7.36410108e-03 -1.12976765e-04 9.99972878e-01 -1.97976459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.46592 meters Centerline goodness : 0.995424 Centerline is valid? [True, True] Translation: X:262.57, Y:-0.62, Z:-1.98 [[ 9.98595755e-01 5.24627264e-02 7.36079137e-03 2.62572664e+02] [-5.24623253e-02 9.98622873e-01 -2.47701205e-04 -6.17807935e-01] [-7.36364971e-03 -1.38810860e-04 9.99972878e-01 -1.97974787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.49591999999996 meters Centerline goodness : 0.996329 Centerline is valid? [True, True] Translation: X:262.60, Y:-0.62, Z:-1.98 [[ 9.98527420e-01 5.37476522e-02 7.36081586e-03 2.62604389e+02] [-5.37472919e-02 9.98554539e-01 -2.46890674e-04 -6.20241275e-01] [-7.36344588e-03 -1.49096811e-04 9.99972878e-01 -1.98229338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.52592 meters Centerline goodness : 0.995979 Centerline is valid? [True, True] Translation: X:262.64, Y:-0.62, Z:-1.98 [[ 9.98474295e-01 5.47256477e-02 7.36107329e-03 2.62636429e+02] [-5.47253772e-02 9.98501415e-01 -2.38317977e-04 -6.21436838e-01] [-7.36308421e-03 -1.64883138e-04 9.99972879e-01 -1.98046593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.55591999999996 meters Centerline goodness : 0.996067 Centerline is valid? [True, True] Translation: X:262.67, Y:-0.62, Z:-1.98 [[ 9.98347502e-01 5.69919222e-02 7.36105360e-03 2.62669034e+02] [-5.69917084e-02 9.98374623e-01 -2.38972673e-04 -6.19921141e-01] [-7.36270863e-03 -1.80941250e-04 9.99972879e-01 -1.98108293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.58592 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:262.70, Y:-0.62, Z:-1.99 [[ 9.98199196e-01 5.95330550e-02 7.36077773e-03 2.62700874e+02] [-5.95328425e-02 9.98226317e-01 -2.48171001e-04 -6.19880065e-01] [-7.36249641e-03 -1.90483928e-04 9.99972878e-01 -1.99388731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.61591999999996 meters Centerline goodness : 0.995983 Centerline is valid? [True, True] Translation: X:262.73, Y:-0.62, Z:-1.98 [[ 9.98118814e-01 6.08657587e-02 7.36157528e-03 2.62733166e+02] [-6.08657775e-02 9.98145935e-01 -2.21686493e-04 -6.19450600e-01] [-7.36141956e-03 -2.26798544e-04 9.99972879e-01 -1.98127051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.64592 meters Centerline goodness : 0.998161 Centerline is valid? [True, True] Translation: X:262.76, Y:-0.62, Z:-1.99 [[ 9.98007000e-01 6.26725359e-02 7.36078224e-03 2.62764903e+02] [-6.26724098e-02 9.98034121e-01 -2.48009877e-04 -6.19454569e-01] [-7.36185525e-03 -2.13802368e-04 9.99972878e-01 -1.99300096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.67591999999996 meters Centerline goodness : 0.996132 Centerline is valid? [True, True] Translation: X:262.80, Y:-0.62, Z:-1.98 [[ 9.97871477e-01 6.47944679e-02 7.36155132e-03 2.62796826e+02] [-6.47945869e-02 9.97898598e-01 -2.22572852e-04 -6.15862559e-01] [-7.36050323e-03 -2.54889577e-04 9.99972879e-01 -1.98184335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.70592 meters Centerline goodness : 0.998708 Centerline is valid? [True, True] Translation: X:262.83, Y:-0.62, Z:-1.99 [[ 9.97827100e-01 6.54744534e-02 7.36027418e-03 2.62827513e+02] [-6.54742792e-02 9.97854222e-01 -2.64883877e-04 -6.16184101e-01] [-7.36182380e-03 -2.17600335e-04 9.99972878e-01 -1.99438688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.73591999999996 meters Centerline goodness : 0.995286 Centerline is valid? [True, True] Translation: X:262.86, Y:-0.61, Z:-1.98 [[ 9.97856743e-01 6.50209741e-02 7.36158078e-03 2.62858665e+02] [-6.50211076e-02 9.97883864e-01 -2.21449431e-04 -6.14625590e-01] [-7.36040153e-03 -2.57683327e-04 9.99972879e-01 -1.98151595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.76592 meters Centerline goodness : 0.997569 Centerline is valid? [True, True] Translation: X:262.89, Y:-0.61, Z:-1.99 [[ 9.97784533e-01 6.61198702e-02 7.36134294e-03 2.62889833e+02] [-6.61199751e-02 9.97811654e-01 -2.29378437e-04 -6.14380534e-01] [-7.36040024e-03 -2.57861556e-04 9.99972879e-01 -1.99436341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.79591999999997 meters Centerline goodness : 0.994392 Centerline is valid? [True, True] Translation: X:262.92, Y:-0.61, Z:-1.98 [[ 9.97894323e-01 6.44416492e-02 7.36162945e-03 2.62921437e+02] [-6.44417792e-02 9.97921444e-01 -2.19781753e-04 -6.12479329e-01] [-7.36049099e-03 -2.55077536e-04 9.99972879e-01 -1.98133200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.82592 meters Centerline goodness : 0.994392 Centerline is valid? [True, True] Translation: X:262.95, Y:-0.61, Z:-1.98 [[ 9.97893314e-01 6.44573345e-02 7.36114052e-03 2.62953093e+02] [-6.44573431e-02 9.97920435e-01 -2.36315518e-04 -6.13422981e-01] [-7.36106482e-03 -2.38661885e-04 9.99972879e-01 -1.98156391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.85591999999997 meters Centerline goodness : 0.997815 Centerline is valid? [True, True] Translation: X:262.98, Y:-0.61, Z:-1.99 [[ 9.97747152e-01 6.66815843e-02 7.36113454e-03 2.62983471e+02] [-6.66816519e-02 9.97774274e-01 -2.36517579e-04 -6.09801350e-01] [-7.36052203e-03 -2.54867870e-04 9.99972879e-01 -1.99454387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.88592 meters Centerline goodness : 0.993545 Centerline is valid? [True, True] Translation: X:263.01, Y:-0.61, Z:-1.98 [[ 9.97876795e-01 6.47125041e-02 7.36170037e-03 2.63014051e+02] [-6.47126594e-02 9.97903915e-01 -2.17352895e-04 -6.07522403e-01] [-7.36033508e-03 -2.59503798e-04 9.99972879e-01 -1.97870769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.91591999999997 meters Centerline goodness : 0.993987 Centerline is valid? [True, True] Translation: X:263.04, Y:-0.60, Z:-1.98 [[ 9.97948412e-01 6.35985532e-02 7.36143142e-03 2.63044548e+02] [-6.35986107e-02 9.97975533e-01 -2.26518017e-04 -6.02559523e-01] [-7.36093467e-03 -2.42123516e-04 9.99972879e-01 -1.98076872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.94592 meters Centerline goodness : 0.995228 Centerline is valid? [True, True] Translation: X:263.08, Y:-0.60, Z:-1.98 [[ 9.97957573e-01 6.34545855e-02 7.36189353e-03 2.63076758e+02] [-6.34547552e-02 9.97984694e-01 -2.10751617e-04 -6.02467881e-01] [-7.36043022e-03 -2.56825980e-04 9.99972879e-01 -1.98341224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.97592 meters Centerline goodness : 0.994641 Centerline is valid? [True, True] Translation: X:263.11, Y:-0.60, Z:-1.98 [[ 9.98245142e-01 5.87576526e-02 7.36031385e-03 2.63107243e+02] [-5.87572953e-02 9.98272262e-01 -2.64964318e-04 -6.01344241e-01] [-7.36316584e-03 -1.67972791e-04 9.99972877e-01 -1.98330343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.00591999999995 meters Centerline goodness : 0.995035 Centerline is valid? [True, True] Translation: X:263.14, Y:-0.60, Z:-1.98 [[ 9.98353008e-01 5.68953530e-02 7.36134753e-03 2.63138312e+02] [-5.68952093e-02 9.98380129e-01 -2.29109499e-04 -6.00065414e-01] [-7.36245837e-03 -1.90093251e-04 9.99972879e-01 -1.98312347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.03592 meters Centerline goodness : 0.995933 Centerline is valid? [True, True] Translation: X:263.17, Y:-0.60, Z:-1.98 [[ 9.98655247e-01 5.13177130e-02 7.36139419e-03 2.63169776e+02] [-5.13174297e-02 9.98682367e-01 -2.27491899e-04 -5.97797902e-01] [-7.36336894e-03 -1.50581850e-04 9.99972879e-01 -1.98421141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.06591999999995 meters Centerline goodness : 0.995930 Centerline is valid? [True, True] Translation: X:263.20, Y:-0.60, Z:-1.98 [[ 9.98772685e-01 4.89788555e-02 7.36180277e-03 2.63201186e+02] [-4.89786134e-02 9.98799805e-01 -2.13276166e-04 -5.99284055e-01] [-7.36341319e-03 -1.47556483e-04 9.99972879e-01 -1.98440402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.09592 meters Centerline goodness : 0.995980 Centerline is valid? [True, True] Translation: X:263.23, Y:-0.60, Z:-1.99 [[ 9.98942559e-01 4.53824671e-02 7.36172430e-03 2.63232245e+02] [-4.53821073e-02 9.98969678e-01 -2.16006281e-04 -6.01668346e-01] [-7.36394225e-03 -1.18312695e-04 9.99972879e-01 -1.98527951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.12591999999995 meters Centerline goodness : 0.995335 Centerline is valid? [True, True] Translation: X:263.26, Y:-0.61, Z:-1.99 [[ 9.99228821e-01 3.85689324e-02 7.36211020e-03 2.63264322e+02] [-3.85684867e-02 9.99255939e-01 -2.02553860e-04 -6.05136400e-01] [-7.36444462e-03 -8.15477947e-05 9.99972879e-01 -1.98518454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.15592 meters Centerline goodness : 0.994186 Centerline is valid? [True, True] Translation: X:263.30, Y:-0.61, Z:-1.98 [[ 9.99396639e-01 3.39433549e-02 7.36256385e-03 2.63295524e+02] [-3.39428993e-02 9.99423756e-01 -1.86864006e-04 -6.09247161e-01] [-7.36466401e-03 -6.31555036e-05 9.99972878e-01 -1.98470249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.18591999999995 meters Centerline goodness : 0.994443 Centerline is valid? [True, True] Translation: X:263.33, Y:-0.61, Z:-1.99 [[ 9.99425006e-01 3.30975900e-02 7.36247708e-03 2.63327713e+02] [-3.30970895e-02 9.99452123e-01 -1.89851203e-04 -6.12582433e-01] [-7.36472696e-03 -5.39345230e-05 9.99972879e-01 -1.98674629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.21592 meters Centerline goodness : 0.994735 Centerline is valid? [True, True] Translation: X:263.36, Y:-0.62, Z:-1.99 [[ 9.99437545e-01 3.27167887e-02 7.36247729e-03 2.63360174e+02] [-3.27162779e-02 9.99464661e-01 -1.89844096e-04 -6.15664958e-01] [-7.36474696e-03 -5.11355356e-05 9.99972879e-01 -1.98673427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.24591999999996 meters Centerline goodness : 0.994834 Centerline is valid? [True, True] Translation: X:263.39, Y:-0.62, Z:-1.99 [[ 9.99477897e-01 3.14600884e-02 7.36176623e-03 2.63391114e+02] [-3.14593662e-02 9.99505009e-01 -2.13910163e-04 -6.19475799e-01] [-7.36485186e-03 -1.77980198e-05 9.99972879e-01 -1.98851077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.27592 meters Centerline goodness : 0.993449 Centerline is valid? [True, True] Translation: X:263.42, Y:-0.62, Z:-1.99 [[ 9.99469889e-01 3.17133324e-02 7.36247204e-03 2.63422338e+02] [-3.17127921e-02 9.99497005e-01 -1.90148829e-04 -6.22049478e-01] [-7.36479901e-03 -4.34365164e-05 9.99972879e-01 -1.98513488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.30591999999996 meters Centerline goodness : 0.994140 Centerline is valid? [True, True] Translation: X:263.45, Y:-0.63, Z:-1.99 [[ 9.99458835e-01 3.20599108e-02 7.36203338e-03 2.63453143e+02] [-3.20592708e-02 9.99485948e-01 -2.04955982e-04 -6.27400051e-01] [-7.36481979e-03 -3.11763551e-05 9.99972879e-01 -1.98765072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.33592 meters Centerline goodness : 0.994978 Centerline is valid? [True, True] Translation: X:263.49, Y:-0.63, Z:-1.99 [[ 9.99457413e-01 3.21043178e-02 7.36149139e-03 2.63485128e+02] [-3.21035446e-02 9.99484523e-01 -2.23204198e-04 -6.30905496e-01] [-7.36486253e-03 -1.32468772e-05 9.99972879e-01 -1.98881740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.36591999999996 meters Centerline goodness : 0.994834 Centerline is valid? [True, True] Translation: X:263.52, Y:-0.64, Z:-1.99 [[ 9.99453379e-01 3.22296247e-02 7.36164870e-03 2.63517342e+02] [-3.22288938e-02 9.99480491e-01 -2.17928400e-04 -6.36000090e-01] [-7.36484801e-03 -1.94485177e-05 9.99972879e-01 -1.98902529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.39592 meters Centerline goodness : 0.994589 Centerline is valid? [True, True] Translation: X:263.55, Y:-0.64, Z:-1.99 [[ 9.99458145e-01 3.20815469e-02 7.36142270e-03 2.63549052e+02] [-3.20807562e-02 9.99485255e-01 -2.25503801e-04 -6.37996303e-01] [-7.36486795e-03 -1.07783965e-05 9.99972879e-01 -1.98908355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.42591999999996 meters Centerline goodness : 0.994539 Centerline is valid? [True, True] Translation: X:263.58, Y:-0.64, Z:-1.99 [[ 9.99420713e-01 3.32271517e-02 7.36171370e-03 2.63581362e+02] [-3.32264640e-02 9.99447825e-01 -2.15728880e-04 -6.40162953e-01] [-7.36481680e-03 -2.89998043e-05 9.99972879e-01 -1.98741051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.45592 meters Centerline goodness : 0.993697 Centerline is valid? [True, True] Translation: X:263.61, Y:-0.64, Z:-1.99 [[ 9.99382487e-01 3.43577747e-02 7.36120495e-03 2.63614348e+02] [-3.43569928e-02 9.99409597e-01 -2.32686997e-04 -6.42037030e-01] [-7.36485349e-03 -2.03655559e-05 9.99972879e-01 -1.98700404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.48591999999996 meters Centerline goodness : 0.994877 Centerline is valid? [True, True] Translation: X:263.65, Y:-0.64, Z:-1.99 [[ 9.99330166e-01 3.58474138e-02 7.36081602e-03 2.63646678e+02] [-3.58465766e-02 9.99357275e-01 -2.45682362e-04 -6.43953664e-01] [-7.36489212e-03 -1.83422593e-05 9.99972879e-01 -1.98711872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.51592 meters Centerline goodness : 0.857774 Centerline is valid? [True, False] Translation: X:263.65, Y:-0.65, Z:-1.99 [[ 9.99763025e-01 2.00330430e-02 8.51882645e-03 2.63646967e+02] [-2.00742246e-02 9.99787083e-01 4.77645804e-03 -6.51368359e-01] [-8.42132565e-03 -4.94633498e-03 9.99952306e-01 -1.98771679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.54591999999997 meters Centerline goodness : 0.998513 Centerline is valid? [False, True] Translation: X:263.66, Y:-0.66, Z:-1.99 [[ 9.99988691e-01 4.48453043e-03 1.58336580e-03 2.63659832e+02] [-4.50544145e-03 9.99899262e-01 1.34598285e-02 -6.64306156e-01] [-1.52284529e-03 -1.34668100e-02 9.99908159e-01 -1.98781672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.57592 meters Centerline goodness : 0.994587 Centerline is valid? [True, True] Translation: X:263.69, Y:-0.65, Z:-1.97 [[ 9.99983219e-01 5.56764430e-03 1.60085800e-03 2.63690945e+02] [-5.56765474e-03 9.99984500e-01 2.06352564e-06 -6.52248051e-01] [-1.60082170e-03 -1.09765156e-05 9.99998719e-01 -1.97335778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.60591999999997 meters Centerline goodness : 0.998462 Centerline is valid? [True, True] Translation: X:263.72, Y:-0.65, Z:-1.99 [[ 9.99985382e-01 5.16466499e-03 1.60086980e-03 2.63721993e+02] [-5.16465929e-03 9.99986663e-01 -7.69382479e-06 -6.51997593e-01] [-1.60088818e-03 -5.74234751e-07 9.99998719e-01 -1.98701158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.63592 meters Centerline goodness : 0.995333 Centerline is valid? [True, True] Translation: X:263.75, Y:-0.65, Z:-1.98 [[ 9.99963056e-01 8.44532579e-03 1.60085729e-03 2.63752765e+02] [-8.44533990e-03 9.99964337e-01 2.05433049e-06 -6.50689760e-01] [-1.60078285e-03 -1.55740385e-05 9.99998719e-01 -1.97555878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.66591999999997 meters Centerline goodness : 0.995382 Centerline is valid? [True, True] Translation: X:263.78, Y:-0.65, Z:-1.98 [[ 9.99955984e-01 9.24479977e-03 1.60087086e-03 2.63784626e+02] [-9.24479787e-03 9.99957266e-01 -8.58590940e-06 -6.51688781e-01] [-1.60088183e-03 -6.21419607e-06 9.99998719e-01 -1.97557428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.69592 meters Centerline goodness : 0.994937 Centerline is valid? [True, True] Translation: X:263.82, Y:-0.65, Z:-1.97 [[ 9.99958590e-01 8.95851072e-03 1.60087068e-03 2.63815724e+02] [-8.95850868e-03 9.99959872e-01 -8.45037785e-06 -6.51851531e-01] [-1.60088214e-03 -5.89138593e-06 9.99998719e-01 -1.97450644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.72592 meters Centerline goodness : 0.997565 Centerline is valid? [True, True] Translation: X:263.85, Y:-0.65, Z:-1.99 [[ 9.99972256e-01 7.27494189e-03 1.60086966e-03 2.63845112e+02] [-7.27493878e-03 9.99973537e-01 -7.76354350e-06 -6.51828062e-01] [-1.60088377e-03 -3.88290066e-06 9.99998719e-01 -1.98707067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.75591999999995 meters Centerline goodness : 0.997913 Centerline is valid? [True, True] Translation: X:263.88, Y:-0.65, Z:-1.99 [[ 9.99983166e-01 5.57726400e-03 1.60085248e-03 2.63876017e+02] [-5.57727538e-03 9.99984447e-01 2.64266634e-06 -6.52433316e-01] [-1.60081284e-03 -1.15710170e-05 9.99998719e-01 -1.98808361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.78592 meters Centerline goodness : 0.997664 Centerline is valid? [True, True] Translation: X:263.91, Y:-0.65, Z:-1.99 [[ 9.99986475e-01 4.94848916e-03 1.60085265e-03 2.63907835e+02] [-4.94849956e-03 9.99987756e-01 2.53774624e-06 -6.52977972e-01] [-1.60082049e-03 -1.04595305e-05 9.99998719e-01 -1.98710358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.81591999999995 meters Centerline goodness : 0.994487 Centerline is valid? [True, True] Translation: X:263.94, Y:-0.65, Z:-1.97 [[ 9.99985992e-01 5.04502109e-03 1.60085281e-03 2.63938755e+02] [-5.04503145e-03 9.99987274e-01 2.43262450e-06 -6.51940774e-01] [-1.60082016e-03 -1.05089432e-05 9.99998719e-01 -1.97404350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.84592 meters Centerline goodness : 0.995036 Centerline is valid? [True, True] Translation: X:263.97, Y:-0.65, Z:-1.97 [[ 9.99987060e-01 4.82881233e-03 1.60086248e-03 2.63970045e+02] [-4.82881231e-03 9.99988341e-01 -3.87993006e-06 -6.51068991e-01] [-1.60086256e-03 -3.85038461e-06 9.99998719e-01 -1.97333965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.87591999999995 meters Centerline goodness : 0.995930 Centerline is valid? [True, True] Translation: X:264.00, Y:-0.65, Z:-1.98 [[ 9.99995998e-01 2.33274333e-03 1.60086748e-03 2.64001012e+02] [-2.33273592e-03 9.99997279e-01 -6.49413142e-06 -6.50832162e-01] [-1.60087827e-03 2.75970435e-06 9.99998719e-01 -1.97525942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.90592 meters Centerline goodness : 0.996326 Centerline is valid? [True, True] Translation: X:264.03, Y:-0.65, Z:-1.97 [[ 9.99998673e-01 3.02560397e-04 1.60086604e-03 2.64031539e+02] [-3.02551541e-04 9.99999954e-01 -5.77463000e-06 -6.51436999e-01] [-1.60086771e-03 5.29027785e-06 9.99998719e-01 -1.97395071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.93591999999995 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:264.06, Y:-0.65, Z:-1.99 [[ 9.99993001e-01 -3.38147615e-03 1.60085593e-03 2.64061175e+02] [ 3.38148282e-03 9.99994283e-01 -1.46000654e-06 -6.52037638e-01] [-1.60084184e-03 6.87326315e-06 9.99998719e-01 -1.98743543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.96592 meters Centerline goodness : 0.996720 Centerline is valid? [True, True] Translation: X:264.09, Y:-0.65, Z:-1.97 [[ 9.99988695e-01 -4.47739434e-03 1.60084320e-03 2.64092091e+02] [ 4.47739393e-03 9.99989976e-01 3.84363988e-06 -6.51152683e-01] [-1.60084436e-03 3.32400919e-06 9.99998719e-01 -1.97232091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.99591999999996 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:264.12, Y:-0.65, Z:-1.99 [[ 9.99980495e-01 -6.03706410e-03 1.60083733e-03 2.64123799e+02] [ 6.03706134e-03 9.99981777e-01 6.55510502e-06 -6.51659649e-01] [-1.60084773e-03 3.10937600e-06 9.99998719e-01 -1.98835223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.02592 meters Centerline goodness : 0.999405 Centerline is valid? [True, True] Translation: X:264.16, Y:-0.65, Z:-1.99 [[ 9.99975778e-01 -6.77359553e-03 1.60084401e-03 2.64156417e+02] [ 6.77359933e-03 9.99977059e-01 3.04549792e-06 -6.53125992e-01] [-1.60082791e-03 7.79805176e-06 9.99998719e-01 -1.98796334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.05591999999996 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:264.19, Y:-0.65, Z:-1.99 [[ 9.99975371e-01 -6.83328808e-03 1.60084506e-03 2.64188393e+02] [ 6.83329312e-03 9.99976653e-01 2.31897830e-06 -6.54712462e-01] [-1.60082353e-03 8.62012235e-06 9.99998719e-01 -1.98831619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.08592 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:264.22, Y:-0.66, Z:-1.99 [[ 9.99974531e-01 -6.95518325e-03 1.60084578e-03 2.64220149e+02] [ 6.95518961e-03 9.99975812e-01 1.59245835e-06 -6.58438406e-01] [-1.60081814e-03 9.54176817e-06 9.99998719e-01 -1.98857331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.11591999999996 meters Centerline goodness : 0.998209 Centerline is valid? [True, True] Translation: X:264.25, Y:-0.66, Z:-1.98 [[ 9.99996395e-01 -2.15590434e-03 1.60084618e-03 2.64250522e+02] [ 2.15590570e-03 9.99997676e-01 8.76865197e-07 -6.59609004e-01] [-1.60084435e-03 2.57441136e-06 9.99998719e-01 -1.97809839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.14592 meters Centerline goodness : 0.997866 Centerline is valid? [True, True] Translation: X:264.28, Y:-0.67, Z:-1.98 [[ 9.99998573e-01 -5.39314807e-04 1.60084428e-03 2.64282419e+02] [ 5.39309610e-04 9.99999855e-01 3.67816177e-06 -6.65078551e-01] [-1.60084603e-03 -2.81480581e-06 9.99998719e-01 -1.97683707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.17591999999996 meters Centerline goodness : 0.997617 Centerline is valid? [True, True] Translation: X:264.31, Y:-0.67, Z:-1.97 [[ 9.99998719e-01 6.33326568e-06 1.60084449e-03 2.64314537e+02] [-6.33852825e-06 1.00000000e+00 3.28230147e-06 -6.67112232e-01] [-1.60084447e-03 -3.29244426e-06 9.99998719e-01 -1.97406213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.20592 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:264.35, Y:-0.67, Z:-1.99 [[ 9.99988647e-01 4.48813494e-03 1.60084611e-03 2.64345363e+02] [-4.48814150e-03 9.99989928e-01 5.04980582e-07 -6.70052850e-01] [-1.60082772e-03 -7.68979870e-06 9.99998719e-01 -1.98665340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.23591999999996 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:264.38, Y:-0.67, Z:-1.99 [[ 9.99978748e-01 6.31981427e-03 1.60084593e-03 2.64376471e+02] [-6.31982371e-03 9.99980030e-01 8.38154920e-07 -6.71474512e-01] [-1.60080867e-03 -1.09552012e-05 9.99998719e-01 -1.98669361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.26592 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:264.41, Y:-0.67, Z:-1.99 [[ 9.99943140e-01 1.05429631e-02 1.60084598e-03 2.64408169e+02] [-1.05429777e-02 9.99944421e-01 7.32870638e-07 -6.72937573e-01] [-1.60074928e-03 -1.76105125e-05 9.99998719e-01 -1.98615452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.29591999999997 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:264.44, Y:-0.67, Z:-1.97 [[ 9.99925095e-01 1.21343347e-02 1.60084602e-03 2.64439539e+02] [-1.21343512e-02 9.99926376e-01 6.28212998e-07 -6.72732421e-01] [-1.60072054e-03 -2.00533938e-05 9.99998719e-01 -1.97472166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.32592 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:264.47, Y:-0.67, Z:-1.97 [[ 9.99904250e-01 1.37451069e-02 1.60084637e-03 2.64471219e+02] [-1.37451242e-02 9.99905531e-01 -2.31027162e-07 -6.72079125e-01] [-1.60069832e-03 -2.17728271e-05 9.99998719e-01 -1.97459500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.35591999999997 meters Centerline goodness : 0.999502 Centerline is valid? [True, True] Translation: X:264.50, Y:-0.67, Z:-1.97 [[ 9.99826618e-01 1.85518553e-02 1.60084520e-03 2.64502074e+02] [-1.85518821e-02 9.99827899e-01 1.86710050e-06 -6.68763772e-01] [-1.60053506e-03 -3.15654682e-05 9.99998719e-01 -1.97374520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.38592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:264.53, Y:-0.67, Z:-1.99 [[ 9.99777997e-01 2.10093682e-02 1.60084350e-03 2.64533279e+02] [-2.10094026e-02 9.99779278e-01 4.67492128e-06 -6.67541783e-01] [-1.60039194e-03 -3.83066490e-05 9.99998719e-01 -1.98528086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.41591999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.56, Y:-0.66, Z:-1.98 [[ 9.99719570e-01 2.36266598e-02 1.60084618e-03 2.64564188e+02] [-2.36266921e-02 9.99720851e-01 1.25237958e-06 -6.64539682e-01] [-1.60036971e-03 -3.90747281e-05 9.99998719e-01 -1.98462946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.44592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:264.59, Y:-0.66, Z:-1.98 [[ 9.99720247e-01 2.35979971e-02 1.60084618e-03 2.64594291e+02] [-2.35980293e-02 9.99721528e-01 1.25237958e-06 -6.62362159e-01] [-1.60037083e-03 -3.90288443e-05 9.99998719e-01 -1.97503370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.47592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:264.62, Y:-0.66, Z:-1.97 [[ 9.99746679e-01 2.24502696e-02 1.60084348e-03 2.64624848e+02] [-2.24503051e-02 9.99747960e-01 4.21130990e-06 -6.59534320e-01] [-1.60034546e-03 -4.01496677e-05 9.99998719e-01 -1.97211791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.50591999999995 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:264.66, Y:-0.66, Z:-1.99 [[ 9.99718971e-01 2.36519795e-02 1.60084200e-03 2.64655444e+02] [-2.36520187e-02 9.99720252e-01 5.54844735e-06 -6.59235482e-01] [-1.60026294e-03 -4.34100330e-05 9.99998719e-01 -1.98586605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.53592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:264.69, Y:-0.66, Z:-1.99 [[ 9.99737112e-01 2.28723246e-02 1.60084648e-03 2.64686046e+02] [-2.28723572e-02 9.99738393e-01 2.04652269e-06 -6.58462647e-01] [-1.60038088e-03 -3.86611172e-05 9.99998719e-01 -1.98585319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.56591999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.72, Y:-0.66, Z:-1.99 [[ 9.99745450e-01 2.25049415e-02 1.60084648e-03 2.64716978e+02] [-2.25049736e-02 9.99746731e-01 2.04652269e-06 -6.56466535e-01] [-1.60039498e-03 -3.80730095e-05 9.99998719e-01 -1.98619636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.59592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:264.75, Y:-0.65, Z:-1.99 [[ 9.99725230e-01 2.33859210e-02 1.60084648e-03 2.64747639e+02] [-2.33859542e-02 9.99726511e-01 2.04652269e-06 -6.54685218e-01] [-1.60036081e-03 -3.94832828e-05 9.99998719e-01 -1.98527489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.62591999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.78, Y:-0.65, Z:-1.99 [[ 9.99710669e-01 2.40003402e-02 1.60084648e-03 2.64778639e+02] [-2.40003743e-02 9.99711950e-01 2.04652269e-06 -6.54200571e-01] [-1.60033624e-03 -4.04668452e-05 9.99998719e-01 -1.98531851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.65592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:264.81, Y:-0.65, Z:-1.99 [[ 9.99706995e-01 2.41528864e-02 1.60084655e-03 2.64809363e+02] [-2.41529205e-02 9.99708276e-01 1.99370577e-06 -6.53451673e-01] [-1.60033139e-03 -4.06582410e-05 9.99998719e-01 -1.98522796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.68591999999995 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:264.84, Y:-0.65, Z:-1.97 [[ 9.99716481e-01 2.37569881e-02 1.60084655e-03 2.64839806e+02] [-2.37570217e-02 9.99717762e-01 1.99370577e-06 -6.52295774e-01] [-1.60034736e-03 -4.00244867e-05 9.99998719e-01 -1.97401501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.71592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.87, Y:-0.65, Z:-1.99 [[ 9.99675165e-01 2.54362463e-02 1.60085291e-03 2.64870129e+02] [-2.54362742e-02 9.99676446e-01 -2.92890848e-06 -6.51847076e-01] [-1.60040945e-03 -3.77917765e-05 9.99998719e-01 -1.98551266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.74591999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.90, Y:-0.65, Z:-1.99 [[ 9.99675165e-01 2.54362382e-02 1.60084621e-03 2.64901123e+02] [-2.54362742e-02 9.99676446e-01 2.12341207e-06 -6.51810753e-01] [-1.60027424e-03 -4.28422854e-05 9.99998719e-01 -1.98556261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.77592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.93, Y:-0.65, Z:-1.99 [[ 9.99657198e-01 2.61327971e-02 1.60084621e-03 2.64931203e+02] [-2.61328340e-02 9.99658479e-01 2.12341207e-06 -6.50460731e-01] [-1.60024400e-03 -4.39573324e-05 9.99998719e-01 -1.98590948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.80591999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.96, Y:-0.65, Z:-1.99 [[ 9.99670511e-01 2.56184897e-02 1.60084621e-03 2.64961819e+02] [-2.56185259e-02 9.99671792e-01 2.12341207e-06 -6.49767740e-01] [-1.60026640e-03 -4.31340325e-05 9.99998719e-01 -1.98613396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.83592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:264.99, Y:-0.65, Z:-1.98 [[ 9.99708341e-01 2.40970873e-02 1.60084621e-03 2.64992145e+02] [-2.40971215e-02 9.99709622e-01 2.12341207e-06 -6.47544189e-01] [-1.60033019e-03 -4.06985784e-05 9.99998719e-01 -1.97590374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.86591999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.02, Y:-0.65, Z:-1.98 [[ 9.99741280e-01 2.26894173e-02 1.60084982e-03 2.65023105e+02] [-2.26894460e-02 9.99742561e-01 -2.13021215e-07 -6.46128616e-01] [-1.60044253e-03 -3.61094294e-05 9.99998719e-01 -1.97601626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.89592 meters Centerline goodness : 0.888221 Centerline is valid? [True, False] Translation: X:265.03, Y:-0.65, Z:-1.98 [[ 9.99974089e-01 7.07225853e-03 1.34332722e-03 2.65025324e+02] [-7.07856002e-03 9.99963686e-01 4.74560209e-03 -6.50884135e-01] [-1.30971631e-03 -4.75498795e-03 9.99987837e-01 -1.97717784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.92591999999996 meters Centerline goodness : 1.000000 Centerline is valid? [False, True] Translation: X:265.03, Y:-0.65, Z:-1.98 [[ 9.99994790e-01 2.90529078e-03 1.40699549e-03 2.65025217e+02] [-2.90419541e-03 9.99995479e-01 -7.79934608e-04 -6.45383462e-01] [-1.40925506e-03 7.75844354e-04 9.99998706e-01 -1.97695556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.95592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.06, Y:-0.65, Z:-1.98 [[ 9.99998878e-01 -5.52737386e-04 1.39254855e-03 2.65056745e+02] [ 5.52703116e-04 9.99999847e-01 2.49943705e-05 -6.46391619e-01] [-1.39256215e-03 -2.42246766e-05 9.99999030e-01 -1.97738885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.98591999999996 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:265.08, Y:-0.67, Z:-1.98 [[ 9.98426574e-01 -5.60574403e-02 1.39255018e-03 2.65076846e+02] [ 5.60574600e-02 9.98427544e-01 2.49030855e-05 -6.67643286e-01] [-1.39175646e-03 5.31989237e-05 9.99999030e-01 -1.97594886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.01592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.11, Y:-0.64, Z:-1.97 [[ 9.99987516e-01 -4.79934462e-03 1.39105336e-03 2.65114380e+02] [ 4.79920948e-03 9.99988479e-01 1.00475000e-04 -6.43357181e-01] [-1.39151954e-03 -9.37977889e-05 9.99999027e-01 -1.96880232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.04591999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.15, Y:-0.64, Z:-1.97 [[ 9.99971372e-01 -7.43750464e-03 1.39227103e-03 2.65146766e+02] [ 7.43746692e-03 9.99972341e-01 3.22651938e-05 -6.41219538e-01] [-1.39247250e-03 -2.19093004e-05 9.99999030e-01 -1.96625154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.07592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.18, Y:-0.64, Z:-1.98 [[ 9.99958692e-01 -8.98199825e-03 1.39243237e-03 2.65178490e+02] [ 8.98197478e-03 9.99959661e-01 2.31064673e-05 -6.41481124e-01] [-1.39258374e-03 -1.05987204e-05 9.99999030e-01 -1.97666651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.10591999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.21, Y:-0.64, Z:-1.98 [[ 9.99920266e-01 -1.25508134e-02 1.39241216e-03 2.65211029e+02] [ 1.25507918e-02 9.99921235e-01 2.42657313e-05 -6.42395083e-01] [-1.39260705e-03 -6.78792139e-06 9.99999030e-01 -1.97651877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.13592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.24, Y:-0.64, Z:-1.98 [[ 9.99904932e-01 -1.37181329e-02 1.39242306e-03 2.65243608e+02] [ 1.37181133e-02 9.99905902e-01 2.36237347e-05 -6.42084050e-01] [-1.39261610e-03 -4.52007156e-06 9.99999030e-01 -1.97587657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.16591999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.27, Y:-0.64, Z:-1.97 [[ 9.99837638e-01 -1.79655075e-02 1.39243365e-03 2.65274242e+02] [ 1.79654929e-02 9.99838607e-01 2.29820005e-05 -6.44450758e-01] [-1.39262180e-03 2.03748775e-06 9.99999030e-01 -1.96519056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.19592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.31, Y:-0.65, Z:-1.98 [[ 9.99838511e-01 -1.79168287e-02 1.39243863e-03 2.65305924e+02] [ 1.79168145e-02 9.99839481e-01 2.26802597e-05 -6.45486744e-01] [-1.39262148e-03 2.27146760e-06 9.99999030e-01 -1.97695713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.22592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.34, Y:-0.65, Z:-1.98 [[ 9.99815952e-01 -1.91343294e-02 1.39243563e-03 2.65339395e+02] [ 1.91343161e-02 9.99816922e-01 2.28627358e-05 -6.46576889e-01] [-1.39261817e-03 3.78477568e-06 9.99999030e-01 -1.97553820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.25591999999995 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:265.37, Y:-0.65, Z:-1.96 [[ 9.99787077e-01 -2.05878967e-02 1.39244715e-03 2.65371241e+02] [ 2.05878858e-02 9.99788047e-01 2.21384807e-05 -6.50546611e-01] [-1.39260780e-03 6.53377606e-06 9.99999030e-01 -1.96346467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.28592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:265.40, Y:-0.65, Z:-1.96 [[ 9.99800259e-01 -1.99374685e-02 1.39253938e-03 2.65402579e+02] [ 1.99374652e-02 9.99801229e-01 1.62487507e-05 -6.52306857e-01] [-1.39258655e-03 1.15182004e-05 9.99999030e-01 -1.96222533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.31591999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.43, Y:-0.66, Z:-1.96 [[ 9.99798774e-01 -2.00117859e-02 1.39252449e-03 2.65433304e+02] [ 2.00117814e-02 9.99799744e-01 1.72020648e-05 -6.56057742e-01] [-1.39258987e-03 1.06682923e-05 9.99999030e-01 -1.96053354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.34592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.47, Y:-0.66, Z:-1.96 [[ 9.99816740e-01 -1.90931368e-02 1.39247498e-03 2.65465718e+02] [ 1.90931269e-02 9.99817709e-01 2.04128122e-05 -6.57408941e-01] [-1.39261089e-03 6.17763017e-06 9.99999030e-01 -1.96336817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.37591999999995 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:265.50, Y:-0.66, Z:-1.96 [[ 9.99853802e-01 -1.70421435e-02 1.39250407e-03 2.65497043e+02] [ 1.70421343e-02 9.99854772e-01 1.84905431e-05 -6.61032322e-01] [-1.39261695e-03 5.24340146e-06 9.99999030e-01 -1.96256903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.40592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.53, Y:-0.66, Z:-1.97 [[ 9.99887024e-01 -1.49666328e-02 1.39242297e-03 2.65528432e+02] [ 1.49666140e-02 9.99887994e-01 2.39108590e-05 -6.63637177e-01] [-1.39262487e-03 -3.06830051e-06 9.99999030e-01 -1.96544620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.43591999999995 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:265.56, Y:-0.67, Z:-1.96 [[ 9.99910183e-01 -1.33298916e-02 1.39246444e-03 2.65560051e+02] [ 1.33298752e-02 9.99911153e-01 2.10913380e-05 -6.67769732e-01] [-1.39262187e-03 -2.52806650e-06 9.99999030e-01 -1.96162336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.46592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.59, Y:-0.67, Z:-1.98 [[ 9.99926326e-01 -1.20583646e-02 1.39251223e-03 2.65591896e+02] [ 1.20583515e-02 9.99927295e-01 1.77881252e-05 -6.68526441e-01] [-1.39262548e-03 -9.95412748e-07 9.99999030e-01 -1.97614245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.49591999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.62, Y:-0.67, Z:-1.98 [[ 9.99967512e-01 -7.93949324e-03 1.39248381e-03 2.65624287e+02] [ 7.93947338e-03 9.99968482e-01 1.97878514e-05 -6.70160670e-01] [-1.39259703e-03 -8.73162037e-06 9.99999030e-01 -1.97582568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.52592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.66, Y:-0.67, Z:-1.98 [[ 9.99979094e-01 -6.31440762e-03 1.39249261e-03 2.65656807e+02] [ 6.31438708e-03 9.99980064e-01 1.91474340e-05 -6.71126445e-01] [-1.39258576e-03 -1.03542963e-05 9.99999030e-01 -1.97658262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.55591999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.69, Y:-0.67, Z:-1.98 [[ 9.99991418e-01 -3.90187511e-03 1.39250114e-03 2.65688767e+02] [ 3.90185312e-03 9.99992388e-01 1.85056687e-05 -6.71220685e-01] [-1.39256275e-03 -1.30721750e-05 9.99999030e-01 -1.97650638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.58592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.72, Y:-0.67, Z:-1.98 [[ 9.99999023e-01 -1.23317747e-04 1.39250935e-03 2.65720519e+02] [ 1.23292988e-04 9.99999992e-01 1.78660410e-05 -6.70951368e-01] [-1.39251154e-03 -1.76943369e-05 9.99999030e-01 -1.97675208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.61591999999996 meters Centerline goodness : 0.849911 Centerline is valid? [True, False] Translation: X:265.70, Y:-0.67, Z:-1.98 [[ 9.99970027e-01 2.66360363e-03 7.26980072e-03 2.65697525e+02] [-2.61408030e-03 9.99973373e-01 -6.81322101e-03 -6.66404426e-01] [-7.28775486e-03 6.79401296e-03 9.99950364e-01 -1.98014813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.64592 meters Centerline goodness : 0.999950 Centerline is valid? [False, True] Translation: X:265.67, Y:-0.66, Z:-1.98 [[ 9.99902340e-01 5.63362397e-03 1.27895667e-02 2.65674900e+02] [-5.45320380e-03 9.99885746e-01 -1.40981373e-02 -6.60152855e-01] [-1.28675290e-02 1.40270163e-02 9.99818818e-01 -1.98389295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.67591999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.71, Y:-0.67, Z:-2.00 [[ 9.99896242e-01 6.93290305e-03 1.26269718e-02 2.65705635e+02] [-6.93544629e-03 9.99975937e-01 1.57635204e-04 -6.72710685e-01] [-1.26255750e-02 -2.45192533e-04 9.99920264e-01 -1.99881068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.70592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:265.74, Y:-0.69, Z:-1.98 [[ 9.99876709e-01 -9.33392490e-03 1.26271307e-02 2.65736058e+02] [ 9.33285493e-03 9.99956438e-01 1.43660943e-04 -6.87292048e-01] [-1.26279216e-02 -2.57960513e-05 9.99920264e-01 -1.98281197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.73591999999996 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:265.77, Y:-0.69, Z:-1.98 [[ 9.99864950e-01 -1.05193426e-02 1.26263587e-02 2.65767978e+02] [ 1.05174982e-02 9.99944667e-01 2.12469120e-04 -6.87742079e-01] [-1.26278950e-02 -7.96427225e-05 9.99920262e-01 -1.98237681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.76592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:265.80, Y:-0.69, Z:-1.98 [[ 9.99823631e-01 -1.39025364e-02 1.26264382e-02 2.65799667e+02] [ 1.39010573e-02 9.99903355e-01 2.04898894e-04 -6.87724672e-01] [-1.26280666e-02 -2.93419148e-05 9.99920262e-01 -1.98193618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.79591999999997 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:265.83, Y:-0.69, Z:-1.98 [[ 9.99800501e-01 -1.54767675e-02 1.26264559e-02 2.65831498e+02] [ 1.54754359e-02 9.99880228e-01 2.03160320e-04 -6.88158894e-01] [-1.26280878e-02 -7.71988120e-06 9.99920262e-01 -1.98234403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.82592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:265.86, Y:-0.69, Z:-1.98 [[ 9.99769466e-01 -1.73664271e-02 1.26262325e-02 2.65863252e+02] [ 1.73649498e-02 9.99849192e-01 2.26634302e-04 -6.89287817e-01] [-1.26282642e-02 -7.32816221e-06 9.99920260e-01 -1.98287128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.85591999999997 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:265.89, Y:-0.69, Z:-1.98 [[ 9.99719585e-01 -2.00330376e-02 1.26264725e-02 2.65894760e+02] [ 2.00321125e-02 9.99799317e-01 1.99745836e-04 -6.91379263e-01] [-1.26279401e-02 5.32450939e-05 9.99920263e-01 -1.98316288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.88592 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:265.93, Y:-0.69, Z:-1.98 [[ 9.99693696e-01 -2.12857224e-02 1.26266335e-02 2.65926697e+02] [ 2.12851398e-02 9.99773429e-01 1.80544319e-04 -6.92174726e-01] [-1.26276157e-02 8.82706406e-05 9.99920265e-01 -1.98178520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.91591999999997 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:265.96, Y:-0.69, Z:-1.98 [[ 9.99664938e-01 -2.25961270e-02 1.26263943e-02 2.65959659e+02] [ 2.25952577e-02 9.99744672e-01 2.11518544e-04 -6.94391877e-01] [-1.26279499e-02 7.38489604e-05 9.99920262e-01 -1.98365666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.94592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:265.99, Y:-0.70, Z:-2.00 [[ 9.99684246e-01 -2.17248958e-02 1.26268432e-02 2.65992455e+02] [ 2.17247465e-02 9.99763979e-01 1.49008784e-04 -6.95671790e-01] [-1.26271002e-02 1.25353234e-04 9.99920267e-01 -2.00061017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.97592 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:266.02, Y:-0.70, Z:-1.98 [[ 9.99626243e-01 -2.42471838e-02 1.26272732e-02 2.66022728e+02] [ 2.42480371e-02 9.99705969e-01 8.55417027e-05 -6.97634419e-01] [-1.26256346e-02 2.20676858e-04 9.99920269e-01 -1.98402000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.00591999999995 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:266.06, Y:-0.70, Z:-1.98 [[ 9.99624559e-01 -2.43169125e-02 1.26265446e-02 2.66055200e+02] [ 2.43164002e-02 9.99704294e-01 1.94112430e-04 -7.01493459e-01] [-1.26275311e-02 1.12992561e-04 9.99920263e-01 -1.98434271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.03592 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:266.09, Y:-0.70, Z:-1.98 [[ 9.99632078e-01 -2.40057567e-02 1.26266118e-02 2.66087589e+02] [ 2.40053617e-02 9.99711813e-01 1.82868101e-04 -7.03037980e-01] [-1.26273629e-02 1.20305564e-04 9.99920264e-01 -1.98446865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.06591999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.12, Y:-0.71, Z:-2.00 [[ 9.99680769e-01 -2.18844887e-02 1.26265647e-02 2.66121428e+02] [ 2.18838145e-02 9.99760502e-01 1.91568439e-04 -7.06162185e-01] [-1.26277331e-02 8.48101168e-05 9.99920263e-01 -2.00246629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.09592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:266.15, Y:-0.71, Z:-1.99 [[ 9.99603122e-01 -2.51823696e-02 1.26271911e-02 2.66150054e+02] [ 2.51836175e-02 9.99682841e-01 6.01952365e-05 -7.08149934e-01] [-1.26247021e-02 2.57827005e-04 9.99920272e-01 -1.98934596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.12591999999995 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:266.18, Y:-0.71, Z:-2.00 [[ 9.99593818e-01 -2.55493075e-02 1.26266066e-02 2.66183344e+02] [ 2.55489008e-02 9.99673555e-01 1.93537676e-04 -7.13181706e-01] [-1.26274295e-02 1.29136855e-04 9.99920262e-01 -2.00487097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.15592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:266.22, Y:-0.71, Z:-2.00 [[ 9.99562317e-01 -2.67531114e-02 1.26271733e-02 2.66216268e+02] [ 2.67546163e-02 9.99642030e-01 4.97647505e-05 -7.14695385e-01] [-1.26239846e-02 2.88092208e-04 9.99920273e-01 -2.00465411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.18591999999995 meters Centerline goodness : 0.970872 Centerline is valid? [True, True] Translation: X:266.27, Y:-0.67, Z:-2.00 [[ 9.98022314e-01 6.15793424e-02 1.26271952e-02 2.66274038e+02] [-6.15847995e-02 9.98101854e-01 4.34226993e-05 -6.74452303e-01] [-1.26005530e-02 -8.20980105e-04 9.99920273e-01 -2.00386194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.21592 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:266.27, Y:-0.72, Z:-1.99 [[ 9.99325146e-01 -3.44929843e-02 1.26287653e-02 2.66269632e+02] [ 3.45173844e-02 9.99402619e-01 -1.71919879e-03 -7.19996214e-01] [-1.25619208e-02 2.15395053e-03 9.99918776e-01 -1.98875095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.24591999999996 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:266.30, Y:-0.72, Z:-2.01 [[ 9.99420870e-01 -3.16028816e-02 1.26167466e-02 2.66304077e+02] [ 3.16030139e-02 9.99500482e-01 1.88938512e-04 -7.22611061e-01] [-1.26164153e-02 2.09898125e-04 9.99920388e-01 -2.00518349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.27592 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:266.34, Y:-0.72, Z:-2.00 [[ 9.99448142e-01 -3.07280522e-02 1.26174153e-02 2.66335370e+02] [ 3.07295854e-02 9.99527732e-01 7.23834908e-05 -7.24275144e-01] [-1.26136807e-02 3.15384396e-04 9.99920395e-01 -1.99515545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.30591999999996 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:266.37, Y:-0.72, Z:-2.01 [[ 9.99496170e-01 -2.91240260e-02 1.26173479e-02 2.66367030e+02] [ 2.91252786e-02 9.99575766e-01 8.44988610e-05 -7.23684913e-01] [-1.26144562e-02 2.83027486e-04 9.99920395e-01 -2.00688402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.33592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:266.40, Y:-0.72, Z:-2.01 [[ 9.99540873e-01 -2.75470932e-02 1.26174445e-02 2.66399845e+02] [ 2.75484531e-02 9.99620467e-01 6.60375372e-05 -7.23493609e-01] [-1.26144750e-02 2.81583862e-04 9.99920395e-01 -2.00612128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.36591999999996 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:266.43, Y:-0.72, Z:-2.01 [[ 9.99605318e-01 -2.50999354e-02 1.26174747e-02 2.66432564e+02] [ 2.51011809e-02 9.99684914e-01 5.96670259e-05 -7.24710046e-01] [-1.26149967e-02 2.57070038e-04 9.99920395e-01 -2.00604704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.39592 meters Centerline goodness : 0.939197 Centerline is valid? [True, False] Translation: X:266.43, Y:-0.72, Z:-2.01 [[ 9.99889135e-01 -1.01663139e-02 1.08794822e-02 2.66433927e+02] [ 1.02252524e-02 9.99933272e-01 -5.37555051e-03 -7.18170257e-01] [-1.08241067e-02 5.48620000e-03 9.99926367e-01 -2.00605975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.42591999999996 meters Centerline goodness : 0.999702 Centerline is valid? [False, True] Translation: X:266.43, Y:-0.72, Z:-2.01 [[ 9.99923353e-01 -6.01855847e-03 1.08196347e-02 2.66434060e+02] [ 6.02448311e-03 9.99981720e-01 -5.15072565e-04 -7.20838732e-01] [-1.08163369e-02 5.80215792e-04 9.99941333e-01 -2.00621849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.45592 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:266.47, Y:-0.72, Z:-2.01 [[ 9.99941333e-01 4.25513130e-04 1.08235877e-02 2.66466242e+02] [-4.24411458e-04 9.99999905e-01 -1.04081059e-04 -7.16741544e-01] [-1.08236310e-02 9.94812979e-05 9.99941418e-01 -2.00660314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.48591999999996 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:266.50, Y:-0.72, Z:-2.01 [[ 9.99931027e-01 4.55974037e-03 1.08235740e-02 2.66498847e+02] [-4.55886565e-03 9.99989603e-01 -1.05487655e-04 -7.15316070e-01] [-1.08239425e-02 5.61371593e-05 9.99941418e-01 -2.00670840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.51592 meters Centerline goodness : 0.998808 Centerline is valid? [True, True] Translation: X:266.53, Y:-0.71, Z:-1.99 [[ 9.99918415e-01 6.78334742e-03 1.08235600e-02 2.66529943e+02] [-6.78258755e-03 9.99976992e-01 -1.06910532e-04 -7.13838983e-01] [-1.08240362e-02 3.34900662e-05 9.99941418e-01 -1.99298501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.54591999999997 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:266.56, Y:-0.71, Z:-2.01 [[ 9.99821870e-01 1.54620629e-02 1.08237567e-02 2.66561876e+02] [-1.54620212e-02 9.99880452e-01 -8.75371632e-05 -7.09499228e-01] [-1.08238162e-02 -7.98355851e-05 9.99941418e-01 -2.00563795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.57592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:266.59, Y:-0.71, Z:-2.01 [[ 9.99777329e-01 1.81147807e-02 1.08234897e-02 2.66593985e+02] [-1.81146179e-02 9.99835910e-01 -1.13090961e-04 -7.06708055e-01] [-1.08237623e-02 -8.29976006e-05 9.99941418e-01 -2.00522984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.60591999999997 meters Centerline goodness : 0.998559 Centerline is valid? [True, True] Translation: X:266.63, Y:-0.70, Z:-1.99 [[ 9.99740871e-01 2.00260517e-02 1.08234742e-02 2.66625569e+02] [-2.00259850e-02 9.99799453e-01 -1.14551616e-04 -7.01731445e-01] [-1.08235976e-02 -1.02228800e-04 9.99941418e-01 -1.99181413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.63592 meters Centerline goodness : 0.998559 Centerline is valid? [True, True] Translation: X:266.66, Y:-0.70, Z:-1.99 [[ 9.99739492e-01 2.00948451e-02 1.08233280e-02 2.66657231e+02] [-2.00946364e-02 9.99798074e-01 -1.28040275e-04 -7.02065699e-01] [-1.08237154e-02 -8.94839208e-05 9.99941418e-01 -1.99215693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.66591999999997 meters Centerline goodness : 0.998907 Centerline is valid? [True, True] Translation: X:266.69, Y:-0.70, Z:-1.99 [[ 9.99710512e-01 2.14883397e-02 1.08233206e-02 2.66689552e+02] [-2.14882054e-02 9.99769094e-01 -1.28712682e-04 -6.99921813e-01] [-1.08235873e-02 -1.03898315e-04 9.99941418e-01 -1.99406472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.69592 meters Centerline goodness : 0.998412 Centerline is valid? [True, True] Translation: X:266.72, Y:-0.70, Z:-1.99 [[ 9.99696383e-01 2.21358130e-02 1.08234808e-02 2.66721705e+02] [-2.21358712e-02 9.99754965e-01 -1.14435514e-04 -6.97931161e-01] [-1.08233618e-02 -1.25186408e-04 9.99941418e-01 -1.99390498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.72592 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:266.75, Y:-0.70, Z:-2.01 [[ 9.99622819e-01 2.52402925e-02 1.08234912e-02 2.66752703e+02] [-2.52405425e-02 9.99681400e-01 -1.13521893e-04 -6.95335856e-01] [-1.08229082e-02 -1.59711716e-04 9.99941418e-01 -2.00678312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.75591999999995 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:266.78, Y:-0.69, Z:-2.01 [[ 9.99624467e-01 2.51749841e-02 1.08233361e-02 2.66784810e+02] [-2.51750868e-02 9.99683049e-01 -1.26768991e-04 -6.89345889e-01] [-1.08230970e-02 -1.45757041e-04 9.99941418e-01 -2.00685631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.78592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:266.82, Y:-0.69, Z:-2.01 [[ 9.99631907e-01 2.48778349e-02 1.08233188e-02 2.66817434e+02] [-2.48779045e-02 9.99690489e-01 -1.28225043e-04 -6.86657066e-01] [-1.08231589e-02 -1.41083648e-04 9.99941418e-01 -2.00752614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.81591999999995 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:266.85, Y:-0.68, Z:-2.01 [[ 9.99649959e-01 2.41415554e-02 1.08233016e-02 2.66849156e+02] [-2.41415663e-02 9.99708542e-01 -1.29665974e-04 -6.84877347e-01] [-1.08232774e-02 -1.31670866e-04 9.99941418e-01 -2.00744297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.84592 meters Centerline goodness : 0.998064 Centerline is valid? [True, True] Translation: X:266.88, Y:-0.68, Z:-2.00 [[ 9.99699312e-01 2.20032461e-02 1.08232840e-02 2.66881514e+02] [-2.20031160e-02 9.99757894e-01 -1.31116843e-04 -6.81131227e-01] [-1.08235486e-02 -1.07068555e-04 9.99941418e-01 -1.99899192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.87591999999995 meters Centerline goodness : 0.998959 Centerline is valid? [True, True] Translation: X:266.91, Y:-0.68, Z:-2.01 [[ 9.99755459e-01 1.92846662e-02 1.08223877e-02 2.66911580e+02] [-1.92835747e-02 9.99814034e-01 -2.05203002e-04 -6.80589822e-01] [-1.08243324e-02 -3.54150066e-06 9.99941415e-01 -2.00986887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.90592 meters Centerline goodness : 0.997070 Centerline is valid? [True, True] Translation: X:266.94, Y:-0.68, Z:-2.00 [[ 9.99801078e-01 1.67529094e-02 1.08232904e-02 2.66943703e+02] [-1.67524824e-02 9.99859659e-01 -1.30114697e-04 -6.78494107e-01] [-1.08239513e-02 -5.12281673e-05 9.99941418e-01 -1.99856724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.93591999999995 meters Centerline goodness : 0.997072 Centerline is valid? [True, True] Translation: X:266.97, Y:-0.68, Z:-2.00 [[ 9.99832257e-01 1.47759368e-02 1.08226125e-02 2.66973731e+02] [-1.47747969e-02 9.99890830e-01 -1.85275299e-04 -6.77949925e-01] [-1.08241686e-02 2.53423188e-05 9.99941417e-01 -2.00112113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.96592 meters Centerline goodness : 0.998361 Centerline is valid? [True, True] Translation: X:267.00, Y:-0.68, Z:-2.01 [[ 9.99837937e-01 1.43858784e-02 1.08234549e-02 2.67004909e+02] [-1.43854592e-02 9.99896517e-01 -1.16581136e-04 -6.77325349e-01] [-1.08240120e-02 -3.91381275e-05 9.99941418e-01 -2.01164667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.99591999999996 meters Centerline goodness : 0.995685 Centerline is valid? [True, True] Translation: X:267.04, Y:-0.68, Z:-2.00 [[ 9.99880709e-01 1.10193172e-02 1.08232190e-02 2.67035274e+02] [-1.10184967e-02 9.99939285e-01 -1.35439775e-04 -6.76490232e-01] [-1.08240543e-02 1.61680159e-05 9.99941418e-01 -2.00055483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.02592 meters Centerline goodness : 0.997962 Centerline is valid? [True, True] Translation: X:267.07, Y:-0.68, Z:-2.01 [[ 9.99889003e-01 1.02386301e-02 1.08237127e-02 2.67066833e+02] [-1.02381888e-02 9.99947584e-01 -9.61791770e-05 -6.76347564e-01] [-1.08241301e-02 -1.46467129e-05 9.99941417e-01 -2.01272429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.05591999999996 meters Centerline goodness : 0.997363 Centerline is valid? [True, True] Translation: X:267.10, Y:-0.68, Z:-2.01 [[ 9.99895165e-01 9.61867901e-03 1.08231345e-02 2.67099069e+02] [-9.61771985e-03 9.99953739e-01 -1.40668101e-04 -6.76734196e-01] [-1.08239869e-02 3.65594780e-05 9.99941418e-01 -2.01357562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.08592 meters Centerline goodness : 0.997169 Centerline is valid? [True, True] Translation: X:267.13, Y:-0.68, Z:-2.01 [[ 9.99895556e-01 9.57793878e-03 1.08231159e-02 2.67132115e+02] [-9.57696185e-03 9.99954130e-01 -1.42088741e-04 -6.77988430e-01] [-1.08239803e-02 3.84213328e-05 9.99941418e-01 -2.01410241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.11591999999996 meters Centerline goodness : 0.997617 Centerline is valid? [True, True] Translation: X:267.16, Y:-0.68, Z:-2.02 [[ 9.99886607e-01 1.04706115e-02 1.08230875e-02 2.67163989e+02] [-1.04696638e-02 9.99945181e-01 -1.44220287e-04 -6.78121226e-01] [-1.08240042e-02 3.08898468e-05 9.99941418e-01 -2.01574686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.14592 meters Centerline goodness : 0.997269 Centerline is valid? [True, True] Translation: X:267.20, Y:-0.68, Z:-2.02 [[ 9.99874479e-01 1.15709658e-02 1.08230682e-02 2.67195950e+02] [-1.15700671e-02 9.99933054e-01 -1.45648080e-04 -6.78538785e-01] [-1.08240290e-02 2.04061724e-05 9.99941418e-01 -2.01551172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.17591999999996 meters Centerline goodness : 0.993841 Centerline is valid? [True, True] Translation: X:267.23, Y:-0.68, Z:-2.00 [[ 9.99841768e-01 1.41174153e-02 1.08230488e-02 2.67227870e+02] [-1.41166503e-02 9.99900344e-01 -1.47079476e-04 -6.79487364e-01] [-1.08240466e-02 -5.72899162e-06 9.99941418e-01 -1.99961919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.20592 meters Centerline goodness : 0.993445 Centerline is valid? [True, True] Translation: X:267.26, Y:-0.68, Z:-2.00 [[ 9.99805317e-01 1.64983272e-02 1.08227864e-02 2.67259954e+02] [-1.64974943e-02 9.99863893e-01 -1.66236005e-04 -6.80099690e-01] [-1.08240560e-02 -1.23452155e-05 9.99941418e-01 -2.00086430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.23591999999996 meters Centerline goodness : 0.993440 Centerline is valid? [True, True] Translation: X:267.29, Y:-0.68, Z:-2.00 [[ 9.99744151e-01 1.98621445e-02 1.08225539e-02 2.67291823e+02] [-1.98613288e-02 9.99802728e-01 -1.82854601e-04 -6.80707771e-01] [-1.08240508e-02 -3.21424837e-05 9.99941418e-01 -2.00236234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.26592 meters Centerline goodness : 0.993970 Centerline is valid? [True, True] Translation: X:267.32, Y:-0.68, Z:-2.00 [[ 9.99716828e-01 2.11929335e-02 1.08223972e-02 2.67324266e+02] [-2.11920767e-02 9.99775404e-01 -1.93859548e-04 -6.81873485e-01] [-1.08240750e-02 -3.55444201e-05 9.99941417e-01 -2.00284670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.29591999999997 meters Centerline goodness : 0.996422 Centerline is valid? [True, True] Translation: X:267.36, Y:-0.68, Z:-2.02 [[ 9.99672602e-01 2.31854185e-02 1.08224189e-02 2.67355353e+02] [-2.31846948e-02 9.99731180e-01 -1.92350960e-04 -6.83095300e-01] [-1.08239694e-02 -5.86264949e-05 9.99941417e-01 -2.01697954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.32592 meters Centerline goodness : 0.993046 Centerline is valid? [True, True] Translation: X:267.39, Y:-0.68, Z:-2.00 [[ 9.99685566e-01 2.26193257e-02 1.08229481e-02 2.67386891e+02] [-2.26189674e-02 9.99744146e-01 -1.55521892e-04 -6.83649241e-01] [-1.08236969e-02 -8.93309208e-05 9.99941418e-01 -2.00188105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.35591999999997 meters Centerline goodness : 0.995829 Centerline is valid? [True, True] Translation: X:267.42, Y:-0.68, Z:-2.02 [[ 9.99619863e-01 2.53574782e-02 1.08225317e-02 2.67417289e+02] [-2.53569708e-02 9.99678443e-01 -1.84118471e-04 -6.83713939e-01] [-1.08237204e-02 -9.03781393e-05 9.99941418e-01 -2.01626296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.38592 meters Centerline goodness : 0.992600 Centerline is valid? [True, True] Translation: X:267.45, Y:-0.68, Z:-2.00 [[ 9.99612736e-01 2.56367262e-02 1.08229284e-02 2.67448132e+02] [-2.56365318e-02 9.99671318e-01 -1.56718455e-04 -6.84258206e-01] [-1.08233889e-02 -1.20804586e-04 9.99941418e-01 -2.00205210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.41591999999997 meters Centerline goodness : 0.992743 Centerline is valid? [True, True] Translation: X:267.48, Y:-0.68, Z:-2.00 [[ 9.99538697e-01 2.83770411e-02 1.08230132e-02 2.67480041e+02] [-2.83770702e-02 9.99597278e-01 -1.50908057e-04 -6.83620329e-01] [-1.08229369e-02 -1.56286963e-04 9.99941418e-01 -2.00221278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.44592 meters Centerline goodness : 0.993896 Centerline is valid? [True, True] Translation: X:267.51, Y:-0.68, Z:-2.01 [[ 9.99373744e-01 3.36896122e-02 1.08226363e-02 2.67505214e+02] [-3.36896777e-02 9.99432326e-01 -1.76311299e-04 -6.79680068e-01] [-1.08224325e-02 -1.88410246e-04 9.99941418e-01 -2.00560562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.47592 meters Centerline goodness : 0.992894 Centerline is valid? [True, True] Translation: X:267.54, Y:-0.68, Z:-2.00 [[ 9.99378064e-01 3.35597352e-02 1.08272782e-02 2.67542027e+02] [-3.35630202e-02 9.99436596e-01 1.21788837e-04 -6.79115131e-01] [-1.08170908e-02 -4.85109247e-04 9.99941376e-01 -2.00338281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.50591999999995 meters Centerline goodness : 0.762512 Centerline is valid? [True, False] Translation: X:267.54, Y:-0.68, Z:-2.00 [[ 9.99785437e-01 1.83018887e-02 9.70160855e-03 2.67543492e+02] [-1.83487707e-02 9.99820290e-01 4.76560869e-03 -6.83915217e-01] [-9.61264543e-03 -4.94259876e-03 9.99941582e-01 -2.00353419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.53592 meters Centerline goodness : 0.995274 Centerline is valid? [False, True] Translation: X:267.55, Y:-0.69, Z:-2.00 [[ 9.99965346e-01 5.99757926e-03 5.77374763e-03 2.67546634e+02] [-6.06670547e-03 9.99909228e-01 1.20303808e-02 -6.87934378e-01] [-5.70107038e-03 -1.20649915e-02 9.99910963e-01 -2.00349143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.56591999999995 meters Centerline goodness : 0.992406 Centerline is valid? [True, True] Translation: X:267.58, Y:-0.67, Z:-1.99 [[ 9.99976356e-01 3.42918975e-03 5.96060858e-03 2.67577584e+02] [-3.42980555e-03 9.99994114e-01 9.30925182e-05 -6.73424161e-01] [-5.96025426e-03 -1.13534045e-04 9.99982231e-01 -1.98962789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.59592 meters Centerline goodness : 0.993342 Centerline is valid? [True, True] Translation: X:267.61, Y:-0.66, Z:-2.00 [[ 9.99765799e-01 2.08043692e-02 5.96033643e-03 2.67610366e+02] [-2.08053980e-02 9.99783538e-01 1.10639335e-04 -6.60919413e-01] [-5.95674446e-03 -2.34620594e-04 9.99982231e-01 -1.99864753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.62591999999995 meters Centerline goodness : 0.995389 Centerline is valid? [True, True] Translation: X:267.64, Y:-0.66, Z:-2.00 [[ 9.99977954e-01 2.92520515e-03 5.96103062e-03 2.67640694e+02] [-2.92564870e-03 9.99995718e-01 6.56910061e-05 -6.64601985e-01] [-5.96081294e-03 -8.31294395e-05 9.99982231e-01 -2.00280540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.65592 meters Centerline goodness : 0.992651 Centerline is valid? [True, True] Translation: X:267.67, Y:-0.66, Z:-1.99 [[ 9.99982235e-01 -2.56034964e-05 5.96063391e-03 2.67672058e+02] [ 2.50583818e-05 9.99999995e-01 9.15271245e-05 -6.61240040e-01] [-5.96063622e-03 -9.13761347e-05 9.99982231e-01 -1.99172509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.68591999999995 meters Centerline goodness : 0.994338 Centerline is valid? [True, True] Translation: X:267.70, Y:-0.66, Z:-2.00 [[ 9.99961587e-01 6.42637317e-03 5.96043464e-03 2.67702680e+02] [-6.42711217e-03 9.99979340e-01 1.04838321e-04 -6.55965616e-01] [-5.95963777e-03 -1.43142676e-04 9.99982231e-01 -1.99880060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.71592 meters Centerline goodness : 0.994938 Centerline is valid? [True, True] Translation: X:267.74, Y:-0.65, Z:-2.00 [[ 9.99981907e-01 -8.13054006e-04 5.96017776e-03 2.67736431e+02] [ 8.12339980e-04 9.99999663e-01 1.22219310e-04 -6.52808351e-01] [-5.96027512e-03 -1.17375408e-04 9.99982231e-01 -2.00360728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.74591999999996 meters Centerline goodness : 0.991913 Centerline is valid? [True, True] Translation: X:267.77, Y:-0.65, Z:-1.99 [[ 9.99977143e-01 -3.19114701e-03 5.96071707e-03 2.67766958e+02] [ 3.19070354e-03 9.99994906e-01 8.39069736e-05 -6.50255504e-01] [-5.96095447e-03 -6.48861747e-05 9.99982231e-01 -1.99067194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.77592 meters Centerline goodness : 0.995086 Centerline is valid? [True, True] Translation: X:267.80, Y:-0.65, Z:-2.01 [[ 9.99977073e-01 -3.21366551e-03 5.96033065e-03 2.67800433e+02] [ 3.21305537e-03 9.99994832e-01 1.11940940e-04 -6.47649598e-01] [-5.96065959e-03 -9.27875013e-05 9.99982231e-01 -2.00536019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.80591999999996 meters Centerline goodness : 0.810974 Centerline is valid? [True, False] Translation: X:267.78, Y:-0.64, Z:-2.01 [[ 9.99933645e-01 -3.92658711e-04 1.15130991e-02 2.67778220e+02] [ 4.85195501e-04 9.99967594e-01 -8.03583105e-03 -6.38347923e-01] [-1.15095706e-02 8.04088394e-03 9.99901432e-01 -2.00914686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.83592 meters Centerline goodness : 0.863463 Centerline is valid? [False, False] Translation: X:267.78, Y:-0.63, Z:-2.01 [[ 9.99941699e-01 -2.39174586e-03 1.05299063e-02 2.67783559e+02] [ 2.50748963e-03 9.99936437e-01 -1.09924634e-02 -6.34019101e-01] [-1.05029458e-02 1.10182262e-02 9.99884137e-01 -2.01374639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.86591999999996 meters Centerline goodness : 0.992598 Centerline is valid? [False, True] Translation: X:267.78, Y:-0.63, Z:-2.01 [[ 9.99942213e-01 -2.32482853e-03 1.04960152e-02 2.67783725e+02] [ 2.44196383e-03 9.99934732e-01 -1.11609898e-02 -6.33074644e-01] [-1.04693828e-02 1.11859757e-02 9.99882626e-01 -2.01384043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.89592 meters Centerline goodness : 0.991462 Centerline is valid? [True, True] Translation: X:267.82, Y:-0.64, Z:-2.01 [[ 9.99938943e-01 -3.68644124e-03 1.04173178e-02 2.67815145e+02] [ 3.68594444e-03 9.99993205e-01 6.68883944e-05 -6.42101052e-01] [-1.04174936e-02 -2.84866558e-05 9.99945736e-01 -2.01250883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.92591999999996 meters Centerline goodness : 0.993399 Centerline is valid? [True, True] Translation: X:267.85, Y:-0.64, Z:-2.02 [[ 9.99934144e-01 -4.81607830e-03 1.04169994e-02 2.67847605e+02] [ 4.81514166e-03 9.99988401e-01 1.14993502e-04 -6.41718537e-01] [-1.04174324e-02 -6.48266006e-05 9.99945735e-01 -2.01532940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.95592 meters Centerline goodness : 0.995483 Centerline is valid? [True, True] Translation: X:267.88, Y:-0.64, Z:-2.03 [[ 9.99941290e-01 -2.98343392e-03 1.04170887e-02 2.67879965e+02] [ 2.98254864e-03 9.99995547e-01 1.00517332e-04 -6.41271534e-01] [-1.04173422e-02 -6.94419572e-05 9.99945736e-01 -2.02693003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.98591999999996 meters Centerline goodness : 0.995980 Centerline is valid? [True, True] Translation: X:267.91, Y:-0.64, Z:-2.03 [[ 9.99942723e-01 -2.45579361e-03 1.04173239e-02 2.67912500e+02] [ 2.45531263e-03 9.99996984e-01 5.89599740e-05 -6.41630135e-01] [-1.04174373e-02 -3.33788101e-05 9.99945736e-01 -2.02814123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.01592 meters Centerline goodness : 0.993184 Centerline is valid? [True, True] Translation: X:267.94, Y:-0.64, Z:-2.01 [[ 9.99941814e-01 -2.80142574e-03 1.04173487e-02 2.67942935e+02] [ 2.80101314e-03 9.99996076e-01 5.41965740e-05 -6.41488466e-01] [-1.04174596e-02 -2.50142900e-05 9.99945736e-01 -2.01447908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.04591999999997 meters Centerline goodness : 0.993541 Centerline is valid? [True, True] Translation: X:267.97, Y:-0.64, Z:-2.02 [[ 9.99945739e-01 -4.82449288e-05 1.04171160e-02 2.67974819e+02] [ 4.72171244e-05 9.99999994e-01 9.89108809e-05 -6.40810484e-01] [-1.04171207e-02 -9.84136476e-05 9.99945735e-01 -2.01552663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.07592 meters Centerline goodness : 0.994343 Centerline is valid? [True, True] Translation: X:268.01, Y:-0.64, Z:-2.02 [[ 9.99929872e-01 5.63321048e-03 1.04172436e-02 2.68008345e+02] [-5.63427642e-03 9.99984125e-01 7.29800812e-05 -6.39356734e-01] [-1.04166671e-02 -1.31668593e-04 9.99945736e-01 -2.01643496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.10591999999997 meters Centerline goodness : 0.996675 Centerline is valid? [True, True] Translation: X:268.04, Y:-0.64, Z:-2.03 [[ 9.99896544e-01 9.91855396e-03 1.04174390e-02 2.68039469e+02] [-9.91940068e-03 9.99950801e-01 2.96123886e-05 -6.37518566e-01] [-1.04166328e-02 -1.32944077e-04 9.99945737e-01 -2.02803375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.13592 meters Centerline goodness : 0.994440 Centerline is valid? [True, True] Translation: X:268.07, Y:-0.64, Z:-2.02 [[ 9.99882480e-01 1.12474631e-02 1.04173755e-02 2.68070053e+02] [-1.12485369e-02 9.99936732e-01 4.44864614e-05 -6.36285930e-01] [-1.04162160e-02 -1.61661466e-04 9.99945737e-01 -2.01657479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.16591999999997 meters Centerline goodness : 0.996477 Centerline is valid? [True, True] Translation: X:268.10, Y:-0.63, Z:-2.03 [[ 9.99796165e-01 1.72946944e-02 1.04173891e-02 2.68101879e+02] [-1.72960629e-02 9.99850411e-01 4.12851402e-05 -6.32005219e-01] [-1.04151167e-02 -2.21456542e-04 9.99945737e-01 -2.02942527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.19592 meters Centerline goodness : 0.994287 Centerline is valid? [True, True] Translation: X:268.13, Y:-0.63, Z:-2.02 [[ 9.99792913e-01 1.74816657e-02 1.04173825e-02 2.68134002e+02] [-1.74830611e-02 9.99847159e-01 4.28847119e-05 -6.30109551e-01] [-1.04150406e-02 -2.25003565e-04 9.99945737e-01 -2.01855305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.22592 meters Centerline goodness : 0.995081 Centerline is valid? [True, True] Translation: X:268.16, Y:-0.63, Z:-2.02 [[ 9.99782602e-01 1.80616578e-02 1.04175626e-02 2.68163922e+02] [-1.80625970e-02 9.99836858e-01 -3.92794701e-06 -6.28207727e-01] [-1.04159340e-02 -1.84241142e-04 9.99945736e-01 -2.02092872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.25591999999995 meters Centerline goodness : 0.998115 Centerline is valid? [True, True] Translation: X:268.20, Y:-0.63, Z:-2.03 [[ 9.99759989e-01 1.92729280e-02 1.04172587e-02 2.68196190e+02] [-1.92748127e-02 9.99814220e-01 8.05389961e-05 -6.25049462e-01] [-1.04137711e-02 -2.81310375e-04 9.99945736e-01 -2.03056630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.28592 meters Centerline goodness : 0.997114 Centerline is valid? [True, True] Translation: X:268.23, Y:-0.62, Z:-2.02 [[ 9.99810574e-01 1.64405958e-02 1.04174099e-02 2.68228214e+02] [-1.64418363e-02 9.99864823e-01 3.34481848e-05 -6.24295295e-01] [-1.04154518e-02 -2.04723197e-04 9.99945737e-01 -2.01963701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.31591999999995 meters Centerline goodness : 0.998809 Centerline is valid? [True, True] Translation: X:268.26, Y:-0.62, Z:-2.02 [[ 9.99854847e-01 1.34818843e-02 1.04175060e-02 2.68259672e+02] [-1.34826361e-02 9.99909105e-01 1.94354514e-06 -6.23996937e-01] [-1.04165329e-02 -1.42398705e-04 9.99945736e-01 -2.02022996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.34592 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:268.29, Y:-0.62, Z:-2.02 [[ 9.99853980e-01 1.35461153e-02 1.04173235e-02 2.68292156e+02] [-1.35475141e-02 9.99908226e-01 6.37200231e-05 -6.22918731e-01] [-1.04155043e-02 -2.04839556e-04 9.99945736e-01 -2.01901730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.37591999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.32, Y:-0.62, Z:-2.03 [[ 9.99853023e-01 1.36165020e-02 1.04174444e-02 2.68322549e+02] [-1.36174154e-02 9.99907279e-01 1.67572175e-05 -6.22183376e-01] [-1.04162503e-02 -1.58613423e-04 9.99945737e-01 -2.03231405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.40592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:268.35, Y:-0.62, Z:-2.02 [[ 9.99885380e-01 1.09865461e-02 1.04174191e-02 2.68352861e+02] [-1.09874199e-02 9.99939636e-01 2.66430701e-05 -6.22336827e-01] [-1.04164976e-02 -1.41100574e-04 9.99945737e-01 -2.02433555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.43591999999995 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:268.38, Y:-0.63, Z:-2.02 [[ 9.99917054e-01 7.57386374e-03 1.04173497e-02 2.68384191e+02] [-7.57484960e-03 9.99971309e-01 5.51831660e-05 -6.25084461e-01] [-1.04166328e-02 -1.34088446e-04 9.99945736e-01 -2.02188709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.46592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.42, Y:-0.63, Z:-2.04 [[ 9.99917594e-01 7.50233921e-03 1.04172872e-02 2.68416575e+02] [-7.50362951e-03 9.99971844e-01 8.47817171e-05 -6.27383249e-01] [-1.04163578e-02 -1.62942194e-04 9.99945735e-01 -2.03554515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.49591999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.45, Y:-0.63, Z:-2.04 [[ 9.99932710e-01 5.10431566e-03 1.04174076e-02 2.68449613e+02] [-5.10479160e-03 9.99986970e-01 1.90967034e-05 -6.30992934e-01] [-1.04171744e-02 -7.22741134e-05 9.99945737e-01 -2.03600998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.52592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:268.48, Y:-0.63, Z:-2.04 [[ 9.99939012e-01 3.66740956e-03 1.04174148e-02 2.68481958e+02] [-3.66775059e-03 9.99993274e-01 1.36323238e-05 -6.32853626e-01] [-1.04172947e-02 -5.18399717e-05 9.99945737e-01 -2.03686706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.55591999999996 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:268.52, Y:-0.63, Z:-2.04 [[ 9.99938268e-01 3.86498970e-03 1.04174164e-02 2.68515466e+02] [-3.86532724e-03 9.99992530e-01 1.22673183e-05 -6.32759551e-01] [-1.04172912e-02 -5.25332844e-05 9.99945737e-01 -2.03721606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.58592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:268.55, Y:-0.63, Z:-2.03 [[ 9.99944145e-01 1.78433460e-03 1.04174184e-02 2.68545959e+02] [-1.78453779e-03 9.99998408e-01 1.02089533e-05 -6.34994755e-01] [-1.04173836e-02 -2.87986600e-05 9.99945737e-01 -2.02729882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.61591999999996 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:268.58, Y:-0.64, Z:-2.02 [[ 9.99945069e-01 1.15654799e-03 1.04173879e-02 2.68578316e+02] [-1.15706049e-03 9.99999330e-01 4.31700061e-05 -6.37824089e-01] [-1.04173310e-02 -5.52211827e-05 9.99945737e-01 -2.02356688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.64592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:268.61, Y:-0.64, Z:-2.03 [[ 9.99939683e-01 3.47981515e-03 1.04173854e-02 2.68610590e+02] [-3.48050154e-03 9.99993942e-01 4.77597676e-05 -6.38123632e-01] [-1.04171561e-02 -8.40146126e-05 9.99945736e-01 -2.02750529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.67591999999996 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:268.64, Y:-0.64, Z:-2.03 [[ 9.99938628e-01 3.77066643e-03 1.04173871e-02 2.68643251e+02] [-3.77120459e-03 9.99992888e-01 3.20167172e-05 -6.39559226e-01] [-1.04171923e-02 -7.13008501e-05 9.99945737e-01 -2.02514804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.70592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:268.68, Y:-0.64, Z:-2.04 [[ 9.99899105e-01 9.65698081e-03 1.04173869e-02 2.68675812e+02] [-9.65782804e-03 9.99953362e-01 3.10234693e-05 -6.43395045e-01] [-1.04166015e-02 -1.31629671e-04 9.99945737e-01 -2.03842532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.73591999999996 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:268.71, Y:-0.65, Z:-2.02 [[ 9.99908194e-01 8.66502012e-03 1.04173757e-02 2.68706804e+02] [-8.66545478e-03 9.99962454e-01 -3.41285884e-06 -6.45238539e-01] [-1.04170141e-02 -8.68587521e-05 9.99945738e-01 -2.02488127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.76592 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:268.74, Y:-0.65, Z:-2.02 [[ 9.99886642e-01 1.08711483e-02 1.04173806e-02 2.68739437e+02] [-1.08718064e-02 9.99940900e-01 6.54324724e-06 -6.45909548e-01] [-1.04166938e-02 -1.19798250e-04 9.99945738e-01 -2.02479963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.79591999999997 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:268.77, Y:-0.65, Z:-2.04 [[ 9.99858146e-01 1.32350380e-02 1.04173741e-02 2.68771328e+02] [-1.32357170e-02 9.99912404e-01 -3.76796518e-06 -6.46314653e-01] [-1.04165114e-02 -1.34113984e-04 9.99945738e-01 -2.03944021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.82592 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:268.80, Y:-0.65, Z:-2.02 [[ 9.99840660e-01 1.44959511e-02 1.04173714e-02 2.68801820e+02] [-1.44966593e-02 9.99894918e-01 -7.52833355e-06 -6.48410947e-01] [-1.04163858e-02 -1.43489950e-04 9.99945738e-01 -2.02490869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.85591999999997 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:268.83, Y:-0.65, Z:-2.03 [[ 9.99803961e-01 1.68379725e-02 1.04173935e-02 2.68833069e+02] [-1.68391228e-02 9.99858212e-01 2.27143526e-05 -6.50649005e-01] [-1.04155340e-02 -1.98129668e-04 9.99945737e-01 -2.02770830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.88592 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:268.87, Y:-0.65, Z:-2.03 [[ 9.99749834e-01 1.97926024e-02 1.04173875e-02 2.68865873e+02] [-1.97938373e-02 9.99804083e-01 1.54401049e-05 -6.51425130e-01] [-1.04150410e-02 -2.21636317e-04 9.99945737e-01 -2.02907523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.91591999999997 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:268.89, Y:-0.65, Z:-2.03 [[ 9.99684429e-01 2.28587143e-02 1.04173603e-02 2.68894377e+02] [-2.28598825e-02 9.99738679e-01 -6.93244620e-06 -6.50708659e-01] [-1.04147965e-02 -2.31209373e-04 9.99945738e-01 -2.02735721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.94592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:268.93, Y:-0.65, Z:-2.04 [[ 9.99491355e-01 3.01414358e-02 1.04175361e-02 2.68928621e+02] [-3.01442869e-02 9.99545551e-01 1.16741639e-04 -6.49500017e-01] [-1.04092831e-02 -4.30711455e-04 9.99945729e-01 -2.04125417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.97592 meters Centerline goodness : 0.998806 Centerline is valid? [True, True] Translation: X:268.96, Y:-0.65, Z:-2.03 [[ 9.99456036e-01 3.12907738e-02 1.04172611e-02 2.68960860e+02] [-3.12922549e-02 9.99510277e-01 -2.08335254e-05 -6.48022563e-01] [-1.04128114e-02 -3.05157395e-04 9.99945739e-01 -2.03099663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.00591999999995 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:268.99, Y:-0.65, Z:-2.04 [[ 9.99214962e-01 3.82222662e-02 1.04172030e-02 2.68992127e+02] [-3.82238385e-02 9.99269201e-01 -4.82021080e-05 -6.45275893e-01] [-1.04114326e-02 -3.50021219e-04 9.99945738e-01 -2.04305288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.03592 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:269.03, Y:-0.64, Z:-2.03 [[ 9.99169358e-01 3.93963720e-02 1.04172584e-02 2.69025427e+02] [-3.93982815e-02 9.99223586e-01 -2.19242583e-05 -6.41546923e-01] [-1.04100340e-02 -3.88516030e-04 9.99945739e-01 -2.03251268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.06591999999995 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:269.06, Y:-0.64, Z:-2.03 [[ 9.99013158e-01 4.31762988e-02 1.04171364e-02 2.69058641e+02] [-4.31778897e-02 9.99067397e-01 -7.22364630e-05 -6.35632381e-01] [-1.04105402e-02 -3.77624789e-04 9.99945738e-01 -2.03284909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.09592 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:269.09, Y:-0.63, Z:-2.03 [[ 9.99008653e-01 4.32804314e-02 1.04170654e-02 2.69090295e+02] [-4.32816964e-02 9.99062903e-01 -1.04078380e-04 -6.33444109e-01] [-1.04118081e-02 -3.46893058e-04 9.99945735e-01 -2.03300114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.12591999999995 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:269.12, Y:-0.63, Z:-2.03 [[ 9.98998582e-01 4.35122682e-02 1.04170838e-02 2.69122259e+02] [-4.35136364e-02 9.99052829e-01 -9.53773893e-05 -6.31237870e-01] [-1.04113672e-02 -3.58003321e-04 9.99945736e-01 -2.03383469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.15592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:269.15, Y:-0.63, Z:-2.05 [[ 9.99068316e-01 4.18805989e-02 1.04171019e-02 2.69152972e+02] [-4.18819694e-02 9.99122562e-01 -8.66525697e-05 -6.26769873e-01] [-1.04115906e-02 -3.49716907e-04 9.99945737e-01 -2.04508392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.18591999999995 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:269.18, Y:-0.62, Z:-2.03 [[ 9.99241301e-01 3.75273693e-02 1.04172346e-02 2.69184317e+02] [-3.75291863e-02 9.99295532e-01 -2.10721778e-05 -6.23353819e-01] [-1.04106868e-02 -3.69894148e-04 9.99945739e-01 -2.03395452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.21592 meters Centerline goodness : 0.999303 Centerline is valid? [True, True] Translation: X:269.22, Y:-0.62, Z:-2.03 [[ 9.99337485e-01 3.48722286e-02 1.04171925e-02 2.69216876e+02] [-3.48737008e-02 9.99391727e-01 -4.03441095e-05 -6.20888218e-01] [-1.04122629e-02 -3.22968675e-04 9.99945739e-01 -2.03356885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.24591999999996 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:269.25, Y:-0.62, Z:-2.04 [[ 9.99374141e-01 3.38054634e-02 1.04171683e-02 2.69248032e+02] [-3.38067599e-02 9.99428387e-01 -5.16554079e-05 -6.19741086e-01] [-1.04129600e-02 -3.00547630e-04 9.99945738e-01 -2.04449221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.27592 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:269.28, Y:-0.62, Z:-2.04 [[ 9.99566302e-01 2.75443141e-02 1.04172313e-02 2.69280064e+02] [-2.75455753e-02 9.99620548e-01 -2.24168306e-05 -6.17826690e-01] [-1.04138959e-02 -2.64541520e-04 9.99945739e-01 -2.03525651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.30591999999996 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:269.31, Y:-0.62, Z:-2.03 [[ 9.99614391e-01 2.57400682e-02 1.04171892e-02 2.69311136e+02] [-2.57410507e-02 9.99668643e-01 -3.97812109e-05 -6.17400190e-01] [-1.04147613e-02 -2.28383523e-04 9.99945739e-01 -2.03444757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.33592 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:269.34, Y:-0.62, Z:-2.04 [[ 9.99687728e-01 2.27140579e-02 1.04172046e-02 2.69343620e+02] [-2.27149398e-02 9.99741982e-01 -3.36632749e-05 -6.16536876e-01] [-1.04152814e-02 -2.02973412e-04 9.99945739e-01 -2.03547048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.36591999999996 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:269.38, Y:-0.61, Z:-2.05 [[ 9.99719168e-01 2.12853407e-02 1.04172906e-02 2.69375826e+02] [-2.12864761e-02 9.99773417e-01 -1.89117919e-06 -6.14522776e-01] [-1.04149704e-02 -2.19856758e-04 9.99945739e-01 -2.04855046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.39592 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:269.41, Y:-0.61, Z:-2.04 [[ 9.99766591e-01 1.89273764e-02 1.04172049e-02 2.69407526e+02] [-1.89280822e-02 9.99820847e-01 -3.08387796e-05 -6.14864004e-01] [-1.04159223e-02 -1.66346128e-04 9.99945739e-01 -2.03761890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.42591999999996 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:269.44, Y:-0.62, Z:-2.04 [[ 9.99797151e-01 1.72377332e-02 1.04171918e-02 2.69439987e+02] [-1.72383023e-02 9.99851409e-01 -3.51592546e-05 -6.15736778e-01] [-1.04162499e-02 -1.44422579e-04 9.99945739e-01 -2.03734032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.45592 meters Centerline goodness : 0.906365 Centerline is valid? [True, False] Translation: X:269.47, Y:-0.62, Z:-2.03 [[ 9.99990855e-01 2.96146714e-03 3.08538557e-03 2.69472540e+02] [-2.95522095e-03 9.99993579e-01 -2.02703895e-03 -6.17350200e-01] [-3.09136877e-03 2.01790242e-03 9.99993186e-01 -2.03477877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.48591999999996 meters Centerline goodness : 0.999901 Centerline is valid? [False, True] Translation: X:269.47, Y:-0.61, Z:-2.03 [[ 9.99994750e-01 -1.16198230e-03 3.02494650e-03 2.69472730e+02] [ 1.18379731e-03 9.99973235e-01 -7.21992761e-03 -6.12919374e-01] [-3.01647611e-03 7.22347063e-03 9.99969361e-01 -2.03471638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.51592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.51, Y:-0.62, Z:-2.04 [[ 9.99993568e-01 -2.07420443e-03 2.92592416e-03 2.69505198e+02] [ 2.07409645e-03 9.99997848e-01 3.99397869e-05 -6.19976437e-01] [-2.92600070e-03 -3.38708811e-05 9.99995719e-01 -2.03639250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.54591999999997 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:269.54, Y:-0.62, Z:-2.04 [[ 9.99995336e-01 -8.75268535e-04 2.92592934e-03 2.69537730e+02] [ 8.75156540e-04 9.99999616e-01 3.95567111e-05 -6.19848940e-01] [-2.92596284e-03 -3.69958804e-05 9.99995719e-01 -2.03661846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.57592 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:269.57, Y:-0.62, Z:-2.03 [[ 9.99994536e-01 -1.53826115e-03 2.92593449e-03 2.69567936e+02] [ 1.53815312e-03 9.99998816e-01 3.91717092e-05 -6.18953996e-01] [-2.92599128e-03 -3.46709599e-05 9.99995719e-01 -2.02647423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.60591999999997 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:269.60, Y:-0.62, Z:-2.03 [[ 9.99995717e-01 7.66979104e-05 2.92585044e-03 2.69599442e+02] [-7.68316623e-05 9.99999996e-01 4.56014560e-05 -6.16920760e-01] [-2.92584693e-03 -4.58260586e-05 9.99995719e-01 -2.02588682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.63592 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:269.63, Y:-0.61, Z:-2.03 [[ 9.99994076e-01 1.81295926e-03 2.92585356e-03 2.69631609e+02] [-1.81309974e-03 9.99998355e-01 4.53615828e-05 -6.14298895e-01] [-2.92576651e-03 -5.06661784e-05 9.99995719e-01 -2.02555126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.66591999999997 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:269.66, Y:-0.61, Z:-2.03 [[ 9.99981923e-01 5.25272260e-03 2.92609616e-03 2.69661096e+02] [-5.25282222e-03 9.99986203e-01 2.63609128e-05 -6.12484797e-01] [-2.92591733e-03 -4.17306992e-05 9.99995719e-01 -2.02727775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.69592 meters Centerline goodness : 0.999502 Centerline is valid? [True, True] Translation: X:269.69, Y:-0.61, Z:-2.03 [[ 9.99976683e-01 6.17037916e-03 2.92589056e-03 2.69692896e+02] [-6.17052905e-03 9.99980961e-01 4.22036838e-05 -6.12324382e-01] [-2.92557445e-03 -6.02569924e-05 9.99995719e-01 -2.02806173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.72592 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:269.73, Y:-0.61, Z:-2.04 [[ 9.99958590e-01 8.61726882e-03 2.92583356e-03 2.69725242e+02] [-8.61744205e-03 9.99962868e-01 4.66048087e-05 -6.10546836e-01] [-2.92532331e-03 -7.18160799e-05 9.99995719e-01 -2.03668581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.75591999999995 meters Centerline goodness : 0.998462 Centerline is valid? [True, True] Translation: X:269.76, Y:-0.61, Z:-2.03 [[ 9.99978341e-01 5.89541471e-03 2.92595111e-03 2.69755053e+02] [-5.89554941e-03 9.99982620e-01 3.74109813e-05 -6.08175905e-01] [-2.92567970e-03 -5.46602603e-05 9.99995719e-01 -2.02502402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.78592 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:269.79, Y:-0.60, Z:-2.04 [[ 9.99959541e-01 8.50616024e-03 2.92586581e-03 2.69786547e+02] [-8.50632542e-03 9.99963820e-01 4.40177029e-05 -6.04930983e-01] [-2.92538553e-03 -6.89042888e-05 9.99995719e-01 -2.03720880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.81591999999995 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:269.82, Y:-0.60, Z:-2.04 [[ 9.99947333e-01 9.83713166e-03 2.92595366e-03 2.69818926e+02] [-9.83728227e-03 9.99951612e-01 3.70866961e-05 -5.98770294e-01] [-2.92544725e-03 -6.58681749e-05 9.99995719e-01 -2.03591273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.84592 meters Centerline goodness : 0.998909 Centerline is valid? [True, True] Translation: X:269.85, Y:-0.60, Z:-2.02 [[ 9.99967373e-01 7.52937942e-03 2.92595845e-03 2.69850241e+02] [-7.52951904e-03 9.99971652e-01 3.67045720e-05 -5.96191675e-01] [-2.92559915e-03 -5.87344343e-05 9.99995719e-01 -2.02211857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.87591999999995 meters Centerline goodness : 0.998858 Centerline is valid? [True, True] Translation: X:269.88, Y:-0.59, Z:-2.02 [[ 9.99972909e-01 6.75418533e-03 2.92602714e-03 2.69882631e+02] [-6.75430588e-03 9.99977189e-01 3.13185345e-05 -5.90853240e-01] [-2.92574887e-03 -5.10809684e-05 9.99995719e-01 -2.02331465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.90592 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:269.91, Y:-0.59, Z:-2.04 [[ 9.99964044e-01 7.95922754e-03 2.92595936e-03 2.69913909e+02] [-7.95936874e-03 9.99968323e-01 3.66144906e-05 -5.88266660e-01] [-2.92557525e-03 -5.99019636e-05 9.99995719e-01 -2.03544127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.93591999999995 meters Centerline goodness : 0.998706 Centerline is valid? [True, True] Translation: X:269.94, Y:-0.59, Z:-2.02 [[ 9.99982424e-01 5.15656921e-03 2.92595299e-03 2.69944108e+02] [-5.15669988e-03 9.99986703e-01 3.71166970e-05 -5.85563785e-01] [-2.92572269e-03 -5.22043060e-05 9.99995719e-01 -2.02091343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.96592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:269.98, Y:-0.58, Z:-2.03 [[ 9.99977794e-01 5.98760883e-03 2.92590742e-03 2.69975537e+02] [-5.98775340e-03 9.99982072e-01 4.06522584e-05 -5.82688943e-01] [-2.92561156e-03 -5.81709678e-05 9.99995719e-01 -2.03479568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.99591999999996 meters Centerline goodness : 0.998511 Centerline is valid? [True, True] Translation: X:270.01, Y:-0.58, Z:-2.02 [[ 9.99991816e-01 2.79423419e-03 2.92594471e-03 2.70006794e+02] [-2.79435664e-03 9.99996095e-01 3.77632655e-05 -5.77215729e-01] [-2.92582777e-03 -4.59390895e-05 9.99995719e-01 -2.02259939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.02592 meters Centerline goodness : 0.998361 Centerline is valid? [True, True] Translation: X:270.04, Y:-0.57, Z:-2.02 [[ 9.99994901e-01 1.27949129e-03 2.92594389e-03 2.70037828e+02] [-1.27960744e-03 9.99999181e-01 3.78273337e-05 -5.74341594e-01] [-2.92589309e-03 -4.15712004e-05 9.99995719e-01 -2.02044130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.05591999999996 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:270.07, Y:-0.57, Z:-2.03 [[ 9.99995711e-01 1.27927969e-04 2.92603183e-03 2.70067735e+02] [-1.28018967e-04 9.99999991e-01 3.09119597e-05 -5.69506741e-01] [-2.92602785e-03 -3.12864147e-05 9.99995719e-01 -2.03441194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.08592 meters Centerline goodness : 0.998607 Centerline is valid? [True, True] Translation: X:270.10, Y:-0.57, Z:-2.02 [[ 9.99994856e-01 -1.31444222e-03 2.92595158e-03 2.70098603e+02] [ 1.31433894e-03 9.99999136e-01 3.72207886e-05 -5.66827958e-01] [-2.92599798e-03 -3.33749050e-05 9.99995719e-01 -2.02366711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.11591999999996 meters Centerline goodness : 0.999405 Centerline is valid? [True, True] Translation: X:270.13, Y:-0.56, Z:-2.04 [[ 9.99993231e-01 -2.23082542e-03 2.92603455e-03 2.70129355e+02] [ 2.23074544e-03 9.99997511e-01 3.05965588e-05 -5.64551422e-01] [-2.92609553e-03 -2.40691135e-05 9.99995719e-01 -2.03633388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.14592 meters Centerline goodness : 0.998709 Centerline is valid? [True, True] Translation: X:270.16, Y:-0.56, Z:-2.03 [[ 9.99972857e-01 -6.76200133e-03 2.92596760e-03 2.70159637e+02] [ 6.76192484e-03 9.99977137e-01 3.60331314e-05 -5.62589873e-01] [-2.92614436e-03 -1.62469803e-05 9.99995719e-01 -2.02504025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.17591999999996 meters Centerline goodness : 0.998262 Centerline is valid? [True, True] Translation: X:270.19, Y:-0.56, Z:-2.03 [[ 9.99958691e-01 -8.60553627e-03 2.92593542e-03 2.70191371e+02] [ 8.60545994e-03 9.99962972e-01 3.86762743e-05 -5.61554906e-01] [-2.92615990e-03 -1.34956566e-05 9.99995719e-01 -2.02531309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.20592 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:270.22, Y:-0.56, Z:-2.04 [[ 9.99941736e-01 -1.03905659e-02 2.92594823e-03 2.70222725e+02] [ 1.03905003e-02 9.99946017e-01 3.75990579e-05 -5.60139666e-01] [-2.92618096e-03 -7.19480112e-06 9.99995719e-01 -2.03689376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.23591999999996 meters Centerline goodness : 0.997765 Centerline is valid? [True, True] Translation: X:270.25, Y:-0.56, Z:-2.02 [[ 9.99870258e-01 -1.58399749e-02 2.92599113e-03 2.70252583e+02] [ 1.58399436e-02 9.99874540e-01 3.38962960e-05 -5.58168055e-01] [-2.92616095e-03 1.24556361e-05 9.99995719e-01 -2.02173038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.26592 meters Centerline goodness : 0.998958 Centerline is valid? [True, True] Translation: X:270.28, Y:-0.56, Z:-2.04 [[ 9.99852488e-01 -1.69245601e-02 2.92587672e-03 2.70284393e+02] [ 1.69245044e-02 9.99856769e-01 4.37912915e-05 -5.57703502e-01] [-2.92619879e-03 5.73418170e-06 9.99995719e-01 -2.03690896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.29591999999997 meters Centerline goodness : 0.997366 Centerline is valid? [True, True] Translation: X:270.31, Y:-0.56, Z:-2.02 [[ 9.99818938e-01 -1.88023811e-02 2.92600156e-03 2.70314369e+02] [ 1.88023663e-02 9.99823219e-01 3.25780990e-05 -5.58266790e-01] [-2.92609685e-03 2.24435529e-05 9.99995719e-01 -2.02309211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.32592 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:270.35, Y:-0.56, Z:-2.04 [[ 9.99784910e-01 -2.05322430e-02 2.92594289e-03 2.70345761e+02] [ 2.05322199e-02 9.99789191e-01 3.79229309e-05 -5.57798876e-01] [-2.92610472e-03 2.21613287e-05 9.99995719e-01 -2.03818964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.35591999999997 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:270.38, Y:-0.56, Z:-2.04 [[ 9.99747621e-01 -2.22740171e-02 2.92601169e-03 2.70379209e+02] [ 2.22740201e-02 9.99751903e-01 3.15398828e-05 -5.56900569e-01] [-2.92598828e-03 3.36421206e-05 9.99995719e-01 -2.03853623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.38592 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:270.41, Y:-0.56, Z:-2.04 [[ 9.99751934e-01 -2.20796016e-02 2.92602664e-03 2.70411852e+02] [ 2.20796081e-02 9.99756215e-01 3.00865394e-05 -5.56400224e-01] [-2.92597762e-03 3.45264457e-05 9.99995719e-01 -2.03785916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.41591999999997 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:270.44, Y:-0.56, Z:-2.04 [[ 9.99749967e-01 -2.21684792e-02 2.92604092e-03 2.70444972e+02] [ 2.21684903e-02 9.99754248e-01 2.86268977e-05 -5.56838700e-01] [-2.92595645e-03 3.62461698e-05 9.99995719e-01 -2.03765346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.44592 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:270.48, Y:-0.56, Z:-2.04 [[ 9.99760855e-01 -2.16719033e-02 2.92605450e-03 2.70478545e+02] [ 2.16719166e-02 9.99765136e-01 2.71644020e-05 -5.56210580e-01] [-2.92595598e-03 3.62553034e-05 9.99995719e-01 -2.03775152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.47592 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:270.51, Y:-0.56, Z:-2.04 [[ 9.99799054e-01 -1.98315366e-02 2.92606727e-03 2.70510414e+02] [ 1.98315462e-02 9.99803335e-01 2.57110384e-05 -5.57732531e-01] [-2.92600170e-03 3.23225665e-05 9.99995719e-01 -2.03706379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.50591999999995 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:270.54, Y:-0.56, Z:-2.04 [[ 9.99823307e-01 -1.85685951e-02 2.92607788e-03 2.70542669e+02] [ 1.85686031e-02 9.99827588e-01 2.44407481e-05 -5.58242786e-01] [-2.92602722e-03 2.98967492e-05 9.99995719e-01 -2.03891422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.53592 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:270.57, Y:-0.56, Z:-2.04 [[ 9.99846695e-01 -1.72634146e-02 2.92608796e-03 2.70574902e+02] [ 1.72634207e-02 9.99850976e-01 2.31674368e-05 -5.58884526e-01] [-2.92605185e-03 2.73504024e-05 9.99995719e-01 -2.03882804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.56591999999995 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:270.61, Y:-0.56, Z:-2.04 [[ 9.99863347e-01 -1.62703536e-02 2.92609752e-03 2.70607602e+02] [ 1.62703592e-02 9.99867629e-01 2.18890749e-05 -5.60645130e-01] [-2.92606633e-03 2.57225741e-05 9.99995719e-01 -2.03930160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.59592 meters Centerline goodness : 0.995128 Centerline is valid? [True, True] Translation: X:270.64, Y:-0.56, Z:-2.02 [[ 9.99985383e-01 -4.54652266e-03 2.92610087e-03 2.70642550e+02] [ 4.54647941e-03 9.99989664e-01 2.14316019e-05 -5.55733508e-01] [-2.92616807e-03 -8.12783127e-06 9.99995719e-01 -2.02264651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.62591999999995 meters Centerline goodness : 0.997515 Centerline is valid? [True, True] Translation: X:270.67, Y:-0.56, Z:-2.02 [[ 9.99844199e-01 -1.74072536e-02 2.92659771e-03 2.70668270e+02] [ 1.74074836e-02 9.99848477e-01 -5.31462960e-05 -5.60551068e-01] [-2.92522913e-03 1.04082717e-04 9.99995716e-01 -2.02376263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.65592 meters Centerline goodness : 0.997416 Centerline is valid? [True, True] Translation: X:270.70, Y:-0.56, Z:-2.02 [[ 9.99872497e-01 -1.56980285e-02 2.92594358e-03 2.70700187e+02] [ 1.56979865e-02 9.99876778e-01 3.73037382e-05 -5.61764835e-01] [-2.92616864e-03 8.63244093e-06 9.99995719e-01 -2.02385558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.68591999999995 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:270.73, Y:-0.56, Z:-2.04 [[ 9.99886902e-01 -1.47520263e-02 2.92601544e-03 2.70731632e+02] [ 1.47520104e-02 9.99891183e-01 2.70042639e-05 -5.62197283e-01] [-2.92609540e-03 1.61634004e-05 9.99995719e-01 -2.03963728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.71592 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:270.76, Y:-0.56, Z:-2.04 [[ 9.99886071e-01 -1.48082185e-02 2.92606401e-03 2.70764321e+02] [ 1.48082239e-02 9.99890352e-01 1.98411200e-05 -5.63096539e-01] [-2.92603698e-03 2.34909514e-05 9.99995719e-01 -2.03890652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.74591999999996 meters Centerline goodness : 0.997915 Centerline is valid? [True, True] Translation: X:270.79, Y:-0.56, Z:-2.03 [[ 9.99885959e-01 -1.48157396e-02 2.92607215e-03 2.70794971e+02] [ 1.48157488e-02 9.99890241e-01 1.85566445e-05 -5.63144103e-01] [-2.92602592e-03 2.47974216e-05 9.99995719e-01 -2.02719932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.77592 meters Centerline goodness : 0.998009 Centerline is valid? [True, True] Translation: X:270.83, Y:-0.56, Z:-2.03 [[ 9.99874246e-01 -1.55862066e-02 2.92609417e-03 2.70826069e+02] [ 1.55862296e-02 9.99878527e-01 1.49697324e-05 -5.64440858e-01] [-2.92597205e-03 3.06389256e-05 9.99995719e-01 -2.02500731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.80591999999996 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:270.86, Y:-0.57, Z:-2.04 [[ 9.99869926e-01 -1.58609348e-02 2.92605627e-03 2.70856101e+02] [ 1.58609401e-02 9.99874207e-01 2.14144640e-05 -5.66082720e-01] [-2.92602785e-03 2.49983246e-05 9.99995719e-01 -2.03965550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.83592 meters Centerline goodness : 0.998107 Centerline is valid? [True, True] Translation: X:270.89, Y:-0.57, Z:-2.03 [[ 9.99830615e-01 -1.81708414e-02 2.92608362e-03 2.70887315e+02] [ 1.81708707e-02 9.99834896e-01 1.65904046e-05 -5.69890294e-01] [-2.92590198e-03 3.65818926e-05 9.99995719e-01 -2.02516533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.86591999999996 meters Centerline goodness : 0.997612 Centerline is valid? [True, True] Translation: X:270.92, Y:-0.57, Z:-2.03 [[ 9.99818473e-01 -1.88271054e-02 2.92601830e-03 2.70918992e+02] [ 1.88271020e-02 9.99822754e-01 2.86970254e-05 -5.70691436e-01] [-2.92603995e-03 2.63966288e-05 9.99995719e-01 -2.02545262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.89592 meters Centerline goodness : 0.998261 Centerline is valid? [True, True] Translation: X:270.95, Y:-0.57, Z:-2.03 [[ 9.99843429e-01 -1.74515479e-02 2.92598765e-03 2.70952214e+02] [ 1.74515200e-02 9.99847710e-01 3.50402215e-05 -5.71348130e-01] [-2.92615356e-03 1.60281968e-05 9.99995719e-01 -2.02854059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.92591999999996 meters Centerline goodness : 0.998012 Centerline is valid? [True, True] Translation: X:270.98, Y:-0.58, Z:-2.03 [[ 9.99882510e-01 -1.50467310e-02 2.92607805e-03 2.70981528e+02] [ 1.50467542e-02 9.99886791e-01 1.40792900e-05 -5.75737296e-01] [-2.92595863e-03 2.99503412e-05 9.99995719e-01 -2.03213967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.95592 meters Centerline goodness : 0.997321 Centerline is valid? [True, True] Translation: X:271.01, Y:-0.58, Z:-2.03 [[ 9.99761451e-01 -2.16444152e-02 2.92592486e-03 2.71014867e+02] [ 2.16443608e-02 9.99765732e-01 5.02618297e-05 -5.81446480e-01] [-2.92632730e-03 1.30799335e-05 9.99995718e-01 -2.02781609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.98591999999996 meters Centerline goodness : 0.998361 Centerline is valid? [True, True] Translation: X:271.05, Y:-0.59, Z:-2.04 [[ 9.99640219e-01 -2.66621656e-02 2.92605491e-03 2.71046458e+02] [ 2.66622354e-02 9.99644499e-01 1.51456263e-05 -5.86137336e-01] [-2.92541851e-03 6.28749878e-05 9.99995719e-01 -2.04137403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.01592 meters Centerline goodness : 0.996823 Centerline is valid? [True, True] Translation: X:271.08, Y:-0.59, Z:-2.03 [[ 9.99581470e-01 -2.87806132e-02 2.92607239e-03 2.71075731e+02] [ 2.87807070e-02 9.99585750e-01 1.00653466e-05 -5.88439071e-01] [-2.92514995e-03 7.41532980e-05 9.99995719e-01 -2.02861864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.04591999999997 meters Centerline goodness : 0.997219 Centerline is valid? [True, True] Translation: X:271.11, Y:-0.59, Z:-2.03 [[ 9.99529744e-01 -3.05242246e-02 2.92603045e-03 2.71106868e+02] [ 3.05242881e-02 9.99534025e-01 2.29518471e-05 -5.92559410e-01] [-2.92536758e-03 6.63739425e-05 9.99995719e-01 -2.02821656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.07592 meters Centerline goodness : 0.998263 Centerline is valid? [True, True] Translation: X:271.14, Y:-0.60, Z:-2.04 [[ 9.99478034e-01 -3.21729407e-02 2.92602156e-03 2.71138053e+02] [ 3.21730023e-02 9.99482315e-01 2.60198737e-05 -5.98342567e-01] [-2.92534394e-03 6.81326062e-05 9.99995719e-01 -2.04273876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.10591999999997 meters Centerline goodness : 0.998460 Centerline is valid? [True, True] Translation: X:271.17, Y:-0.60, Z:-2.04 [[ 9.99481048e-01 -3.20791620e-02 2.92606745e-03 2.71170982e+02] [ 3.20792785e-02 9.99485327e-01 7.09406013e-06 -6.00094476e-01] [-2.92478905e-03 8.67757539e-05 9.99995719e-01 -2.04151231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.13592 meters Centerline goodness : 0.996271 Centerline is valid? [True, True] Translation: X:271.20, Y:-0.60, Z:-2.03 [[ 9.99479196e-01 -3.21368248e-02 2.92607020e-03 2.71201341e+02] [ 3.21369458e-02 9.99483475e-01 5.67376385e-06 -6.02085341e-01] [-2.92474115e-03 8.83641504e-05 9.99995719e-01 -2.02563291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.16591999999997 meters Centerline goodness : 0.996521 Centerline is valid? [True, True] Translation: X:271.23, Y:-0.61, Z:-2.03 [[ 9.99449486e-01 -3.30478999e-02 2.92605168e-03 2.71232180e+02] [ 3.30479948e-02 9.99453766e-01 1.59329166e-05 -6.07482818e-01] [-2.92497992e-03 8.07759954e-05 9.99995719e-01 -2.02754693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.19592 meters Centerline goodness : 0.997120 Centerline is valid? [True, True] Translation: X:271.26, Y:-0.61, Z:-2.03 [[ 9.99517103e-01 -3.09354104e-02 2.92603858e-03 2.71264925e+02] [ 3.09354728e-02 9.99521383e-01 2.39446896e-05 -6.09966342e-01] [-2.92537886e-03 6.65852599e-05 9.99995719e-01 -2.02962725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.22592 meters Centerline goodness : 0.998112 Centerline is valid? [True, True] Translation: X:271.30, Y:-0.61, Z:-2.04 [[ 9.99546507e-01 -2.99702962e-02 2.92605468e-03 2.71296908e+02] [ 2.99703937e-02 9.99550787e-01 1.05403513e-05 -6.13585437e-01] [-2.92505616e-03 7.71594395e-05 9.99995719e-01 -2.04332549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.25591999999995 meters Centerline goodness : 0.998313 Centerline is valid? [True, True] Translation: X:271.33, Y:-0.61, Z:-2.04 [[ 9.99559865e-01 -2.95214372e-02 2.92606230e-03 2.71328802e+02] [ 2.95215550e-02 9.99564144e-01 2.93033806e-06 -6.14697357e-01] [-2.92487347e-03 8.34528610e-05 9.99995719e-01 -2.04293830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.28592 meters Centerline goodness : 0.996823 Centerline is valid? [True, True] Translation: X:271.36, Y:-0.62, Z:-2.03 [[ 9.99587865e-01 -2.85576221e-02 2.92606302e-03 2.71358858e+02] [ 2.85577394e-02 9.99592145e-01 1.69089505e-06 -6.15952592e-01] [-2.92491790e-03 8.18715472e-05 9.99995719e-01 -2.02793297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.31591999999995 meters Centerline goodness : 0.998313 Centerline is valid? [True, True] Translation: X:271.39, Y:-0.62, Z:-2.04 [[ 9.99610944e-01 -2.77380428e-02 2.92606145e-03 2.71389170e+02] [ 2.77381463e-02 9.99615224e-01 5.22637632e-06 -6.16897373e-01] [-2.92508054e-03 7.59391776e-05 9.99995719e-01 -2.04398553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.34592 meters Centerline goodness : 0.998163 Centerline is valid? [True, True] Translation: X:271.42, Y:-0.62, Z:-2.04 [[ 9.99658829e-01 -2.59550460e-02 2.92606241e-03 2.71421076e+02] [ 2.59551553e-02 9.99663108e-01 6.04012478e-07 -6.19933522e-01] [-2.92509232e-03 7.53425979e-05 9.99995719e-01 -2.04364944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.37591999999995 meters Centerline goodness : 0.998162 Centerline is valid? [True, True] Translation: X:271.45, Y:-0.62, Z:-2.04 [[ 9.99663468e-01 -2.57757449e-02 2.92606213e-03 2.71453565e+02] [ 2.57758572e-02 9.99667747e-01 -6.47480816e-07 -6.22377379e-01] [-2.92507325e-03 7.60690224e-05 9.99995719e-01 -2.04363904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.40592 meters Centerline goodness : 0.997864 Centerline is valid? [True, True] Translation: X:271.48, Y:-0.63, Z:-2.03 [[ 9.99610723e-01 -2.77459841e-02 2.92606130e-03 2.71482534e+02] [ 2.77461084e-02 9.99615003e-01 -1.91226734e-06 -6.29538560e-01] [-2.92488172e-03 8.30983371e-05 9.99995719e-01 -2.02556615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.43591999999995 meters Centerline goodness : 0.998208 Centerline is valid? [True, True] Translation: X:271.51, Y:-0.63, Z:-2.04 [[ 9.99628003e-01 -2.71163110e-02 2.92607321e-03 2.71514494e+02] [ 2.71163569e-02 9.99632284e-01 2.39900210e-05 -6.32160008e-01] [-2.92564777e-03 5.53633488e-05 9.99995719e-01 -2.04269879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.46592 meters Centerline goodness : 0.998211 Centerline is valid? [True, True] Translation: X:271.55, Y:-0.63, Z:-2.04 [[ 9.99625183e-01 -2.72200642e-02 2.92604391e-03 2.71547458e+02] [ 2.72201900e-02 9.99629462e-01 -3.15845319e-06 -6.34367697e-01] [-2.92487372e-03 8.28047403e-05 9.99995719e-01 -2.04300087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.49591999999996 meters Centerline goodness : 0.998111 Centerline is valid? [True, True] Translation: X:271.58, Y:-0.64, Z:-2.04 [[ 9.99690334e-01 -2.47118162e-02 2.92604167e-03 2.71580315e+02] [ 2.47119354e-02 9.99694613e-01 -4.58685293e-06 -6.40110546e-01] [-2.92503474e-03 7.68935853e-05 9.99995719e-01 -2.04395247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.52592 meters Centerline goodness : 0.997814 Centerline is valid? [True, True] Translation: X:271.61, Y:-0.64, Z:-2.04 [[ 9.99711482e-01 -2.38409596e-02 2.92603871e-03 2.71613713e+02] [ 2.38410793e-02 9.99715761e-01 -6.02440136e-06 -6.43195197e-01] [-2.92506339e-03 7.57825840e-05 9.99995719e-01 -2.04385175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.55591999999996 meters Centerline goodness : 0.997911 Centerline is valid? [True, True] Translation: X:271.65, Y:-0.64, Z:-2.04 [[ 9.99749857e-01 -2.21734568e-02 2.92603501e-03 2.71647144e+02] [ 2.21735736e-02 9.99754136e-01 -7.47213641e-06 -6.44989207e-01] [-2.92514992e-03 7.23509199e-05 9.99995719e-01 -2.04392293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.58592 meters Centerline goodness : 0.998361 Centerline is valid? [True, True] Translation: X:271.68, Y:-0.65, Z:-2.04 [[ 9.99807908e-01 -1.93800231e-02 2.92603060e-03 2.71679522e+02] [ 1.93801321e-02 9.99812188e-01 -8.91862076e-06 -6.49449777e-01] [-2.92530821e-03 6.56237673e-05 9.99995719e-01 -2.04414738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.61591999999996 meters Centerline goodness : 0.998059 Centerline is valid? [True, True] Translation: X:271.71, Y:-0.65, Z:-2.04 [[ 9.99845918e-01 -1.73083161e-02 2.92602616e-03 2.71712173e+02] [ 1.73084200e-02 9.99850198e-01 -1.01939111e-05 -6.53143736e-01] [-2.92541140e-03 6.08372301e-05 9.99995719e-01 -2.04314105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.64592 meters Centerline goodness : 0.998012 Centerline is valid? [True, True] Translation: X:271.75, Y:-0.66, Z:-2.04 [[ 9.99871348e-01 -1.57710231e-02 2.92602450e-03 2.71745661e+02] [ 1.57711217e-02 9.99875628e-01 -1.06488656e-05 -6.56622995e-01] [-2.92549264e-03 5.67941843e-05 9.99995719e-01 -2.04374190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.67591999999996 meters Centerline goodness : 0.997666 Centerline is valid? [True, True] Translation: X:271.78, Y:-0.66, Z:-2.04 [[ 9.99927335e-01 -1.16945632e-02 2.92601838e-03 2.71778341e+02] [ 1.16946488e-02 9.99931615e-01 -1.21273910e-05 -6.58478420e-01] [-2.92567646e-03 4.63452670e-05 9.99995719e-01 -2.04307575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.70592 meters Centerline goodness : 0.997516 Centerline is valid? [True, True] Translation: X:271.81, Y:-0.66, Z:-2.04 [[ 9.99951288e-01 -9.42654985e-03 2.92601638e-03 2.71810973e+02] [ 9.42662704e-03 9.99955568e-01 -1.25900382e-05 -6.57879160e-01] [-2.92576770e-03 4.01718901e-05 9.99995719e-01 -2.04299496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.73591999999996 meters Centerline goodness : 0.997714 Centerline is valid? [True, True] Translation: X:271.84, Y:-0.66, Z:-2.04 [[ 9.99984397e-01 -4.75867097e-03 2.92601022e-03 2.71842528e+02] [ 4.75873198e-03 9.99988677e-01 -1.38890146e-05 -6.60397910e-01] [-2.92591099e-03 2.78128963e-05 9.99995719e-01 -2.03591280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.76592 meters Centerline goodness : 0.998162 Centerline is valid? [True, True] Translation: X:271.87, Y:-0.66, Z:-2.04 [[ 9.99990246e-01 -3.30850471e-03 2.92595641e-03 2.71872584e+02] [ 3.30859124e-03 9.99994526e-01 -2.47332906e-05 -6.61052985e-01] [-2.92585857e-03 3.44138432e-05 9.99995719e-01 -2.04423717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.79591999999997 meters Centerline goodness : 0.997761 Centerline is valid? [True, True] Translation: X:271.91, Y:-0.66, Z:-2.03 [[ 9.99994280e-01 -1.69673520e-03 2.92600712e-03 2.71905596e+02] [ 1.69678491e-03 9.99998560e-01 -1.45059789e-05 -6.61750878e-01] [-2.92597829e-03 1.94707006e-05 9.99995719e-01 -2.03280974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.82592 meters Centerline goodness : 0.997767 Centerline is valid? [True, True] Translation: X:271.94, Y:-0.66, Z:-2.04 [[ 9.99983704e-01 -4.90216815e-03 2.92588369e-03 2.71935371e+02] [ 4.90229974e-03 9.99987983e-01 -3.78025878e-05 -6.62956952e-01] [-2.92566321e-03 5.21455306e-05 9.99995719e-01 -2.04403124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.85591999999997 meters Centerline goodness : 0.997914 Centerline is valid? [True, True] Translation: X:271.97, Y:-0.66, Z:-2.04 [[ 9.99973892e-01 -6.60707703e-03 2.92600176e-03 2.71968747e+02] [ 6.60715057e-03 9.99978172e-01 -1.54686734e-05 -6.64496366e-01] [-2.92583569e-03 3.48008037e-05 9.99995719e-01 -2.04389328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.88592 meters Centerline goodness : 0.997761 Centerline is valid? [True, True] Translation: X:272.00, Y:-0.67, Z:-2.04 [[ 9.99960194e-01 -8.42900346e-03 2.92599300e-03 2.72001246e+02] [ 8.42908922e-03 9.99964474e-01 -1.69784701e-05 -6.66296867e-01] [-2.92574594e-03 4.16412503e-05 9.99995719e-01 -2.04374490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.91591999999997 meters Centerline goodness : 0.997714 Centerline is valid? [True, True] Translation: X:272.03, Y:-0.67, Z:-2.04 [[ 9.99946179e-01 -9.95378301e-03 2.92598481e-03 2.72033001e+02] [ 9.95387913e-03 9.99950459e-01 -1.82874740e-05 -6.67778109e-01] [-2.92565783e-03 4.74113889e-05 9.99995719e-01 -2.04360412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.94592 meters Centerline goodness : 0.998311 Centerline is valid? [True, True] Translation: X:272.07, Y:-0.67, Z:-2.04 [[ 9.99926824e-01 -1.17382287e-02 2.92597607e-03 2.72065819e+02] [ 1.17383363e-02 9.99931103e-01 -1.95932860e-05 -6.71865448e-01] [-2.92554449e-03 5.39379434e-05 9.99995719e-01 -2.04352825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.97592 meters Centerline goodness : 0.997616 Centerline is valid? [True, True] Translation: X:272.10, Y:-0.67, Z:-2.03 [[ 9.99942813e-01 -1.02863423e-02 2.92596536e-03 2.72099203e+02] [ 1.02864480e-02 9.99947093e-01 -2.10796118e-05 -6.74683247e-01] [-2.92559373e-03 5.11761969e-05 9.99995719e-01 -2.03185170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.00591999999995 meters Centerline goodness : 0.998065 Centerline is valid? [True, True] Translation: X:272.13, Y:-0.68, Z:-2.04 [[ 9.99898508e-01 -1.39432864e-02 2.92562155e-03 2.72127203e+02] [ 1.39435382e-02 9.99902782e-01 -6.56914495e-05 -6.77353810e-01] [-2.92442118e-03 1.06478298e-04 9.99995718e-01 -2.04408942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.03592 meters Centerline goodness : 0.997960 Centerline is valid? [True, True] Translation: X:272.16, Y:-0.68, Z:-2.03 [[ 9.99931905e-01 -1.12970763e-02 2.92594527e-03 2.72159411e+02] [ 1.12971872e-02 9.99936185e-01 -2.13704056e-05 -6.82070250e-01] [-2.92551712e-03 5.44239019e-05 9.99995719e-01 -2.02884651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.06591999999995 meters Centerline goodness : 0.998608 Centerline is valid? [True, True] Translation: X:272.19, Y:-0.69, Z:-2.03 [[ 9.99914330e-01 -1.27582315e-02 2.92573680e-03 2.72189179e+02] [ 1.27584301e-02 9.99918607e-01 -4.92181890e-05 -6.85169761e-01] [-2.92487073e-03 8.65417810e-05 9.99995719e-01 -2.03209864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.09592 meters Centerline goodness : 0.998755 Centerline is valid? [True, True] Translation: X:272.22, Y:-0.69, Z:-2.03 [[ 9.99857820e-01 -1.66065770e-02 2.92587465e-03 2.72218500e+02] [ 1.66067364e-02 9.99862098e-01 -3.01999899e-05 -6.93415609e-01] [-2.92496965e-03 7.87849251e-05 9.99995719e-01 -2.03158501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.12591999999995 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:272.25, Y:-0.70, Z:-2.03 [[ 9.99895072e-01 -1.41874102e-02 2.92601485e-03 2.72251846e+02] [ 1.41875026e-02 9.99899352e-01 -1.08218508e-05 -6.96799219e-01] [-2.92556682e-03 5.23335585e-05 9.99995719e-01 -2.02993796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.15592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:272.28, Y:-0.70, Z:-2.04 [[ 9.99810991e-01 -1.92203488e-02 2.92568939e-03 2.72281887e+02] [ 1.92205872e-02 9.99815266e-01 -5.33700044e-05 -6.99842917e-01] [-2.92412313e-03 1.09593385e-04 9.99995719e-01 -2.04432042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.18591999999995 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:272.31, Y:-0.70, Z:-2.04 [[ 9.99796419e-01 -1.99639313e-02 2.92592619e-03 2.72314268e+02] [ 1.99640820e-02 9.99800698e-01 -2.22993115e-05 -7.03587667e-01] [-2.92489786e-03 8.07082022e-05 9.99995719e-01 -2.04432252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.21592 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:272.35, Y:-0.71, Z:-2.04 [[ 9.99818283e-01 -1.88371831e-02 2.92591588e-03 2.72346126e+02] [ 1.88373327e-02 9.99822561e-01 -2.35786238e-05 -7.12117383e-01] [-2.92495256e-03 7.86907902e-05 9.99995719e-01 -2.04317344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.24591999999996 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:272.38, Y:-0.72, Z:-2.04 [[ 9.99863659e-01 -1.62512020e-02 2.92590512e-03 2.72378504e+02] [ 1.62513443e-02 9.99867938e-01 -2.48463331e-05 -7.15168978e-01] [-2.92511493e-03 7.23928369e-05 9.99995719e-01 -2.04295255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.27592 meters Centerline goodness : 0.998604 Centerline is valid? [True, True] Translation: X:272.41, Y:-0.72, Z:-2.03 [[ 9.99955706e-01 -8.94563564e-03 2.92589365e-03 2.72409695e+02] [ 8.94575038e-03 9.99959986e-01 -2.61302209e-05 -7.18405529e-01] [-2.92554282e-03 5.23033777e-05 9.99995719e-01 -2.03127847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.30591999999996 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:272.44, Y:-0.72, Z:-2.05 [[ 9.99980002e-01 -5.60671017e-03 2.92583628e-03 2.72441261e+02] [ 5.60682942e-03 9.99984281e-01 -3.25571576e-05 -7.20284879e-01] [-2.92560776e-03 4.89611715e-05 9.99995719e-01 -2.04620875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.33592 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:272.47, Y:-0.72, Z:-2.03 [[ 9.99995714e-01 -1.07637208e-04 2.92588794e-03 2.72473769e+02] [ 1.07716518e-04 9.99999994e-01 -2.69486872e-05 -7.22250809e-01] [-2.92588502e-03 2.72637382e-05 9.99995719e-01 -2.03084475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.36591999999996 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:272.51, Y:-0.72, Z:-2.03 [[ 9.99995662e-01 -3.42575330e-04 2.92561715e-03 2.72505440e+02] [ 3.42741891e-04 9.99999940e-01 -5.64308451e-05 -7.22637338e-01] [-2.92559764e-03 5.74333319e-05 9.99995719e-01 -2.03093866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.39592 meters Centerline goodness : 0.998112 Centerline is valid? [True, True] Translation: X:272.54, Y:-0.72, Z:-2.03 [[ 9.99973106e-01 6.72521314e-03 2.92562229e-03 2.72536456e+02] [-6.72507848e-03 9.99977385e-01 -5.58616190e-05 -7.23015858e-01] [-2.92593181e-03 3.61850772e-05 9.99995719e-01 -2.02818094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.42591999999996 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:272.57, Y:-0.72, Z:-2.05 [[ 9.99963944e-01 7.97194767e-03 2.92563806e-03 2.72565889e+02] [-7.97182347e-03 9.99968223e-01 -5.41112411e-05 -7.22536806e-01] [-2.92597647e-03 3.07866199e-05 9.99995719e-01 -2.04533648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.45592 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:272.60, Y:-0.72, Z:-2.05 [[ 9.99935983e-01 1.09301782e-02 2.92588765e-03 2.72598527e+02] [-1.09301497e-02 9.99940264e-01 -2.57326358e-05 -7.21956241e-01] [-2.92599413e-03 -6.24940157e-06 9.99995719e-01 -2.04608988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.48591999999996 meters Centerline goodness : 0.999006 Centerline is valid? [True, True] Translation: X:272.63, Y:-0.72, Z:-2.04 [[ 9.99930836e-01 1.13913676e-02 2.92588417e-03 2.72630314e+02] [-1.13913399e-02 9.99935116e-01 -2.61228335e-05 -7.22350791e-01] [-2.92599190e-03 -7.20871436e-06 9.99995719e-01 -2.03703164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.51592 meters Centerline goodness : 0.999006 Centerline is valid? [True, True] Translation: X:272.66, Y:-0.72, Z:-2.03 [[ 9.99942667e-01 1.03006054e-02 2.92576683e-03 2.72660331e+02] [-1.03005339e-02 9.99946947e-01 -3.94788400e-05 -7.22644490e-01] [-2.92601827e-03 9.33961604e-06 9.99995719e-01 -2.03398231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.54591999999997 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:272.69, Y:-0.72, Z:-2.03 [[ 9.99944915e-01 1.00800014e-02 2.92582784e-03 2.72692730e+02] [-1.00799499e-02 9.99949195e-01 -3.23593990e-05 -7.22167701e-01] [-2.92600538e-03 2.86541851e-06 9.99995719e-01 -2.03313524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.57592 meters Centerline goodness : 0.998559 Centerline is valid? [True, True] Translation: X:272.73, Y:-0.72, Z:-2.03 [[ 9.99968141e-01 7.42675052e-03 2.92578657e-03 2.72725294e+02] [-7.42667321e-03 9.99972421e-01 -3.72858230e-05 -7.22071776e-01] [-2.92598279e-03 1.55557743e-05 9.99995719e-01 -2.03476731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.60591999999997 meters Centerline goodness : 0.998558 Centerline is valid? [True, True] Translation: X:272.76, Y:-0.72, Z:-2.03 [[ 9.99977727e-01 5.99886449e-03 2.92571391e-03 2.72756248e+02] [-5.99875559e-03 9.99982006e-01 -4.59942473e-05 -7.22478584e-01] [-2.92593718e-03 2.84425802e-05 9.99995719e-01 -2.03158531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.63592 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:272.79, Y:-0.72, Z:-2.05 [[ 9.99994547e-01 1.53185358e-03 2.92570143e-03 2.72786135e+02] [-1.53172108e-03 9.99998826e-01 -4.75292630e-05 -7.22534178e-01] [-2.92577080e-03 4.30476453e-05 9.99995719e-01 -2.04903285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.66591999999997 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:272.82, Y:-0.72, Z:-2.05 [[ 9.99995719e-01 -4.58469036e-05 2.92589445e-03 2.72818758e+02] [ 4.59169273e-05 9.99999999e-01 -2.38652232e-05 -7.22213159e-01] [-2.92589335e-03 2.39994691e-05 9.99995719e-01 -2.04989511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.69592 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:272.85, Y:-0.72, Z:-2.05 [[ 9.99994638e-01 -1.47056312e-03 2.92588114e-03 2.72852247e+02] [ 1.47064373e-03 9.99998918e-01 -2.53984939e-05 -7.22700777e-01] [-2.92584062e-03 2.97012864e-05 9.99995719e-01 -2.04873278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.72592 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:272.88, Y:-0.72, Z:-2.05 [[ 9.99992391e-01 -2.58019990e-03 2.92586709e-03 2.72884345e+02] [ 2.58028972e-03 9.99996671e-01 -2.69248163e-05 -7.23752624e-01] [-2.92578788e-03 3.44741962e-05 9.99995719e-01 -2.04937729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.75591999999995 meters Centerline goodness : 0.875081 Centerline is valid? [True, False] Translation: X:272.88, Y:-0.73, Z:-2.05 [[ 9.99992777e-01 -2.56171985e-03 2.80792120e-03 2.72884701e+02] [ 2.56017438e-03 9.99996569e-01 5.53854045e-04 -7.26068316e-01] [-2.80933039e-03 -5.46661276e-04 9.99995904e-01 -2.04990482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.78592 meters Centerline goodness : 0.999503 Centerline is valid? [False, True] Translation: X:272.89, Y:-0.73, Z:-2.05 [[ 9.99997904e-01 -5.80701470e-04 1.96337014e-03 2.72889688e+02] [ 5.74688698e-04 9.99995148e-01 3.06165372e-03 -7.28441382e-01] [-1.96513852e-03 -3.06051898e-03 9.99993386e-01 -2.05452117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.81591999999995 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:272.92, Y:-0.73, Z:-2.04 [[ 9.99995032e-01 -2.50535637e-03 1.91275302e-03 2.72920857e+02] [ 2.50542083e-03 9.99996861e-01 -3.13083572e-05 -7.29199146e-01] [-1.91266858e-03 3.61004530e-05 9.99998170e-01 -2.03990373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.84592 meters Centerline goodness : 0.998658 Centerline is valid? [True, True] Translation: X:272.95, Y:-0.73, Z:-2.04 [[ 9.99986941e-01 -4.73908223e-03 1.91266069e-03 2.72950778e+02] [ 4.73916167e-03 9.99988769e-01 -3.69991719e-05 -7.32398432e-01] [-1.91246387e-03 4.60630969e-05 9.99998170e-01 -2.03842481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.87591999999995 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:272.98, Y:-0.74, Z:-2.04 [[ 9.99986941e-01 -4.73916466e-03 1.91287959e-03 2.72982165e+02] [ 4.73921832e-03 9.99988770e-01 -2.35219338e-05 -7.35932675e-01] [-1.91274663e-03 3.25871806e-05 9.99998170e-01 -2.04241026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.90592 meters Centerline goodness : 0.998409 Centerline is valid? [True, True] Translation: X:273.01, Y:-0.74, Z:-2.04 [[ 9.99976972e-01 -6.51132082e-03 1.91265595e-03 2.73012269e+02] [ 6.51140368e-03 9.99978800e-01 -3.70951966e-05 -7.44633591e-01] [-1.91237387e-03 4.95484174e-05 9.99998170e-01 -2.03513242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.93591999999995 meters Centerline goodness : 0.998807 Centerline is valid? [True, True] Translation: X:273.04, Y:-0.75, Z:-2.04 [[ 9.99983716e-01 -5.37670069e-03 1.91278824e-03 2.73042747e+02] [ 5.37676616e-03 9.99985545e-01 -2.90860915e-05 -7.48463222e-01] [-1.91260420e-03 3.93702330e-05 9.99998170e-01 -2.03514279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.96592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:273.07, Y:-0.75, Z:-2.06 [[ 9.99982463e-01 -5.60494401e-03 1.91266186e-03 2.73073307e+02] [ 5.60502437e-03 9.99984291e-01 -3.66589067e-05 -7.54723901e-01] [-1.91242634e-03 4.73787802e-05 9.99998170e-01 -2.05554759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.99591999999996 meters Centerline goodness : 0.998957 Centerline is valid? [True, True] Translation: X:273.10, Y:-0.76, Z:-2.04 [[ 9.99988291e-01 -4.44514876e-03 1.91273457e-03 2.73103616e+02] [ 4.44521879e-03 9.99990119e-01 -3.23613488e-05 -7.58687883e-01] [-1.91257182e-03 4.08634935e-05 9.99998170e-01 -2.03759053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.02592 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:273.13, Y:-0.76, Z:-2.04 [[ 9.99993278e-01 -3.12816827e-03 1.91281419e-03 2.73134267e+02] [ 3.12822686e-03 9.99995107e-01 -2.76428046e-05 -7.62873293e-01] [-1.91271836e-03 3.36263355e-05 9.99998170e-01 -2.03724470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.05591999999996 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:273.16, Y:-0.77, Z:-2.04 [[ 9.99997132e-01 1.44089843e-03 1.91286752e-03 2.73163600e+02] [-1.44085412e-03 9.99998962e-01 -2.45400761e-05 -7.68350888e-01] [-1.91290090e-03 2.17838426e-05 9.99998170e-01 -2.03816029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.08592 meters Centerline goodness : 0.951209 Centerline is valid? [True, True] Translation: X:273.21, Y:-0.73, Z:-2.06 [[ 9.94897448e-01 1.00873230e-01 1.91304704e-03 2.73210376e+02] [-1.00873388e-01 9.94899271e-01 -1.40717466e-05 -7.29320016e-01] [-1.90470857e-03 -1.78975591e-04 9.99998170e-01 -2.05561814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.11591999999996 meters Centerline goodness : 0.989251 Centerline is valid? [True, True] Translation: X:273.28, Y:-0.76, Z:-2.07 [[ 9.97819292e-01 6.59773714e-02 1.90966400e-03 2.73277173e+02] [-6.59771736e-02 9.97821119e-01 -1.66451646e-04 -7.59634572e-01] [-1.91648511e-03 4.00944308e-05 9.99998163e-01 -2.06894255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.14592 meters Centerline goodness : 0.769844 Centerline is valid? [True, False] Translation: X:273.28, Y:-0.77, Z:-2.07 [[ 9.98511892e-01 5.45342590e-02 1.29752758e-04 2.73278502e+02] [-5.45331025e-02 9.98468567e-01 9.30916524e-03 -7.70839602e-01] [ 3.78114377e-04 -9.30238801e-03 9.99956660e-01 -2.06904833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.17591999999996 meters Centerline goodness : 0.970390 Centerline is valid? [False, True] Translation: X:273.28, Y:-0.78, Z:-2.07 [[ 9.99093827e-01 4.25605832e-02 -3.48256559e-04 2.73279459e+02] [-4.25473059e-02 9.98930326e-01 1.81088613e-02 -7.81230822e-01] [ 1.11860774e-03 -1.80776342e-02 9.99835960e-01 -2.06937555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.20592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:273.35, Y:-0.77, Z:-2.03 [[ 9.98380918e-01 5.68728434e-02 -1.01065653e-03 2.73348597e+02] [-5.68666268e-02 9.98367313e-01 5.37546400e-03 -7.66602703e-01] [ 1.31472437e-03 -5.30928806e-03 9.99985041e-01 -2.02820522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.23591999999996 meters Centerline goodness : 0.996347 Centerline is valid? [True, True] Translation: X:273.41, Y:-0.76, Z:-2.04 [[ 9.98314514e-01 5.80203558e-02 -1.33005587e-03 2.73408480e+02] [-5.80202830e-02 9.98315400e-01 9.32498697e-05 -7.58268998e-01] [ 1.33322565e-03 -1.59224804e-05 9.99999111e-01 -2.04136520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.26592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.41, Y:-0.77, Z:-2.04 [[ 9.98375635e-01 5.69592534e-02 -1.31692603e-03 2.73407010e+02] [-5.69589081e-02 9.98376479e-01 2.98275086e-04 -7.74626705e-01] [ 1.33177750e-03 -2.22779910e-04 9.99999088e-01 -2.04353928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.29591999999997 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:273.44, Y:-0.78, Z:-2.03 [[ 9.98238740e-01 5.93097764e-02 -1.32968670e-03 2.73435962e+02] [-5.93097271e-02 9.98239626e-01 7.65127565e-05 -7.76621327e-01] [ 1.33188391e-03 2.48535749e-06 9.99999113e-01 -2.03492465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.32592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.47, Y:-0.79, Z:-2.04 [[ 9.98292107e-01 5.84046013e-02 -1.33075679e-03 2.73470525e+02] [-5.84045761e-02 9.98292994e-01 5.78515555e-05 -7.85663355e-01] [ 1.33186398e-03 1.99695350e-05 9.99999113e-01 -2.04311558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.35591999999997 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:273.50, Y:-0.79, Z:-2.03 [[ 9.98267782e-01 5.88189437e-02 -1.32966296e-03 2.73500559e+02] [-5.88188936e-02 9.98268667e-01 7.67914376e-05 -7.88598289e-01] [ 1.33187767e-03 1.55088633e-06 9.99999113e-01 -2.02920457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.38592 meters Centerline goodness : 0.992948 Centerline is valid? [True, True] Translation: X:273.55, Y:-0.76, Z:-2.04 [[ 9.90827523e-01 1.35126051e-01 -1.33005306e-03 2.73549230e+02] [-1.35126078e-01 9.90828410e-01 7.00347223e-05 -7.60125761e-01] [ 1.32731787e-03 1.10332523e-04 9.99999113e-01 -2.04349575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.41591999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.56, Y:-0.79, Z:-2.04 [[ 9.97867632e-01 6.52567027e-02 -1.32328458e-03 2.73561998e+02] [-6.52565161e-02 9.97868505e-01 1.83764884e-04 -7.91511007e-01] [ 1.33245589e-03 -9.70200889e-05 9.99999108e-01 -2.04217275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.44592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.59, Y:-0.79, Z:-2.04 [[ 9.97760883e-01 6.68689224e-02 -1.32942579e-03 2.73594485e+02] [-6.68688815e-02 9.97761769e-01 7.52060419e-05 -7.94305372e-01] [ 1.33147918e-03 1.38595691e-05 9.99999113e-01 -2.04173664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.47592 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:273.63, Y:-0.80, Z:-2.03 [[ 9.97607619e-01 6.91178093e-02 -1.32941587e-03 2.73626149e+02] [-6.91177702e-02 9.97608504e-01 7.53811036e-05 -7.96500714e-01] [ 1.33144675e-03 1.66854972e-05 9.99999113e-01 -2.03079755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.50591999999995 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:273.66, Y:-0.80, Z:-2.03 [[ 9.97507943e-01 7.05417352e-02 -1.32923423e-03 2.73659027e+02] [-7.05416931e-02 9.97508829e-01 7.85779877e-05 -7.96458441e-01] [ 1.33146590e-03 1.53842660e-05 9.99999113e-01 -2.02986437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.53592 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:273.69, Y:-0.80, Z:-2.03 [[ 9.97629643e-01 6.87991884e-02 -1.32922356e-03 2.73689611e+02] [-6.87991445e-02 9.97630529e-01 7.87655277e-05 -7.97170875e-01] [ 1.33149301e-03 1.28706185e-05 9.99999113e-01 -2.02804672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.56591999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.72, Y:-0.80, Z:-2.04 [[ 9.97655357e-01 6.84253024e-02 -1.32937772e-03 2.73720757e+02] [-6.84252618e-02 9.97656242e-01 7.60479166e-05 -7.99082436e-01] [ 1.33146558e-03 1.50934074e-05 9.99999113e-01 -2.04363795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.59592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:273.75, Y:-0.80, Z:-2.03 [[ 9.97977317e-01 6.35571202e-02 -1.32940786e-03 2.73750621e+02] [-6.35570760e-02 9.97978202e-01 7.55173194e-05 -8.00181231e-01] [ 1.33151973e-03 9.12870484e-06 9.99999113e-01 -2.02921923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.62591999999995 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:273.78, Y:-0.80, Z:-2.02 [[ 9.98092398e-01 6.17235609e-02 -1.32961321e-03 2.73782720e+02] [-6.17235199e-02 9.98093283e-01 7.18989813e-05 -8.01025214e-01] [ 1.33151588e-03 1.03065809e-05 9.99999113e-01 -2.02483578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.65592 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:273.81, Y:-0.80, Z:-2.02 [[ 9.98279826e-01 5.86141809e-02 -1.32950371e-03 2.73814692e+02] [-5.86141346e-02 9.98280711e-01 7.38262978e-05 -8.02945792e-01] [ 1.33154517e-03 4.22840551e-06 9.99999113e-01 -2.02486581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.68591999999995 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:273.85, Y:-0.81, Z:-2.04 [[ 9.98419490e-01 5.61850154e-02 -1.32926867e-03 2.73846365e+02] [-5.61849614e-02 9.98420374e-01 7.79535412e-05 -8.06440555e-01] [ 1.33154875e-03 -3.14542570e-06 9.99999113e-01 -2.04185819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.71592 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:273.88, Y:-0.81, Z:-2.03 [[ 9.98535980e-01 5.40752158e-02 -1.32940437e-03 2.73877810e+02] [-5.40751631e-02 9.98536865e-01 7.55663435e-05 -8.09655911e-01] [ 1.33154554e-03 -3.56795494e-06 9.99999113e-01 -2.02503453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.74591999999996 meters Centerline goodness : 0.825598 Centerline is valid? [True, False] Translation: X:273.88, Y:-0.82, Z:-2.03 [[ 9.99266590e-01 3.81930616e-02 2.75174989e-03 2.73875524e+02] [-3.82040295e-02 9.99261752e-01 4.05002744e-03 -8.16970700e-01] [-2.59503547e-03 -4.15218504e-03 9.99988013e-01 -2.02561851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.77592 meters Centerline goodness : 0.999851 Centerline is valid? [False, True] Translation: X:273.87, Y:-0.83, Z:-2.02 [[ 9.99701409e-01 2.38026754e-02 5.52497660e-03 2.73872011e+02] [-2.38557031e-02 9.99667974e-01 9.73898196e-03 -8.25133933e-01] [-5.29132834e-03 -9.86787619e-03 9.99937311e-01 -2.02396010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.80591999999996 meters Centerline goodness : 0.793875 Centerline is valid? [True, False] Translation: X:273.87, Y:-0.84, Z:-2.02 [[ 9.99915384e-01 1.30052417e-02 -2.97891767e-04 2.73874615e+02] [-1.29970893e-02 9.99729900e-01 1.92666471e-02 -8.37116514e-01] [ 5.48378708e-04 -1.92611451e-02 9.99814337e-01 -2.02228446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.83592 meters Centerline goodness : 1.000000 Centerline is valid? [False, True] Translation: X:273.85, Y:-0.84, Z:-2.03 [[ 9.99983021e-01 4.89275504e-03 3.16514112e-03 2.73853795e+02] [-4.96155736e-03 9.99743282e-01 2.21077461e-02 -8.41689408e-01] [-3.05616079e-03 -2.21230748e-02 9.99750584e-01 -2.02623876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.86591999999996 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:273.89, Y:-0.82, Z:-2.02 [[ 9.99981105e-01 5.50400054e-03 2.73779442e-03 2.73885951e+02] [-5.50387639e-03 9.99984852e-01 -5.28789016e-05 -8.24043454e-01] [-2.73804400e-03 3.78094204e-05 9.99996251e-01 -2.01836861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.89592 meters Centerline goodness : 0.997914 Centerline is valid? [True, True] Translation: X:273.92, Y:-0.81, Z:-2.03 [[ 9.98910766e-01 4.65809674e-02 2.73754990e-03 2.73920877e+02] [-4.65809630e-02 9.98914516e-01 -6.54151008e-05 -8.13338711e-01] [-2.73762543e-03 -6.21738620e-05 9.99996251e-01 -2.02838982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.92591999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.95, Y:-0.83, Z:-2.03 [[ 9.99983813e-01 4.98861733e-03 2.73621177e-03 2.73945777e+02] [-4.98826860e-03 9.99987549e-01 -1.34261371e-04 -8.32177047e-01] [-2.73684748e-03 1.20610239e-04 9.99996248e-01 -2.02659721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.95592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:273.98, Y:-0.83, Z:-2.02 [[ 9.99816842e-01 1.89416787e-02 2.73776295e-03 2.73978547e+02] [-1.89416101e-02 9.99820590e-01 -5.10127416e-05 -8.33408862e-01] [-2.73823804e-03 -8.54239969e-07 9.99996251e-01 -2.02204599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.98591999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.01, Y:-0.84, Z:-2.02 [[ 9.99965756e-01 7.80993707e-03 2.73720121e-03 2.74008572e+02] [-7.80974453e-03 9.99969500e-01 -8.10234585e-05 -8.39877569e-01] [-2.73775052e-03 5.96438417e-05 9.99996251e-01 -2.01623952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.01592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.04, Y:-0.84, Z:-2.02 [[ 9.99937693e-01 1.08220183e-02 2.73755189e-03 2.74040051e+02] [-1.08218891e-02 9.99941440e-01 -6.20042425e-05 -8.41714641e-01] [-2.73806259e-03 3.23748963e-05 9.99996251e-01 -2.01949397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.04591999999997 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:274.07, Y:-0.85, Z:-2.02 [[ 9.99957684e-01 8.78269240e-03 2.73760194e-03 2.74071988e+02] [-8.78256298e-03 9.99961431e-01 -5.92938292e-05 -8.45046452e-01] [-2.73801711e-03 3.52481586e-05 9.99996251e-01 -2.01606216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.07592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:274.10, Y:-0.85, Z:-2.02 [[ 9.99919750e-01 1.23692762e-02 2.73757622e-03 2.74104353e+02] [-1.23691564e-02 9.99923497e-01 -6.06920043e-05 -8.50008948e-01] [-2.73811750e-03 2.68256255e-05 9.99996251e-01 -2.02120250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.10591999999997 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:274.14, Y:-0.85, Z:-2.02 [[ 9.99889357e-01 1.46211889e-02 2.73757538e-03 2.74136512e+02] [-1.46210774e-02 9.99893104e-01 -6.07378283e-05 -8.53256756e-01] [-2.73817080e-03 2.07048067e-05 9.99996251e-01 -2.02063278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.13592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:274.17, Y:-0.86, Z:-2.01 [[ 9.99859379e-01 1.65447370e-02 2.73768141e-03 2.74169344e+02] [-1.65446486e-02 9.99863126e-01 -5.49385737e-05 -8.58461380e-01] [-2.73821563e-03 9.63687131e-06 9.99996251e-01 -2.01429910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.16591999999997 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:274.20, Y:-0.86, Z:-2.02 [[ 9.99793494e-01 2.01364338e-02 2.73741927e-03 2.74201710e+02] [-2.01363195e-02 9.99797241e-01 -6.92874945e-05 -8.58855778e-01] [-2.73825944e-03 1.41516371e-05 9.99996251e-01 -2.01645966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.19592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.24, Y:-0.86, Z:-2.02 [[ 9.99736248e-01 2.28022223e-02 2.73752032e-03 2.74235630e+02] [-2.28021334e-02 9.99739996e-01 -6.36909398e-05 -8.59777625e-01] [-2.73826085e-03 1.25283759e-06 9.99996251e-01 -2.01512654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.22592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:274.27, Y:-0.86, Z:-2.02 [[ 9.99607446e-01 2.78830157e-02 2.73716486e-03 2.74267015e+02] [-2.78828919e-02 9.99611193e-01 -8.33798627e-05 -8.59998631e-01] [-2.73842551e-03 7.02705978e-06 9.99996250e-01 -2.01719873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.25591999999995 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:274.30, Y:-0.86, Z:-2.02 [[ 9.99611571e-01 2.77347183e-02 2.73742497e-03 2.74298694e+02] [-2.77346343e-02 9.99615319e-01 -6.86297161e-05 -8.60657069e-01] [-2.73827536e-03 -7.31842237e-06 9.99996251e-01 -2.01728337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.28592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:274.33, Y:-0.86, Z:-2.01 [[ 9.99552980e-01 2.97715882e-02 2.73743158e-03 2.74331672e+02] [-2.97715129e-02 9.99556728e-01 -6.82516941e-05 -8.61617294e-01] [-2.73825011e-03 -1.32762954e-05 9.99996251e-01 -2.01386183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.31591999999995 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:274.36, Y:-0.86, Z:-2.01 [[ 9.99502329e-01 3.14261313e-02 2.73718282e-03 2.74363157e+02] [-3.14260231e-02 9.99506077e-01 -8.25213599e-05 -8.61502611e-01] [-2.73842419e-03 -3.53847920e-06 9.99996251e-01 -2.01351666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.34592 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:274.40, Y:-0.86, Z:-2.01 [[ 9.99530903e-01 3.05037839e-02 2.73745798e-03 2.74395553e+02] [-3.05037164e-02 9.99534651e-01 -6.64016268e-05 -8.61199965e-01] [-2.73820961e-03 -1.71321639e-05 9.99996251e-01 -2.01031281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.37591999999995 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:274.43, Y:-0.86, Z:-2.01 [[ 9.99536856e-01 3.03080696e-02 2.73744932e-03 2.74427497e+02] [-3.03080000e-02 9.99540605e-01 -6.69103859e-05 -8.60519822e-01] [-2.73821968e-03 -1.60872172e-05 9.99996251e-01 -2.01398650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.40592 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:274.46, Y:-0.86, Z:-2.01 [[ 9.99607287e-01 2.78886492e-02 2.73753623e-03 2.74460882e+02] [-2.78885847e-02 9.99611036e-01 -6.17322281e-05 -8.60363777e-01] [-2.73819306e-03 -1.46380261e-05 9.99996251e-01 -2.01282107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.43591999999995 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:274.49, Y:-0.86, Z:-2.01 [[ 9.99664825e-01 2.57438509e-02 2.73728757e-03 2.74493073e+02] [-2.57437374e-02 9.99668572e-01 -7.66926503e-05 -8.61754833e-01] [-2.73835472e-03 6.19893243e-06 9.99996251e-01 -2.01304130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.46592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.52, Y:-0.86, Z:-2.02 [[ 9.99742143e-01 2.25422649e-02 2.73732281e-03 2.74523249e+02] [-2.25421453e-02 9.99745891e-01 -7.45515468e-05 -8.63377552e-01] [-2.73830779e-03 1.28271947e-05 9.99996251e-01 -2.02153754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.49591999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.56, Y:-0.87, Z:-2.02 [[ 9.99791175e-01 2.02511977e-02 2.73781306e-03 2.74555696e+02] [-2.02511527e-02 9.99794923e-01 -4.41510444e-05 -8.65334303e-01] [-2.73814571e-03 -1.13020458e-05 9.99996251e-01 -2.02093238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.52592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:274.59, Y:-0.87, Z:-2.01 [[ 9.99812966e-01 1.91451714e-02 2.73780563e-03 2.74587409e+02] [-1.91451210e-02 9.99816714e-01 -4.46069737e-05 -8.66826831e-01] [-2.73815784e-03 -7.81698950e-06 9.99996251e-01 -2.01241799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.55591999999996 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:274.62, Y:-0.87, Z:-2.01 [[ 9.99811437e-01 1.92249052e-02 2.73750935e-03 2.74620878e+02] [-1.92248055e-02 9.99815184e-01 -6.27377729e-05 -8.68900705e-01] [-2.73820954e-03 1.00978582e-05 9.99996251e-01 -2.01073448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.58592 meters Centerline goodness : 0.998658 Centerline is valid? [True, True] Translation: X:274.67, Y:-0.86, Z:-2.02 [[ 9.99004600e-01 4.45232087e-02 2.73728219e-03 2.74669894e+02] [-4.45231653e-02 9.99008349e-01 -7.68419103e-05 -8.58116681e-01] [-2.73798901e-03 -4.51070456e-05 9.99996251e-01 -2.01607391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.61591999999996 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:274.68, Y:-0.87, Z:-2.01 [[ 9.99894424e-01 1.42714241e-02 2.73264367e-03 2.74678205e+02] [-1.42705416e-02 9.99898112e-01 -3.42203830e-04 -8.72296333e-01] [-2.73724899e-03 3.03171396e-04 9.99996208e-01 -2.01230524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.64592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:274.71, Y:-0.88, Z:-2.01 [[ 9.99883583e-01 1.50110988e-02 2.73644913e-03 2.74710273e+02] [-1.50110099e-02 9.99887327e-01 -5.30285880e-05 -8.75033849e-01] [-2.73693683e-03 1.19455495e-05 9.99996255e-01 -2.01240585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.67591999999996 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:274.74, Y:-0.88, Z:-2.01 [[ 9.99874007e-01 1.56359160e-02 2.73639661e-03 2.74742315e+02] [-1.56358184e-02 9.99877751e-01 -5.70835735e-05 -8.76015588e-01] [-2.73695464e-03 1.42905810e-05 9.99996254e-01 -2.01266626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.70592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:274.78, Y:-0.88, Z:-2.02 [[ 9.99861536e-01 1.64140435e-02 2.73640001e-03 2.74775644e+02] [-1.64139495e-02 9.99865280e-01 -5.68193369e-05 -8.76912030e-01] [-2.73696400e-03 1.18963379e-05 9.99996254e-01 -2.01637195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.73591999999996 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:274.81, Y:-0.88, Z:-2.02 [[ 9.99838175e-01 1.77802520e-02 2.73627810e-03 2.74805022e+02] [-1.77801365e-02 9.99841919e-01 -6.65094204e-05 -8.78639891e-01] [-2.73702810e-03 1.78472592e-05 9.99996254e-01 -2.02340003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.76592 meters Centerline goodness : 0.999405 Centerline is valid? [True, True] Translation: X:274.84, Y:-0.88, Z:-2.01 [[ 9.99788791e-01 2.03687056e-02 2.73668216e-03 2.74838655e+02] [-2.03686899e-02 9.99792536e-01 -3.35839751e-05 -8.79323057e-01] [-2.73679846e-03 -2.21657485e-05 9.99996255e-01 -2.01405721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.79591999999997 meters Centerline goodness : 0.989057 Centerline is valid? [True, True] Translation: X:274.83, Y:-0.92, Z:-2.03 [[ 9.97938082e-01 -6.41256286e-02 2.73639172e-03 2.74828376e+02] [ 6.41260239e-02 9.97941807e-01 -5.68966850e-05 -9.20388484e-01] [-2.72711117e-03 2.32253290e-04 9.99996254e-01 -2.02701364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.82592 meters Centerline goodness : 0.998065 Centerline is valid? [True, True] Translation: X:274.89, Y:-0.88, Z:-2.02 [[ 9.99603223e-01 2.80336838e-02 2.74042026e-03 2.74889949e+02] [-2.80347635e-02 9.99606885e-01 3.56389735e-04 -8.77787062e-01] [-2.72935204e-03 -4.33075361e-04 9.99996182e-01 -2.02262482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.85591999999997 meters Centerline goodness : 0.997519 Centerline is valid? [True, True] Translation: X:274.92, Y:-0.88, Z:-2.02 [[ 9.99504784e-01 3.13482485e-02 2.73382971e-03 2.74924570e+02] [-3.13482429e-02 9.99508522e-01 -4.49002923e-05 -8.76505372e-01] [-2.73389364e-03 -4.08227008e-05 9.99996262e-01 -2.01501645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.88592 meters Centerline goodness : 0.996970 Centerline is valid? [True, True] Translation: X:274.96, Y:-0.88, Z:-2.01 [[ 9.99507127e-01 3.12735183e-02 2.73318194e-03 2.74956520e+02] [-3.12734075e-02 9.99510864e-01 -8.32997390e-05 -8.77689585e-01] [-2.73445012e-03 -2.21722979e-06 9.99996261e-01 -2.01448221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.91591999999997 meters Centerline goodness : 0.996327 Centerline is valid? [True, True] Translation: X:274.98, Y:-0.88, Z:-2.02 [[ 9.99515799e-01 3.09951224e-02 2.73318585e-03 2.74984507e+02] [-3.09950111e-02 9.99519536e-01 -8.30618311e-05 -8.78980560e-01] [-2.73444716e-03 -1.69351334e-06 9.99996261e-01 -2.02341517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.94592 meters Centerline goodness : 0.995288 Centerline is valid? [True, True] Translation: X:275.02, Y:-0.88, Z:-2.01 [[ 9.99481806e-01 3.20725117e-02 2.73381380e-03 2.75019582e+02] [-3.20725102e-02 9.99485544e-01 -4.43799819e-05 -8.78822038e-01] [-2.73383075e-03 -4.33232866e-05 9.99996262e-01 -2.00907829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.97592 meters Centerline goodness : 0.994824 Centerline is valid? [True, True] Translation: X:275.05, Y:-0.88, Z:-2.01 [[ 9.99562983e-01 2.94342316e-02 2.73308660e-03 2.75048692e+02] [-2.94340957e-02 9.99566719e-01 -8.99356954e-05 -8.80520506e-01] [-2.73454959e-03 9.45045945e-06 9.99996261e-01 -2.01234689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.00591999999995 meters Centerline goodness : 0.994972 Centerline is valid? [True, True] Translation: X:275.08, Y:-0.88, Z:-2.01 [[ 9.99544229e-01 3.00643024e-02 2.73343605e-03 2.75082587e+02] [-3.00642295e-02 9.99547967e-01 -6.77672183e-05 -8.81459672e-01] [-2.73423782e-03 -1.44423166e-05 9.99996262e-01 -2.01259321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.03592 meters Centerline goodness : 0.994386 Centerline is valid? [True, True] Translation: X:275.11, Y:-0.88, Z:-2.01 [[ 9.99524183e-01 3.07235714e-02 2.73318322e-03 2.75114806e+02] [-3.07234568e-02 9.99527920e-01 -8.39307474e-05 -8.82373800e-01] [-2.73447159e-03 -8.20247148e-08 9.99996261e-01 -2.01354582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.06591999999995 meters Centerline goodness : 0.994425 Centerline is valid? [True, True] Translation: X:275.15, Y:-0.88, Z:-2.01 [[ 9.99511052e-01 3.11478295e-02 2.73316087e-03 2.75147146e+02] [-3.11477124e-02 9.99514789e-01 -8.54134389e-05 -8.82995947e-01] [-2.73449515e-03 2.39967544e-07 9.99996261e-01 -2.01401387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.09592 meters Centerline goodness : 0.994591 Centerline is valid? [True, True] Translation: X:275.18, Y:-0.88, Z:-2.01 [[ 9.99518826e-01 3.08973371e-02 2.73323209e-03 2.75178718e+02] [-3.08972321e-02 9.99522563e-01 -8.06173308e-05 -8.84475553e-01] [-2.73441801e-03 -3.87076662e-06 9.99996261e-01 -2.01436347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.12591999999995 meters Centerline goodness : 0.994527 Centerline is valid? [True, True] Translation: X:275.21, Y:-0.89, Z:-2.02 [[ 9.99469192e-01 3.24632665e-02 2.73337045e-03 2.75211303e+02] [-3.24631935e-02 9.99472929e-01 -7.10978444e-05 -8.86298578e-01] [-2.73423784e-03 -1.76738288e-05 9.99996262e-01 -2.01555752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.15592 meters Centerline goodness : 0.993994 Centerline is valid? [True, True] Translation: X:275.24, Y:-0.89, Z:-2.02 [[ 9.99425652e-01 3.37771375e-02 2.73328443e-03 2.75243686e+02] [-3.37770528e-02 9.99429390e-01 -7.71626437e-05 -8.87134674e-01] [-2.73433112e-03 -1.52039669e-05 9.99996262e-01 -2.01619214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.18591999999995 meters Centerline goodness : 0.993994 Centerline is valid? [True, True] Translation: X:275.28, Y:-0.89, Z:-2.02 [[ 9.99402522e-01 3.44547138e-02 2.73337602e-03 2.75276283e+02] [-3.44546497e-02 9.99406260e-01 -7.05617592e-05 -8.86903819e-01] [-2.73418429e-03 -2.36579131e-05 9.99996262e-01 -2.01660289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.21592 meters Centerline goodness : 0.993944 Centerline is valid? [True, True] Translation: X:275.31, Y:-0.89, Z:-2.02 [[ 9.99257706e-01 3.84261101e-02 2.73339094e-03 2.75309790e+02] [-3.84260638e-02 9.99261444e-01 -6.94635948e-05 -8.86766856e-01] [-2.73404139e-03 -3.56214221e-05 9.99996262e-01 -2.01869810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.24591999999996 meters Centerline goodness : 0.993845 Centerline is valid? [True, True] Translation: X:275.34, Y:-0.89, Z:-2.02 [[ 9.99195257e-01 4.00170833e-02 2.73324675e-03 2.75341655e+02] [-4.00170135e-02 9.99198995e-01 -8.02189621e-05 -8.86076987e-01] [-2.73426754e-03 -2.92219657e-05 9.99996261e-01 -2.01945279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.27592 meters Centerline goodness : 0.995831 Centerline is valid? [True, True] Translation: X:275.37, Y:-0.89, Z:-2.03 [[ 9.99137766e-01 4.14276924e-02 2.73335395e-03 2.75371243e+02] [-4.14276508e-02 9.99141504e-01 -7.18682195e-05 -8.85088824e-01] [-2.73398471e-03 -4.14301808e-05 9.99996262e-01 -2.02828932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.30591999999996 meters Centerline goodness : 0.986941 Centerline is valid? [True, True] Translation: X:275.44, Y:-0.85, Z:-2.02 [[ 9.95084010e-01 9.89966639e-02 2.73382500e-03 2.75439042e+02] [-9.89969411e-02 9.95087737e-01 -3.40626682e-05 -8.54686338e-01] [-2.72376782e-03 -2.36745096e-04 9.99996263e-01 -2.02242666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.33592 meters Centerline goodness : 0.995681 Centerline is valid? [True, True] Translation: X:275.42, Y:-0.88, Z:-2.03 [[ 9.98744963e-01 5.00106752e-02 2.72593524e-03 2.75423321e+02] [-5.00094114e-02 9.98748606e-01 -5.29871722e-04 -8.79916917e-01] [-2.74902327e-03 3.92884297e-04 9.99996144e-01 -2.02871334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.36591999999996 meters Centerline goodness : 0.990211 Centerline is valid? [True, True] Translation: X:275.47, Y:-0.90, Z:-2.04 [[ 9.99969916e-01 7.26032842e-03 2.73031611e-03 2.75469552e+02] [-7.26029097e-03 9.99973643e-01 -2.36252488e-05 -9.03415545e-01] [-2.73041568e-03 3.80164862e-06 9.99996272e-01 -2.03812735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.39592 meters Centerline goodness : 0.996167 Centerline is valid? [True, True] Translation: X:275.48, Y:-0.87, Z:-2.03 [[ 9.98412535e-01 5.62580302e-02 2.72828506e-03 2.75482380e+02] [-5.62576021e-02 9.98416260e-01 -2.33451117e-04 -8.72973517e-01] [-2.73709766e-03 7.95937467e-05 9.99996251e-01 -2.02757372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.42591999999996 meters Centerline goodness : 0.996074 Centerline is valid? [True, True] Translation: X:275.52, Y:-0.86, Z:-2.03 [[ 9.98179783e-01 6.02467447e-02 2.72975369e-03 2.75515232e+02] [-6.02469183e-02 9.98183504e-01 -1.86641734e-05 -8.61936412e-01] [-2.72591956e-03 -1.45829047e-04 9.99996274e-01 -2.02849889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.45592 meters Centerline goodness : 0.994192 Centerline is valid? [True, True] Translation: X:275.55, Y:-0.86, Z:-2.02 [[ 9.98074953e-01 6.19591478e-02 2.72975025e-03 2.75550096e+02] [-6.19593265e-02 9.98078675e-01 -1.91534293e-05 -8.55908175e-01] [-2.72569224e-03 -1.50016929e-04 9.99996274e-01 -2.01735444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.48591999999996 meters Centerline goodness : 0.996027 Centerline is valid? [True, True] Translation: X:275.58, Y:-0.85, Z:-2.03 [[ 9.98179646e-01 6.02490184e-02 2.72942898e-03 2.75578258e+02] [-6.02490704e-02 9.98183373e-01 -6.32496741e-05 -8.46559492e-01] [-2.72828135e-03 -1.01311021e-04 9.99996273e-01 -2.02804923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.51592 meters Centerline goodness : 0.988181 Centerline is valid? [True, True] Translation: X:275.64, Y:-0.83, Z:-2.02 [[ 9.95709799e-01 9.24907779e-02 2.72973339e-03 2.75635506e+02] [-9.24910719e-02 9.95713514e-01 -1.86183788e-05 -8.25068577e-01] [-2.71975445e-03 -2.33937465e-04 9.99996274e-01 -2.01899253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.54591999999997 meters Centerline goodness : 0.995974 Centerline is valid? [True, True] Translation: X:275.64, Y:-0.84, Z:-2.03 [[ 9.98258303e-01 5.89315664e-02 2.72604877e-03 2.75635742e+02] [-5.89307953e-02 9.98262005e-01 -3.62401662e-04 -8.37619702e-01] [-2.74266780e-03 2.01122246e-04 9.99996219e-01 -2.02761659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.57592 meters Centerline goodness : 0.995524 Centerline is valid? [True, True] Translation: X:275.67, Y:-0.82, Z:-2.03 [[ 9.98232723e-01 5.93631817e-02 2.72807848e-03 2.75668153e+02] [-5.93633591e-02 9.98236441e-01 -1.59829052e-05 -8.24600612e-01] [-2.72421615e-03 -1.45993243e-04 9.99996279e-01 -2.02710684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.60591999999997 meters Centerline goodness : 0.977051 Centerline is valid? [True, True] Translation: X:275.67, Y:-0.86, Z:-2.03 [[ 9.99275416e-01 -3.79631429e-02 2.72807655e-03 2.75670579e+02] [ 3.79633286e-02 9.99279133e-01 -1.63058471e-05 -8.62623687e-01] [-2.72549095e-03 1.19860899e-04 9.99996279e-01 -2.03429476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.63592 meters Centerline goodness : 0.995972 Centerline is valid? [True, True] Translation: X:275.73, Y:-0.81, Z:-2.03 [[ 9.98125906e-01 6.11328829e-02 2.72898606e-03 2.75725343e+02] [-6.11338620e-02 9.98129538e-01 2.76733365e-04 -8.06053768e-01] [-2.70696409e-03 -4.43048198e-04 9.99996238e-01 -2.02923807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.66591999999997 meters Centerline goodness : 0.993390 Centerline is valid? [True, True] Translation: X:275.76, Y:-0.80, Z:-2.02 [[ 9.98144707e-01 6.08252321e-02 2.72673259e-03 2.75759055e+02] [-6.08254020e-02 9.98148421e-01 -2.06625176e-05 -8.00261708e-01] [-2.72294063e-03 -1.45230423e-04 9.99996282e-01 -2.01907881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.69592 meters Centerline goodness : 0.996616 Centerline is valid? [True, True] Translation: X:275.78, Y:-0.80, Z:-2.02 [[ 9.99731950e-01 2.29911996e-02 2.72650661e-03 2.75779917e+02] [-2.29911475e-02 9.99735667e-01 -5.04510089e-05 -8.04349915e-01] [-2.72694584e-03 -1.22480303e-05 9.99996282e-01 -2.02347732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.72592 meters Centerline goodness : 0.993738 Centerline is valid? [True, True] Translation: X:275.82, Y:-0.79, Z:-2.02 [[ 9.98666050e-01 5.15624108e-02 2.72735223e-03 2.75819470e+02] [-5.15628001e-02 9.98669751e-01 7.25587871e-05 -7.88534038e-01] [-2.71998286e-03 -2.13091915e-04 9.99996278e-01 -2.01714582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.75591999999995 meters Centerline goodness : 0.996276 Centerline is valid? [True, True] Translation: X:275.85, Y:-0.78, Z:-2.03 [[ 9.98861395e-01 4.76285780e-02 2.72630165e-03 2.75848765e+02] [-4.76286044e-02 9.98865113e-01 -5.52843858e-05 -7.84885323e-01] [-2.72584072e-03 -7.46285041e-05 9.99996282e-01 -2.02930674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.78592 meters Centerline goodness : 0.994033 Centerline is valid? [True, True] Translation: X:275.88, Y:-0.78, Z:-2.02 [[ 9.99018674e-01 4.42069557e-02 2.72656931e-03 2.75881719e+02] [-4.42070607e-02 9.99022390e-01 -2.17854684e-05 -7.82174896e-01] [-2.72486686e-03 -9.87695254e-05 9.99996283e-01 -2.01667074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.81591999999995 meters Centerline goodness : 0.993629 Centerline is valid? [True, True] Translation: X:275.91, Y:-0.78, Z:-2.02 [[ 9.99295055e-01 3.74427522e-02 2.72637980e-03 2.75913942e+02] [-3.74427679e-02 9.99298773e-01 -4.52665981e-05 -7.79369687e-01] [-2.72616290e-03 -5.68485186e-05 9.99996282e-01 -2.01792304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.84592 meters Centerline goodness : 0.994493 Centerline is valid? [True, True] Translation: X:275.95, Y:-0.78, Z:-2.02 [[ 9.99383920e-01 3.49906883e-02 2.72636218e-03 2.75946029e+02] [-3.49906889e-02 9.99387637e-01 -4.74824339e-05 -7.78111565e-01] [-2.72635410e-03 -4.79441100e-05 9.99996282e-01 -2.01797380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.87591999999995 meters Centerline goodness : 0.994523 Centerline is valid? [True, True] Translation: X:275.98, Y:-0.78, Z:-2.02 [[ 9.99450835e-01 3.30241472e-02 2.72639661e-03 2.75978500e+02] [-3.30241529e-02 9.99454553e-01 -4.29487731e-05 -7.75137949e-01] [-2.72632785e-03 -4.71117513e-05 9.99996282e-01 -2.01907630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.90592 meters Centerline goodness : 0.995134 Centerline is valid? [True, True] Translation: X:276.01, Y:-0.78, Z:-2.02 [[ 9.99508305e-01 3.12364351e-02 2.72635503e-03 2.76010938e+02] [-3.12364190e-02 9.99512023e-01 -4.85129254e-05 -7.75745794e-01] [-2.72654000e-03 -3.66724960e-05 9.99996282e-01 -2.01907096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.93591999999995 meters Centerline goodness : 0.996525 Centerline is valid? [True, True] Translation: X:276.04, Y:-0.78, Z:-2.03 [[ 9.99556988e-01 2.96377278e-02 2.72639494e-03 2.76041735e+02] [-2.96377208e-02 9.99560705e-01 -4.29707653e-05 -7.77016754e-01] [-2.72647081e-03 -3.78524036e-05 9.99996282e-01 -2.03085517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.96592 meters Centerline goodness : 0.996725 Centerline is valid? [True, True] Translation: X:276.07, Y:-0.78, Z:-2.03 [[ 9.99599315e-01 2.81740172e-02 2.72656242e-03 2.76074219e+02] [-2.81740695e-02 9.99603032e-01 -1.92497366e-05 -7.76724145e-01] [-2.72602240e-03 -5.75763355e-05 9.99996283e-01 -2.03174155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.99591999999996 meters Centerline goodness : 0.996372 Centerline is valid? [True, True] Translation: X:276.11, Y:-0.78, Z:-2.02 [[ 9.99595704e-01 2.83018305e-02 2.72655989e-03 2.76107359e+02] [-2.83018823e-02 9.99599421e-01 -1.96014333e-05 -7.76104368e-01] [-2.72602244e-03 -5.75732684e-05 9.99996283e-01 -2.02045078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.02592 meters Centerline goodness : 0.997516 Centerline is valid? [True, True] Translation: X:276.14, Y:-0.78, Z:-2.02 [[ 9.99575277e-01 2.90143424e-02 2.72633103e-03 2.76139173e+02] [-2.90143114e-02 9.99578995e-01 -5.09182009e-05 -7.76726520e-01] [-2.72666059e-03 -2.82060426e-05 9.99996282e-01 -2.02171293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.05591999999996 meters Centerline goodness : 0.998510 Centerline is valid? [True, True] Translation: X:276.17, Y:-0.78, Z:-2.02 [[ 9.99577589e-01 2.89345820e-02 2.72634610e-03 2.76171605e+02] [-2.89345564e-02 9.99581307e-01 -4.88464777e-05 -7.77447566e-01] [-2.72661795e-03 -3.00597704e-05 9.99996282e-01 -2.02100769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.08592 meters Centerline goodness : 0.998459 Centerline is valid? [True, True] Translation: X:276.20, Y:-0.78, Z:-2.02 [[ 9.99506626e-01 3.12901305e-02 2.72634283e-03 2.76201697e+02] [-3.12901124e-02 9.99510343e-01 -4.93084457e-05 -7.76497100e-01] [-2.72655073e-03 -3.60234555e-05 9.99996282e-01 -2.02232950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.11591999999996 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:276.23, Y:-0.78, Z:-2.03 [[ 9.99502495e-01 3.14217769e-02 2.72645046e-03 2.76232887e+02] [-3.14218028e-02 9.99506213e-01 -3.33623731e-05 -7.76033277e-01] [-2.72615248e-03 -5.23242135e-05 9.99996283e-01 -2.03251286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.14592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:276.27, Y:-0.78, Z:-2.03 [[ 9.99444395e-01 3.32184704e-02 2.72655166e-03 2.76265344e+02] [-3.32185443e-02 9.99448112e-01 -1.82060218e-05 -7.75577643e-01] [-2.72565169e-03 -7.23761708e-05 9.99996283e-01 -2.03336577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.17591999999996 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:276.30, Y:-0.78, Z:-2.03 [[ 9.99440144e-01 3.33461301e-02 2.72654928e-03 2.76298006e+02] [-3.33462035e-02 9.99443861e-01 -1.85557308e-05 -7.75767743e-01] [-2.72565170e-03 -7.23747251e-05 9.99996283e-01 -2.03345484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.20592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:276.33, Y:-0.78, Z:-2.03 [[ 9.99395914e-01 3.46464056e-02 2.72654687e-03 2.76329939e+02] [-3.46464829e-02 9.99399630e-01 -1.89039939e-05 -7.75058951e-01] [-2.72556489e-03 -7.55726852e-05 9.99996283e-01 -2.03491446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.23591999999996 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:276.36, Y:-0.77, Z:-2.03 [[ 9.99396002e-01 3.46438495e-02 2.72654441e-03 2.76362352e+02] [-3.46439258e-02 9.99399719e-01 -1.92521855e-05 -7.73712291e-01] [-2.72557469e-03 -7.52176450e-05 9.99996283e-01 -2.03382078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.26592 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:276.40, Y:-0.77, Z:-2.02 [[ 9.99443538e-01 3.32442492e-02 2.72654191e-03 2.76395187e+02] [-3.32443194e-02 9.99447255e-01 -1.96001886e-05 -7.72160482e-01] [-2.72568642e-03 -7.10527481e-05 9.99996283e-01 -2.02179228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.29591999999997 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:276.43, Y:-0.77, Z:-2.02 [[ 9.99507334e-01 3.12674992e-02 2.72641112e-03 2.76427242e+02] [-3.12675124e-02 9.99511051e-01 -3.78056435e-05 -7.71544899e-01] [-2.72626013e-03 -4.74610755e-05 9.99996283e-01 -2.02264501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.32592 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:276.46, Y:-0.77, Z:-2.02 [[ 9.99598717e-01 2.81952464e-02 2.72641672e-03 2.76459681e+02] [-2.81952503e-02 9.99602434e-01 -3.70262650e-05 -7.72479492e-01] [-2.72637676e-03 -3.98605948e-05 9.99996283e-01 -2.02102454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.35591999999997 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:276.49, Y:-0.77, Z:-2.03 [[ 9.99627896e-01 2.71410537e-02 2.72644284e-03 2.76490080e+02] [-2.71410639e-02 9.99631613e-01 -3.32643541e-05 -7.73490193e-01] [-2.72634128e-03 -4.07465830e-05 9.99996283e-01 -2.03428570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.38592 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:276.52, Y:-0.77, Z:-2.02 [[ 9.99746500e-01 2.23495184e-02 2.72654303e-03 2.76521553e+02] [-2.23495510e-02 9.99750217e-01 -1.84899570e-05 -7.74200471e-01] [-2.72627523e-03 -4.24517429e-05 9.99996283e-01 -2.02041193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.41591999999997 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:276.55, Y:-0.78, Z:-2.02 [[ 9.99784069e-01 2.06005033e-02 2.72651523e-03 2.76554215e+02] [-2.06005181e-02 9.99787787e-01 -2.26560038e-05 -7.75440939e-01] [-2.72640335e-03 -3.35165146e-05 9.99996283e-01 -2.02341658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.44592 meters Centerline goodness : 0.816542 Centerline is valid? [True, False] Translation: X:276.56, Y:-0.79, Z:-2.02 [[ 9.99900948e-01 1.37348555e-02 -3.07376796e-03 2.76560096e+02] [-1.36880405e-02 9.99797284e-01 1.47657840e-02 -7.90245107e-01] [ 3.27595077e-03 -1.47222476e-02 9.99886255e-01 -2.02417665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.47592 meters Centerline goodness : 0.999851 Centerline is valid? [False, True] Translation: X:276.58, Y:-0.79, Z:-2.02 [[ 9.99977045e-01 1.85816568e-03 -6.51581656e-03 2.76581434e+02] [-1.77679601e-03 9.99920647e-01 1.24716537e-02 -7.91862277e-01] [ 6.53847391e-03 -1.24597901e-02 9.99900996e-01 -2.02051131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.50591999999995 meters Centerline goodness : 0.998662 Centerline is valid? [True, True] Translation: X:276.61, Y:-0.78, Z:-2.01 [[ 9.99974923e-01 -2.96344472e-03 -6.43208578e-03 2.76610834e+02] [ 2.96322756e-03 9.99995609e-01 -4.32925453e-05 -7.84164389e-01] [ 6.43218583e-03 2.42317258e-05 9.99979313e-01 -2.00663839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.53592 meters Centerline goodness : 0.807354 Centerline is valid? [True, False] Translation: X:276.61, Y:-0.79, Z:-2.01 [[ 9.99974844e-01 -2.92635110e-03 -6.46126644e-03 2.76610969e+02] [ 2.92993460e-03 9.99995559e-01 5.45216739e-04 -7.86544855e-01] [ 6.45964225e-03 -5.64134111e-04 9.99978977e-01 -2.00666781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.56591999999995 meters Centerline goodness : 0.998958 Centerline is valid? [False, True] Translation: X:276.61, Y:-0.79, Z:-2.01 [[ 9.99974040e-01 -3.01697044e-03 -6.54345107e-03 2.76611195e+02] [ 3.03026573e-03 9.99993363e-01 2.02288558e-03 -7.93183639e-01] [ 6.53730466e-03 -2.04266146e-03 9.99976545e-01 -2.00654893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.59592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:276.64, Y:-0.79, Z:-2.02 [[ 9.99978451e-01 -6.73017901e-04 -6.53029731e-03 2.76641393e+02] [ 6.72734734e-04 9.99999773e-01 -4.55585808e-05 -7.93707512e-01] [ 6.53032649e-03 4.11644412e-05 9.99978676e-01 -2.02078190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.62591999999995 meters Centerline goodness : 0.998709 Centerline is valid? [True, True] Translation: X:276.67, Y:-0.80, Z:-2.01 [[ 9.99978481e-01 -6.26355953e-04 -6.53031793e-03 2.76671103e+02] [ 6.26092543e-04 9.99999803e-01 -4.23808479e-05 -7.95591703e-01] [ 6.53034319e-03 3.82913525e-05 9.99978676e-01 -2.00663195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.65592 meters Centerline goodness : 0.998710 Centerline is valid? [True, True] Translation: X:276.70, Y:-0.80, Z:-2.01 [[ 9.99975592e-01 2.48388269e-03 -6.53036547e-03 2.76700426e+02] [-2.48416627e-03 9.99996914e-01 -3.53135154e-05 -7.99008445e-01] [ 6.53025760e-03 5.15351671e-05 9.99978676e-01 -2.00630666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.68591999999995 meters Centerline goodness : 0.998859 Centerline is valid? [True, True] Translation: X:276.73, Y:-0.80, Z:-2.01 [[ 9.99968926e-01 4.41581153e-03 -6.53053218e-03 2.76729511e+02] [-4.41598175e-03 9.99990249e-01 -1.16452744e-05 -8.02243667e-01] [ 6.53041708e-03 4.04836234e-05 9.99978676e-01 -2.00664344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.71592 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:276.76, Y:-0.81, Z:-2.01 [[ 9.99934563e-01 9.39264727e-03 -6.53057746e-03 2.76758025e+02] [-9.39288399e-03 9.99955886e-01 -5.57797219e-06 -8.06609346e-01] [ 6.53023698e-03 6.69185637e-05 9.99978676e-01 -2.00644127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.74591999999996 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:276.79, Y:-0.81, Z:-2.01 [[ 9.99889442e-01 1.33586649e-02 -6.53063903e-03 2.76788036e+02] [-1.33589364e-02 9.99910765e-01 2.04809255e-06 -8.06323150e-01] [ 6.53008364e-03 8.51945254e-05 9.99978675e-01 -2.00961557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.77592 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:276.82, Y:-0.81, Z:-2.01 [[ 9.99831002e-01 1.71848524e-02 -6.53056754e-03 2.76816799e+02] [-1.71852598e-02 9.99852322e-01 -6.27905821e-06 -8.05288014e-01] [ 6.52949522e-03 1.18507497e-04 9.99978676e-01 -2.00707545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.80591999999996 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:276.85, Y:-0.80, Z:-2.01 [[ 9.99568882e-01 2.86251773e-02 -6.53063225e-03 2.76846553e+02] [-2.86257824e-02 9.99590198e-01 8.07035432e-07 -8.02436079e-01] [ 6.52797909e-03 1.86137771e-04 9.99978675e-01 -2.00771522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.83592 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:276.87, Y:-0.80, Z:-2.01 [[ 9.99414218e-01 3.35942070e-02 -6.53076535e-03 2.76874113e+02] [-3.35948285e-02 9.99435534e-01 1.45480602e-05 -7.99955228e-01] [ 6.52756769e-03 2.04860404e-04 9.99978674e-01 -2.00757404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.86591999999996 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:276.90, Y:-0.79, Z:-2.02 [[ 9.99043594e-01 4.32348108e-02 -6.53060814e-03 2.76901511e+02] [-4.32357373e-02 9.99064898e-01 -6.93554186e-07 -7.91576761e-01] [ 6.52447137e-03 2.83048549e-04 9.99978675e-01 -2.01642310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.89592 meters Centerline goodness : 0.767003 Centerline is valid? [True, False] Translation: X:276.90, Y:-0.80, Z:-2.02 [[ 9.99469699e-01 3.21963374e-02 -4.87003878e-03 2.76901101e+02] [-3.21535283e-02 9.99445709e-01 8.62703948e-03 -7.96995547e-01] [ 5.14509843e-03 -8.46587562e-03 9.99950927e-01 -2.01829639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.92591999999996 meters Centerline goodness : 0.999851 Centerline is valid? [False, True] Translation: X:276.90, Y:-0.80, Z:-2.02 [[ 9.99793501e-01 2.02401191e-02 -1.81484436e-03 2.76899224e+02] [-2.02080945e-02 9.99664484e-01 1.62034456e-02 -8.01641328e-01] [ 2.14219512e-03 -1.61634251e-02 9.99867069e-01 -2.01992338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.95592 meters Centerline goodness : 0.965006 Centerline is valid? [True, True] Translation: X:276.94, Y:-0.81, Z:-2.03 [[ 9.98191382e-01 -6.01060222e-02 -1.10931497e-03 2.76940748e+02] [ 6.01060058e-02 9.98191998e-01 -4.81685966e-05 -8.11513038e-01] [ 1.11020455e-03 -1.85950141e-05 9.99999384e-01 -2.03120633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.98591999999996 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:276.96, Y:-0.77, Z:-2.02 [[ 9.99718172e-01 2.37136955e-02 -1.11187554e-03 2.76956916e+02] [-2.37136982e-02 9.99718791e-01 1.07495475e-05 -7.68661910e-01] [ 1.11181778e-03 1.56201630e-05 9.99999382e-01 -2.01940236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.01592 meters Centerline goodness : 0.997962 Centerline is valid? [True, True] Translation: X:277.01, Y:-0.78, Z:-2.03 [[ 9.99678126e-01 -2.53458999e-02 -1.10910541e-03 2.77007584e+02] [ 2.53458597e-02 9.99678741e-01 -5.03141802e-05 -7.76535860e-01] [ 1.11002436e-03 2.21867553e-05 9.99999384e-01 -2.02765992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.04591999999997 meters Centerline goodness : 0.952073 Centerline is valid? [True, True] Translation: X:276.98, Y:-0.72, Z:-2.04 [[ 9.94419106e-01 1.05495975e-01 -1.11390373e-03 2.76981983e+02] [-1.05495980e-01 9.94419728e-01 5.38112246e-05 -7.17697284e-01] [ 1.11336471e-03 6.40014560e-05 9.99999378e-01 -2.03795331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.07592 meters Centerline goodness : 0.998907 Centerline is valid? [True, True] Translation: X:277.04, Y:-0.74, Z:-2.02 [[ 9.99758649e-01 2.19414394e-02 -1.10355132e-03 2.77035589e+02] [-2.19416145e-02 9.99759243e-01 -1.46785186e-04 -7.43074621e-01] [ 1.10006496e-03 1.70963457e-04 9.99999380e-01 -2.02140642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.10591999999997 meters Centerline goodness : 0.998755 Centerline is valid? [True, True] Translation: X:277.06, Y:-0.73, Z:-2.02 [[ 9.99797494e-01 2.00933750e-02 -1.10803283e-03 2.77064239e+02] [-2.00934459e-02 9.99798105e-01 -5.28786649e-05 -7.30893225e-01] [ 1.10674661e-03 7.51321544e-05 9.99999385e-01 -2.02047793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.13592 meters Centerline goodness : 0.998061 Centerline is valid? [True, True] Translation: X:277.09, Y:-0.72, Z:-2.02 [[ 9.99807138e-01 1.96076530e-02 -1.10802975e-03 2.77092526e+02] [-1.96077237e-02 9.99807749e-01 -5.29430666e-05 -7.24681618e-01] [ 1.10677864e-03 7.46587970e-05 9.99999385e-01 -2.01594927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.16591999999997 meters Centerline goodness : 0.932926 Centerline is valid? [True, False] Translation: X:277.10, Y:-0.72, Z:-2.02 [[ 9.99960425e-01 7.38347813e-03 -4.96304968e-03 2.77097829e+02] [-7.35423638e-03 9.99955643e-01 5.88454271e-03 -7.22605507e-01] [ 5.00627793e-03 -5.84781039e-03 9.99970370e-01 -2.01875430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.19592 meters Centerline goodness : 0.841323 Centerline is valid? [False, False] Translation: X:277.10, Y:-0.71, Z:-2.02 [[ 9.99988145e-01 -6.99302797e-04 -4.81875361e-03 2.77097433e+02] [ 6.74295549e-04 9.99986308e-01 -5.18923950e-03 -7.10061517e-01] [ 4.82231648e-03 5.18592872e-03 9.99974925e-01 -2.01889074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.22592 meters Centerline goodness : 0.998658 Centerline is valid? [False, True] Translation: X:277.10, Y:-0.71, Z:-2.02 [[ 9.99987877e-01 -6.01831191e-04 -4.88708656e-03 2.77097569e+02] [ 5.71384459e-04 9.99980436e-01 -6.22904545e-03 -7.05211943e-01] [ 4.89073979e-03 6.22617753e-03 9.99968657e-01 -2.01856962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.25591999999995 meters Centerline goodness : 0.994587 Centerline is valid? [True, True] Translation: X:277.09, Y:-0.70, Z:-2.04 [[ 9.99962553e-01 -6.89846282e-03 -5.22533895e-03 2.77085290e+02] [ 6.89699997e-03 9.99976171e-01 -2.97919841e-04 -7.04930556e-01] [ 5.22726963e-03 2.61869523e-04 9.99986303e-01 -2.03789754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.28592 meters Centerline goodness : 0.997519 Centerline is valid? [True, True] Translation: X:277.15, Y:-0.70, Z:-2.00 [[ 9.99971577e-01 -5.47440317e-03 -5.18420715e-03 2.77147637e+02] [ 5.46916992e-03 9.99984521e-01 -1.02310100e-03 -6.97368750e-01] [ 5.18972777e-03 9.94718610e-04 9.99986039e-01 -2.00346820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.31591999999995 meters Centerline goodness : 0.998459 Centerline is valid? [True, True] Translation: X:277.18, Y:-0.69, Z:-2.02 [[ 9.99939013e-01 -9.73165217e-03 -5.22166441e-03 2.77178234e+02] [ 9.73033225e-03 9.99952621e-01 -2.78123598e-04 -6.89539876e-01] [ 5.22412361e-03 2.27298107e-04 9.99986328e-01 -2.01790756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.34592 meters Centerline goodness : 0.998112 Centerline is valid? [True, True] Translation: X:277.21, Y:-0.69, Z:-2.02 [[ 9.99909800e-01 -1.23741069e-02 -5.22247974e-03 2.77206703e+02] [ 1.23729078e-02 9.99923418e-01 -2.61863173e-04 -6.86166610e-01] [ 5.22532011e-03 1.97222292e-04 9.99986328e-01 -2.01724223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.37591999999995 meters Centerline goodness : 0.903118 Centerline is valid? [True, False] Translation: X:277.18, Y:-0.68, Z:-2.02 [[ 9.99971840e-01 -7.22134912e-03 -2.04240981e-03 2.77183052e+02] [ 7.20796686e-03 9.99952992e-01 -6.48536612e-03 -6.80322074e-01] [ 2.08914690e-03 6.47046187e-03 9.99976884e-01 -2.01831355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.40592 meters Centerline goodness : 0.999552 Centerline is valid? [False, True] Translation: X:277.16, Y:-0.68, Z:-2.02 [[ 9.99997154e-01 3.60042700e-04 2.35830958e-03 2.77161386e+02] [-3.38223527e-04 9.99957198e-01 -9.24591316e-03 -6.75353769e-01] [-2.36153757e-03 9.24508921e-03 9.99954475e-01 -2.02200349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.43591999999995 meters Centerline goodness : 0.998509 Centerline is valid? [True, True] Translation: X:277.17, Y:-0.70, Z:-2.03 [[ 9.99516521e-01 -3.10413998e-02 1.77617220e-03 2.77170968e+02] [ 3.10400074e-02 9.99517818e-01 8.06223351e-04 -6.97230473e-01] [-1.80034206e-03 -7.50701162e-04 9.99998098e-01 -2.03242036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.46592 meters Centerline goodness : 0.997520 Centerline is valid? [True, True] Translation: X:277.20, Y:-0.69, Z:-2.02 [[ 9.99531281e-01 -3.05599347e-02 1.81903436e-03 2.77202829e+02] [ 3.05597808e-02 9.99532935e-01 1.12367649e-04 -6.91873777e-01] [-1.82161870e-03 -5.67256888e-05 9.99998339e-01 -2.01994054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.49591999999996 meters Centerline goodness : 0.998212 Centerline is valid? [True, True] Translation: X:277.23, Y:-0.69, Z:-2.03 [[ 9.99557752e-01 -2.96814856e-02 1.81919005e-03 2.77234410e+02] [ 2.96813348e-02 9.99559406e-01 1.09835539e-04 -6.87678731e-01] [-1.82164861e-03 -5.57909753e-05 9.99998339e-01 -2.03287112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.52592 meters Centerline goodness : 0.997222 Centerline is valid? [True, True] Translation: X:277.26, Y:-0.68, Z:-2.02 [[ 9.99560040e-01 -2.96043344e-02 1.81908625e-03 2.77263800e+02] [ 2.96041804e-02 9.99561694e-01 1.11528598e-04 -6.83351579e-01] [-1.82159067e-03 -5.76269724e-05 9.99998339e-01 -2.01975818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.55591999999996 meters Centerline goodness : 0.998162 Centerline is valid? [True, True] Translation: X:277.30, Y:-0.68, Z:-2.03 [[ 9.99639033e-01 -2.68047697e-02 1.81864354e-03 2.77295884e+02] [ 2.68045979e-02 9.99640685e-01 1.18771579e-04 -6.78829945e-01] [-1.82117372e-03 -6.99806976e-05 9.99998339e-01 -2.03271312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.58592 meters Centerline goodness : 0.997320 Centerline is valid? [True, True] Translation: X:277.32, Y:-0.67, Z:-2.02 [[ 9.99677410e-01 -2.53331083e-02 1.81914603e-03 2.77324697e+02] [ 2.53329491e-02 9.99679063e-01 1.10499028e-04 -6.74028721e-01] [-1.82136149e-03 -6.43790484e-05 9.99998339e-01 -2.02175087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.61591999999996 meters Centerline goodness : 0.994738 Centerline is valid? [True, True] Translation: X:277.33, Y:-0.67, Z:-2.03 [[ 9.99838712e-01 -1.78674267e-02 1.81825363e-03 2.77329666e+02] [ 1.78672286e-02 9.99840360e-01 1.25159217e-04 -6.73414478e-01] [-1.82019963e-03 -9.26518768e-05 9.99998339e-01 -2.02700968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.64592 meters Centerline goodness : 0.996821 Centerline is valid? [True, True] Translation: X:277.38, Y:-0.68, Z:-2.03 [[ 9.97842940e-01 -6.56215697e-02 1.81025154e-03 2.77377049e+02] [ 6.56211820e-02 9.97844570e-01 2.72812949e-04 -6.82689518e-01] [-1.82425208e-03 -1.53433629e-04 9.99998324e-01 -2.03345084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.67591999999996 meters Centerline goodness : 0.808730 Centerline is valid? [True, False] Translation: X:277.38, Y:-0.67, Z:-2.03 [[ 9.98657303e-01 -5.17858420e-02 -1.34804509e-03 2.77379382e+02] [ 5.17751213e-02 9.98633926e-01 -7.04404513e-03 -6.69732491e-01] [ 1.71098537e-03 6.96479192e-03 9.99974282e-01 -2.03429744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.70592 meters Centerline goodness : 0.997221 Centerline is valid? [False, True] Translation: X:277.38, Y:-0.66, Z:-2.03 [[ 9.99286765e-01 -3.75296612e-02 -4.18164513e-03 2.77381782e+02] [ 3.74700032e-02 9.99206118e-01 -1.35326690e-02 -6.59769354e-01] [ 4.68620188e-03 1.33663308e-02 9.99899685e-01 -2.03437988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.73591999999996 meters Centerline goodness : 0.998065 Centerline is valid? [True, True] Translation: X:277.41, Y:-0.67, Z:-2.05 [[ 9.99200209e-01 -3.96639298e-02 -5.07091285e-03 2.77412221e+02] [ 3.96627113e-02 9.99213067e-01 -3.40671062e-04 -6.67516000e-01] [ 5.08043474e-03 1.39272444e-04 9.99987085e-01 -2.04541027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.76592 meters Centerline goodness : 0.997420 Centerline is valid? [True, True] Translation: X:277.44, Y:-0.66, Z:-2.03 [[ 9.99155086e-01 -4.07848177e-02 -5.07083080e-03 2.77442970e+02] [ 4.07836075e-02 9.99167944e-01 -3.41888017e-04 -6.62674791e-01] [ 5.08055543e-03 1.34792378e-04 9.99987085e-01 -2.03249521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.79591999999997 meters Centerline goodness : 0.997367 Centerline is valid? [True, True] Translation: X:277.47, Y:-0.66, Z:-2.03 [[ 9.99141010e-01 -4.11278757e-02 -5.07353643e-03 2.77472954e+02] [ 4.11268739e-02 9.99153887e-01 -3.01671051e-04 -6.58488934e-01] [ 5.08165074e-03 9.27532254e-05 9.99987084e-01 -2.03283176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.82592 meters Centerline goodness : 0.997468 Centerline is valid? [True, True] Translation: X:277.50, Y:-0.65, Z:-2.03 [[ 9.99107425e-01 -4.19358498e-02 -5.07326292e-03 2.77502934e+02] [ 4.19348378e-02 9.99120301e-01 -3.05722100e-04 -6.52676113e-01] [ 5.08162070e-03 9.27027620e-05 9.99987084e-01 -2.03161800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.85591999999997 meters Centerline goodness : 0.998215 Centerline is valid? [True, True] Translation: X:277.53, Y:-0.65, Z:-2.04 [[ 9.99115016e-01 -4.17546296e-02 -5.07294150e-03 2.77532587e+02] [ 4.17535912e-02 9.99127890e-01 -3.10473505e-04 -6.49367384e-01] [ 5.08148105e-03 9.83852157e-05 9.99987084e-01 -2.04229736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.88592 meters Centerline goodness : 0.996721 Centerline is valid? [True, True] Translation: X:277.56, Y:-0.65, Z:-2.03 [[ 9.99111005e-01 -4.18507703e-02 -5.07069637e-03 2.77563784e+02] [ 4.18495651e-02 9.99123864e-01 -3.43605754e-04 -6.45230355e-01] [ 5.08063391e-03 1.31093853e-04 9.99987085e-01 -2.02957503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.91591999999997 meters Centerline goodness : 0.996429 Centerline is valid? [True, True] Translation: X:277.59, Y:-0.64, Z:-2.03 [[ 9.99057754e-01 -4.31029462e-02 -5.07356880e-03 2.77594304e+02] [ 4.31019724e-02 9.99070633e-01 -3.01177440e-04 -6.39715548e-01] [ 5.08183523e-03 8.22128341e-05 9.99987084e-01 -2.02940916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.94592 meters Centerline goodness : 0.997967 Centerline is valid? [True, True] Translation: X:277.62, Y:-0.64, Z:-2.04 [[ 9.98988529e-01 -4.46786226e-02 -5.07339526e-03 2.77624900e+02] [ 4.46776561e-02 9.99001409e-01 -3.03729566e-04 -6.36727898e-01] [ 5.08189923e-03 7.67549435e-05 9.99987084e-01 -2.04226792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.97592 meters Centerline goodness : 0.996728 Centerline is valid? [True, True] Translation: X:277.66, Y:-0.63, Z:-2.03 [[ 9.98805477e-01 -4.85994592e-02 -5.07063927e-03 2.77656115e+02] [ 4.85983373e-02 9.98818343e-01 -3.44316206e-04 -6.32557496e-01] [ 5.08138110e-03 9.74802749e-05 9.99987085e-01 -2.02858719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.00591999999995 meters Centerline goodness : 0.997174 Centerline is valid? [True, True] Translation: X:277.69, Y:-0.63, Z:-2.03 [[ 9.98710433e-01 -5.05147427e-02 -5.07273226e-03 2.77687071e+02] [ 5.05138020e-02 9.98723314e-01 -3.13478480e-04 -6.29028869e-01] [ 5.08209125e-03 5.68312362e-05 9.99987084e-01 -2.02733069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.03592 meters Centerline goodness : 0.996828 Centerline is valid? [True, True] Translation: X:277.72, Y:-0.62, Z:-2.03 [[ 9.98626013e-01 -5.21570263e-02 -5.07249285e-03 2.77717891e+02] [ 5.21560888e-02 9.98638895e-01 -3.17003389e-04 -6.24815906e-01] [ 5.08212261e-03 5.20064433e-05 9.99987085e-01 -2.02672201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.06591999999995 meters Centerline goodness : 0.996828 Centerline is valid? [True, True] Translation: X:277.75, Y:-0.62, Z:-2.03 [[ 9.98633902e-01 -5.20058420e-02 -5.07177575e-03 2.77749502e+02] [ 5.20048489e-02 9.98646779e-01 -3.27580679e-04 -6.22577725e-01] [ 5.08194863e-03 6.33762401e-05 9.99987085e-01 -2.02655983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.09592 meters Centerline goodness : 0.996923 Centerline is valid? [True, True] Translation: X:277.78, Y:-0.62, Z:-2.03 [[ 9.98479487e-01 -5.48907215e-02 -5.07182341e-03 2.77780249e+02] [ 5.48897692e-02 9.98492367e-01 -3.26876244e-04 -6.18668583e-01] [ 5.08211944e-03 4.79880074e-05 9.99987085e-01 -2.02700854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.12591999999995 meters Centerline goodness : 0.996672 Centerline is valid? [True, True] Translation: X:277.81, Y:-0.62, Z:-2.03 [[ 9.98439905e-01 -5.56061100e-02 -5.07107708e-03 2.77812286e+02] [ 5.56051106e-02 9.98452782e-01 -3.37950135e-04 -6.15946274e-01] [ 5.08202311e-03 5.54450981e-05 9.99987085e-01 -2.02717142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.15592 meters Centerline goodness : 0.997223 Centerline is valid? [True, True] Translation: X:277.84, Y:-0.61, Z:-2.03 [[ 9.98346793e-01 -5.72534597e-02 -5.07170158e-03 2.77843977e+02] [ 5.72525289e-02 9.98359675e-01 -3.28650024e-04 -6.12410928e-01] [ 5.08219869e-03 3.77389569e-05 9.99987085e-01 -2.02745183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.18591999999995 meters Centerline goodness : 0.997770 Centerline is valid? [True, True] Translation: X:277.88, Y:-0.61, Z:-2.03 [[ 9.98124137e-01 -6.10121864e-02 -5.07142747e-03 2.77876622e+02] [ 6.10112833e-02 9.98137021e-01 -3.32741144e-04 -6.06839901e-01] [ 5.08228078e-03 2.27026693e-05 9.99987085e-01 -2.02755925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.21592 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:277.91, Y:-0.60, Z:-2.04 [[ 9.97934711e-01 -6.40357817e-02 -5.07261048e-03 2.77906987e+02] [ 6.40350080e-02 9.97947603e-01 -3.14972544e-04 -6.03279230e-01] [ 5.08236898e-03 -1.05026175e-05 9.99987085e-01 -2.04116238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.24591999999996 meters Centerline goodness : 0.998314 Centerline is valid? [True, True] Translation: X:277.94, Y:-0.60, Z:-2.03 [[ 9.97439446e-01 -7.13360715e-02 -5.07113461e-03 2.77937273e+02] [ 7.13352792e-02 9.97452337e-01 -3.37169997e-04 -6.00227844e-01] [ 5.08226745e-03 -2.54441480e-05 9.99987085e-01 -2.02711638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.27592 meters Centerline goodness : 0.870720 Centerline is valid? [True, False] Translation: X:277.94, Y:-0.59, Z:-2.03 [[ 9.98173069e-01 -5.99321890e-02 -7.65873863e-03 2.77938056e+02] [ 5.98563795e-02 9.98159171e-01 -9.77158242e-03 -5.89477078e-01] [ 8.23027252e-03 9.29530605e-03 9.99922927e-01 -2.02614116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.30591999999996 meters Centerline goodness : 0.998711 Centerline is valid? [False, True] Translation: X:277.93, Y:-0.58, Z:-2.03 [[ 9.98890466e-01 -4.70847422e-02 -9.29503691e-04 2.77933287e+02] [ 4.70640125e-02 9.98764988e-01 -1.59209542e-02 -5.81479686e-01] [ 1.67798977e-03 1.58595432e-02 9.99872822e-01 -2.02572414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.33592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:277.97, Y:-0.60, Z:-2.04 [[ 9.98640812e-01 -5.20985738e-02 -1.50558543e-03 2.77966507e+02] [ 5.20984731e-02 9.98641947e-01 -1.06064510e-04 -5.95543242e-01] [ 1.50906657e-03 2.74816468e-05 9.99998861e-01 -2.04265138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.36591999999996 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:278.00, Y:-0.60, Z:-2.03 [[ 9.98369074e-01 -5.70694231e-02 -1.50744958e-03 2.77996537e+02] [ 5.70694057e-02 9.98370212e-01 -5.45514389e-05 -5.95839283e-01] [ 1.50810597e-03 -3.15667821e-05 9.99998862e-01 -2.02844968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.39592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:278.03, Y:-0.59, Z:-2.04 [[ 9.98326855e-01 -5.78032750e-02 -1.50730104e-03 2.78028724e+02] [ 5.78032523e-02 9.98327992e-01 -5.86549355e-05 -5.94940844e-01] [ 1.50817127e-03 -2.85701052e-05 9.99998862e-01 -2.04390319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.42591999999996 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:278.06, Y:-0.60, Z:-2.03 [[ 9.98197410e-01 -5.99971478e-02 -1.50745847e-03 2.78057613e+02] [ 5.99971342e-02 9.98198548e-01 -5.42830345e-05 -5.96656630e-01] [ 1.50799969e-03 -3.62580039e-05 9.99998862e-01 -2.03095731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.45592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:278.09, Y:-0.60, Z:-2.04 [[ 9.98260565e-01 -5.89370226e-02 -1.50700393e-03 2.78091506e+02] [ 5.89369888e-02 9.98261703e-01 -6.68745331e-05 -5.96846271e-01] [ 1.50832570e-03 -2.20600649e-05 9.99998862e-01 -2.04204515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.48591999999996 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:278.12, Y:-0.60, Z:-2.04 [[ 9.98273565e-01 -5.87164108e-02 -1.50748193e-03 2.78124120e+02] [ 5.87163971e-02 9.98274703e-01 -5.33741033e-05 -6.00222591e-01] [ 1.50801501e-03 -3.52319514e-05 9.99998862e-01 -2.04159390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.51592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.16, Y:-0.60, Z:-2.04 [[ 9.98290573e-01 -5.84265307e-02 -1.50750431e-03 2.78156930e+02] [ 5.84265176e-02 9.98291711e-01 -5.27345570e-05 -6.03335010e-01] [ 1.50801015e-03 -3.54338158e-05 9.99998862e-01 -2.04130664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.54591999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.19, Y:-0.60, Z:-2.04 [[ 9.98343373e-01 -5.75172725e-02 -1.50752976e-03 2.78190449e+02] [ 5.75172595e-02 9.98344511e-01 -5.19965972e-05 -6.04670922e-01] [ 1.50802476e-03 -3.47985221e-05 9.99998862e-01 -2.04153802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.57592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:278.22, Y:-0.61, Z:-2.04 [[ 9.98434802e-01 -5.59077252e-02 -1.50755484e-03 2.78223847e+02] [ 5.59077115e-02 9.98435939e-01 -5.12589402e-05 -6.05978419e-01] [ 1.50806270e-03 -3.31052312e-05 9.99998862e-01 -2.04219754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.60591999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.26, Y:-0.61, Z:-2.04 [[ 9.98573475e-01 -5.33736115e-02 -1.50757972e-03 2.78257044e+02] [ 5.33735960e-02 9.98574612e-01 -5.05165344e-05 -6.06917957e-01] [ 1.50812708e-03 -3.00204794e-05 9.99998862e-01 -2.04112899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.63592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.29, Y:-0.61, Z:-2.04 [[ 9.98809856e-01 -4.87503659e-02 -1.50760423e-03 2.78289671e+02] [ 4.87503463e-02 9.98810994e-01 -4.97741166e-05 -6.08422312e-01] [ 1.50823818e-03 -2.37813498e-05 9.99998862e-01 -2.04124672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.66591999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.32, Y:-0.61, Z:-2.04 [[ 9.99047449e-01 -4.36110169e-02 -1.50762543e-03 2.78323276e+02] [ 4.36109924e-02 9.99048587e-01 -4.91234758e-05 -6.09648357e-01] [ 1.50833338e-03 -1.66723579e-05 9.99998862e-01 -2.04087502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.69592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:278.35, Y:-0.61, Z:-2.03 [[ 9.99058125e-01 -4.33657625e-02 -1.50764976e-03 2.78352997e+02] [ 4.33657389e-02 9.99059263e-01 -4.83649843e-05 -6.10051795e-01] [ 1.50832884e-03 -1.70609153e-05 9.99998862e-01 -2.02821545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.72592 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:278.38, Y:-0.61, Z:-2.03 [[ 9.99116997e-01 -4.19875383e-02 -1.50742261e-03 2.78383203e+02] [ 4.19875023e-02 9.99118134e-01 -5.54937005e-05 -6.09532924e-01] [ 1.50842331e-03 -7.84821087e-06 9.99998862e-01 -2.02737465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.75591999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.42, Y:-0.61, Z:-2.04 [[ 9.99257132e-01 -3.85086168e-02 -1.50710957e-03 2.78416191e+02] [ 3.85085619e-02 9.99258268e-01 -6.54751734e-05 -6.09383267e-01] [ 1.50851306e-03 7.38991181e-06 9.99998862e-01 -2.04120155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.78592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:278.44, Y:-0.61, Z:-2.03 [[ 9.99141886e-01 -4.13910526e-02 -1.50769461e-03 2.78443837e+02] [ 4.13910295e-02 9.99143023e-01 -4.65105251e-05 -6.10264061e-01] [ 1.50832767e-03 -1.59344182e-05 9.99998862e-01 -2.02694237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.81591999999995 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:278.48, Y:-0.61, Z:-2.03 [[ 9.99155942e-01 -4.10503723e-02 -1.50701372e-03 2.78476403e+02] [ 4.10503154e-02 9.99157078e-01 -6.87233028e-05 -6.09987935e-01] [ 1.50856454e-03 6.80190775e-06 9.99998862e-01 -2.02543669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.84592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.51, Y:-0.61, Z:-2.04 [[ 9.99168273e-01 -4.07491160e-02 -1.50707392e-03 2.78509938e+02] [ 4.07490617e-02 9.99169410e-01 -6.67185006e-05 -6.11601112e-01] [ 1.50854088e-03 5.25116096e-06 9.99998862e-01 -2.04124922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.87591999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.54, Y:-0.61, Z:-2.04 [[ 9.99131418e-01 -4.16429716e-02 -1.50772912e-03 2.78541957e+02] [ 4.16429518e-02 9.99132555e-01 -4.45383211e-05 -6.12135734e-01] [ 1.50827596e-03 -1.82866552e-05 9.99998862e-01 -2.04124362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.90592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.57, Y:-0.61, Z:-2.04 [[ 9.99078578e-01 -4.28919662e-02 -1.50774844e-03 2.78574445e+02] [ 4.28919488e-02 9.99079716e-01 -4.38743301e-05 -6.14340011e-01] [ 1.50824274e-03 -2.08363657e-05 9.99998862e-01 -2.04054983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.93591999999995 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:278.60, Y:-0.62, Z:-2.03 [[ 9.98935470e-01 -4.61048014e-02 -1.50776735e-03 2.78602118e+02] [ 4.61047887e-02 9.98936608e-01 -4.32145625e-05 -6.16849094e-01] [ 1.50815640e-03 -2.63467359e-05 9.99998862e-01 -2.02703890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.96592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.63, Y:-0.62, Z:-2.04 [[ 9.98992556e-01 -4.48508836e-02 -1.50710181e-03 2.78634786e+02] [ 4.48508346e-02 9.98993693e-01 -6.63095370e-05 -6.19130485e-01] [ 1.50855924e-03 -1.35204024e-06 9.99998862e-01 -2.04157667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.99591999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.67, Y:-0.62, Z:-2.04 [[ 9.98949534e-01 -4.57990643e-02 -1.50777122e-03 2.78667268e+02] [ 4.57990521e-02 9.98950672e-01 -4.26374983e-05 -6.21690170e-01] [ 1.50814183e-03 -2.64617836e-05 9.99998862e-01 -2.04102730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.02592 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:278.71, Y:-0.63, Z:-2.03 [[ 9.98442609e-01 -5.57681182e-02 -1.50778956e-03 2.78708244e+02] [ 5.57681184e-02 9.98443747e-01 -4.19787729e-05 -6.27705091e-01] [ 1.50778413e-03 -4.21731912e-05 9.99998862e-01 -2.03107741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.05591999999996 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:278.72, Y:-0.63, Z:-2.03 [[ 9.98498472e-01 -5.47587526e-02 -1.51038703e-03 2.78723035e+02] [ 5.47588870e-02 9.98499605e-01 4.77755323e-05 -6.32912255e-01] [ 1.50550472e-03 -1.30410909e-04 9.99998858e-01 -2.02945161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.08592 meters Centerline goodness : 0.998261 Centerline is valid? [True, True] Translation: X:278.78, Y:-0.64, Z:-2.04 [[ 9.98095850e-01 -6.16636299e-02 -1.50702824e-03 2.78778839e+02] [ 6.16636117e-02 9.98096987e-01 -5.86196080e-05 -6.38490064e-01] [ 1.50777504e-03 -3.44208166e-05 9.99998863e-01 -2.04028792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.11591999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.78, Y:-0.65, Z:-2.04 [[ 9.98149177e-01 -6.07941805e-02 -1.51259870e-03 2.78781696e+02] [ 6.07944406e-02 9.98150299e-01 1.26542421e-04 -6.46590703e-01] [ 1.50210780e-03 -2.18265806e-04 9.99998848e-01 -2.04200920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.14592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:278.81, Y:-0.65, Z:-2.03 [[ 9.98096427e-01 -6.16543050e-02 -1.50640792e-03 2.78810841e+02] [ 6.16542964e-02 9.98097563e-01 -5.21805742e-05 -6.49164252e-01] [ 1.50675923e-03 -4.07952759e-05 9.99998864e-01 -2.02705145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.17591999999996 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:278.84, Y:-0.66, Z:-2.03 [[ 9.98355830e-01 -5.73006914e-02 -1.50582273e-03 2.78842370e+02] [ 5.73006521e-02 9.98356965e-01 -6.92642841e-05 -6.55269489e-01] [ 1.50731750e-03 -1.71342226e-05 9.99998864e-01 -2.02819631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.20592 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:278.87, Y:-0.66, Z:-2.03 [[ 9.98535019e-01 -5.40883498e-02 -1.50566092e-03 2.78873243e+02] [ 5.40882996e-02 9.98536154e-01 -7.40596552e-05 -6.57176398e-01] [ 1.50746263e-03 -7.48747987e-06 9.99998864e-01 -2.02681295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.23591999999996 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:278.90, Y:-0.66, Z:-2.03 [[ 9.98719621e-01 -5.05653263e-02 -1.50554500e-03 2.78904725e+02] [ 5.05652668e-02 9.98720756e-01 -7.75470255e-05 -6.58549136e-01] [ 1.50754023e-03 1.31945153e-06 9.99998864e-01 -2.02921307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.26592 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:278.94, Y:-0.66, Z:-2.03 [[ 9.98965363e-01 -4.54525650e-02 -1.50607524e-03 2.78935547e+02] [ 4.54525242e-02 9.98966498e-01 -6.13109580e-05 -6.63258233e-01] [ 1.50730545e-03 -7.20739785e-06 9.99998864e-01 -2.03063326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.29591999999997 meters Centerline goodness : 0.999006 Centerline is valid? [True, True] Translation: X:278.97, Y:-0.67, Z:-2.03 [[ 9.99030727e-01 -4.39924661e-02 -1.50630490e-03 2.78965949e+02] [ 4.39924344e-02 9.99031863e-01 -5.41696864e-05 -6.65008095e-01] [ 1.50722965e-03 -1.21488385e-05 9.99998864e-01 -2.02809208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.32592 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:279.00, Y:-0.67, Z:-2.04 [[ 9.99206732e-01 -3.97949464e-02 -1.50610232e-03 2.78998162e+02] [ 3.97949004e-02 9.99207867e-01 -6.05044958e-05 -6.68467208e-01] [ 1.50731706e-03 5.21307913e-07 9.99998864e-01 -2.04270608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.35591999999997 meters Centerline goodness : 0.935122 Centerline is valid? [True, False] Translation: X:279.00, Y:-0.66, Z:-2.04 [[ 9.99619822e-01 -2.75298138e-02 -1.52369359e-03 2.78997819e+02] [ 2.75167695e-02 9.99589282e-01 -8.00590885e-03 -6.62502520e-01] [ 1.74346896e-03 7.96093805e-03 9.99966791e-01 -2.04234519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.38592 meters Centerline goodness : 0.998660 Centerline is valid? [False, True] Translation: X:279.00, Y:-0.66, Z:-2.04 [[ 9.99912899e-01 -1.29968421e-02 2.29716960e-03 2.78995151e+02] [ 1.30249305e-02 9.99834930e-01 -1.26674728e-02 -6.59190128e-01] [-2.13215326e-03 1.26962899e-02 9.99917126e-01 -2.04227150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.41591999999997 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:279.03, Y:-0.67, Z:-2.04 [[ 9.99965051e-01 -8.06000077e-03 2.22106449e-03 2.79027736e+02] [ 8.06012664e-03 9.99967516e-01 -4.77241845e-05 -6.74398396e-01] [-2.22060768e-03 6.56245777e-05 9.99997532e-01 -2.04331683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.44592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:279.06, Y:-0.68, Z:-2.06 [[ 9.99988579e-01 -4.23203703e-03 2.22068183e-03 2.79059285e+02] [ 4.23200557e-03 9.99991045e-01 1.88657831e-05 -6.75208560e-01] [-2.22074179e-03 -9.46762978e-06 9.99997534e-01 -2.05912167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.47592 meters Centerline goodness : 0.998658 Centerline is valid? [True, True] Translation: X:279.09, Y:-0.68, Z:-2.04 [[ 9.99997012e-01 1.02165932e-03 2.22071796e-03 2.79090489e+02] [-1.02168935e-03 9.99999478e-01 1.23913146e-05 -6.75669400e-01] [-2.22070414e-03 -1.46601614e-05 9.99997534e-01 -2.04380858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.50591999999995 meters Centerline goodness : 0.998161 Centerline is valid? [True, True] Translation: X:279.12, Y:-0.68, Z:-2.04 [[ 9.99992964e-01 3.02324317e-03 2.22072030e-03 2.79122865e+02] [-3.02327720e-03 9.99995430e-01 1.19645633e-05 -6.75588867e-01] [-2.22067398e-03 -1.86783322e-05 9.99997534e-01 -2.04410254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.53592 meters Centerline goodness : 0.998263 Centerline is valid? [True, True] Translation: X:279.16, Y:-0.67, Z:-2.04 [[ 9.99982666e-01 5.45307226e-03 2.22070332e-03 2.79155198e+02] [-5.45311906e-03 9.99985132e-01 1.50206651e-05 -6.74923415e-01] [-2.22058840e-03 -2.71301644e-05 9.99997534e-01 -2.04371143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.56591999999995 meters Centerline goodness : 0.997067 Centerline is valid? [True, True] Translation: X:279.19, Y:-0.67, Z:-2.04 [[ 9.99962345e-01 8.38914336e-03 2.22070273e-03 2.79187766e+02] [-8.38919765e-03 9.99964810e-01 1.51320174e-05 -6.72324851e-01] [-2.22049764e-03 -3.37613617e-05 9.99997534e-01 -2.04424496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.59592 meters Centerline goodness : 0.996076 Centerline is valid? [True, True] Translation: X:279.22, Y:-0.67, Z:-2.04 [[ 9.99960642e-01 8.58973830e-03 2.22070821e-03 2.79220081e+02] [-8.58979073e-03 9.99963107e-01 1.40769204e-05 -6.71427224e-01] [-2.22050537e-03 -3.31517852e-05 9.99997534e-01 -2.04426287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.62591999999995 meters Centerline goodness : 0.996079 Centerline is valid? [True, True] Translation: X:279.25, Y:-0.67, Z:-2.04 [[ 9.99966074e-01 7.93210650e-03 2.22075040e-03 2.79252348e+02] [-7.93213913e-03 9.99968540e-01 5.88775034e-06 -6.70733023e-01] [-2.22063383e-03 -2.35028517e-05 9.99997534e-01 -2.04433398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.65592 meters Centerline goodness : 0.996667 Centerline is valid? [True, True] Translation: X:279.28, Y:-0.67, Z:-2.05 [[ 9.99985195e-01 4.96773622e-03 2.22073097e-03 2.79284443e+02] [-4.96776973e-03 9.99987661e-01 9.57061678e-06 -6.68695238e-01] [-2.22065602e-03 -2.06025552e-05 9.99997534e-01 -2.04671351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.68591999999995 meters Centerline goodness : 0.997615 Centerline is valid? [True, True] Translation: X:279.32, Y:-0.67, Z:-2.06 [[ 9.99990374e-01 3.78409277e-03 2.22074654e-03 2.79315546e+02] [-3.78411682e-03 9.99992840e-01 6.62652261e-06 -6.67565031e-01] [-2.22070556e-03 -1.50300232e-05 9.99997534e-01 -2.05906039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.71592 meters Centerline goodness : 0.995428 Centerline is valid? [True, True] Translation: X:279.35, Y:-0.66, Z:-2.05 [[ 9.99995706e-01 1.91193946e-03 2.22071862e-03 2.79347042e+02] [-1.91197050e-03 9.99998172e-01 1.18555369e-05 -6.64838967e-01] [-2.22069190e-03 -1.61014345e-05 9.99997534e-01 -2.04590643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.74591999999996 meters Centerline goodness : 0.995879 Centerline is valid? [True, True] Translation: X:279.38, Y:-0.66, Z:-2.05 [[ 9.99995874e-01 1.82233896e-03 2.22072839e-03 2.79378351e+02] [-1.82236543e-03 9.99998339e-01 9.89726498e-06 -6.63842743e-01] [-2.22070667e-03 -1.39442028e-05 9.99997534e-01 -2.04575809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.77592 meters Centerline goodness : 0.997568 Centerline is valid? [True, True] Translation: X:279.41, Y:-0.66, Z:-2.06 [[ 9.99992234e-01 3.25575424e-03 2.22072148e-03 2.79409038e+02] [-3.25578740e-03 9.99994700e-01 1.13192421e-05 -6.63499252e-01] [-2.22067286e-03 -1.85493512e-05 9.99997534e-01 -2.06032175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.80591999999996 meters Centerline goodness : 0.997419 Centerline is valid? [True, True] Translation: X:279.44, Y:-0.66, Z:-2.06 [[ 9.99994698e-01 2.38186532e-03 2.22072420e-03 2.79440697e+02] [-2.38189509e-03 9.99997163e-01 1.07583570e-05 -6.64344877e-01] [-2.22069228e-03 -1.60478320e-05 9.99997534e-01 -2.05977649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.83592 meters Centerline goodness : 0.995582 Centerline is valid? [True, True] Translation: X:279.47, Y:-0.66, Z:-2.05 [[ 9.99997275e-01 7.19970715e-04 2.22072526e-03 2.79471502e+02] [-7.19995885e-04 9.99999741e-01 1.05347287e-05 -6.64362983e-01] [-2.22071710e-03 -1.21336130e-05 9.99997534e-01 -2.04602554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.86591999999996 meters Centerline goodness : 0.996824 Centerline is valid? [True, True] Translation: X:279.50, Y:-0.67, Z:-2.06 [[ 9.99995570e-01 -1.98184748e-03 2.22071455e-03 2.79503811e+02] [ 1.98182375e-03 9.99998036e-01 1.28857390e-05 -6.65115840e-01] [-2.22073573e-03 -8.48461708e-06 9.99997534e-01 -2.06112777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.89592 meters Centerline goodness : 0.995535 Centerline is valid? [True, True] Translation: X:279.53, Y:-0.67, Z:-2.05 [[ 9.99989548e-01 -3.99663561e-03 2.22072948e-03 2.79534297e+02] [ 3.99662474e-03 9.99992013e-01 9.33523643e-06 -6.66000269e-01] [-2.22074905e-03 -4.59716496e-07 9.99997534e-01 -2.04696722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.92591999999996 meters Centerline goodness : 0.996823 Centerline is valid? [True, True] Translation: X:279.57, Y:-0.67, Z:-2.06 [[ 9.99983381e-01 -5.32031046e-03 2.22069123e-03 2.79565290e+02] [ 5.32028205e-03 9.99985847e-01 1.87009599e-05 -6.67610044e-01] [-2.22075930e-03 -6.88594538e-06 9.99997534e-01 -2.05875164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.95592 meters Centerline goodness : 0.995236 Centerline is valid? [True, True] Translation: X:279.60, Y:-0.67, Z:-2.05 [[ 9.99960822e-01 -8.56871279e-03 2.22068419e-03 2.79596130e+02] [ 8.56868821e-03 9.99963288e-01 2.05805290e-05 -6.71455243e-01] [-2.22077901e-03 -1.55137231e-06 9.99997534e-01 -2.04870197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.98591999999996 meters Centerline goodness : 0.995236 Centerline is valid? [True, True] Translation: X:279.63, Y:-0.67, Z:-2.05 [[ 9.99965836e-01 -7.96218118e-03 2.22069040e-03 2.79627808e+02] [ 7.96215949e-03 9.99968301e-01 1.86091329e-05 -6.71016150e-01] [-2.22076818e-03 -9.27005906e-07 9.99997534e-01 -2.04877233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.01592 meters Centerline goodness : 0.995041 Centerline is valid? [True, True] Translation: X:279.66, Y:-0.67, Z:-2.05 [[ 9.99962415e-01 -8.38070699e-03 2.22069377e-03 2.79658558e+02] [ 8.38068925e-03 9.99964881e-01 1.72948915e-05 -6.72860540e-01] [-2.22076073e-03 1.31670295e-06 9.99997534e-01 -2.04739314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.04591999999997 meters Centerline goodness : 0.996769 Centerline is valid? [True, True] Translation: X:279.69, Y:-0.68, Z:-2.06 [[ 9.99946612e-01 -1.00916786e-02 2.22070926e-03 2.79689841e+02] [ 1.00916793e-02 9.99949078e-01 1.08799688e-05 -6.76683373e-01] [-2.22070598e-03 1.15312977e-05 9.99997534e-01 -2.06247348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.07592 meters Centerline goodness : 0.995428 Centerline is valid? [True, True] Translation: X:279.72, Y:-0.68, Z:-2.05 [[ 9.99929428e-01 -1.16708157e-02 2.22072250e-03 2.79719864e+02] [ 1.16708335e-02 9.99931893e-01 4.98075542e-06 -6.78738235e-01] [-2.22062938e-03 2.09372785e-05 9.99997534e-01 -2.05029800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.10591999999997 meters Centerline goodness : 0.994568 Centerline is valid? [True, True] Translation: X:279.75, Y:-0.68, Z:-2.05 [[ 9.99952817e-01 -9.45690567e-03 2.22070826e-03 2.79752160e+02] [ 9.45690370e-03 9.99955282e-01 1.13880029e-05 -6.79996494e-01] [-2.22071665e-03 9.61355861e-06 9.99997534e-01 -2.04719045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.13592 meters Centerline goodness : 0.996669 Centerline is valid? [True, True] Translation: X:279.78, Y:-0.68, Z:-2.06 [[ 9.99962227e-01 -8.40311984e-03 2.22072223e-03 2.79783002e+02] [ 8.40313346e-03 9.99964693e-01 3.19618062e-06 -6.82643183e-01] [-2.22067068e-03 1.54649654e-05 9.99997534e-01 -2.06369152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.16591999999997 meters Centerline goodness : 0.996572 Centerline is valid? [True, True] Translation: X:279.82, Y:-0.68, Z:-2.07 [[ 9.99971417e-01 -7.22726875e-03 2.22072153e-03 2.79815006e+02] [ 7.22727853e-03 9.99973883e-01 3.62367284e-06 -6.84054610e-01] [-2.22068972e-03 1.24262038e-05 9.99997534e-01 -2.06524528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.19592 meters Centerline goodness : 0.996422 Centerline is valid? [True, True] Translation: X:279.85, Y:-0.69, Z:-2.06 [[ 9.99980201e-01 -5.88774508e-03 2.22072272e-03 2.79846814e+02] [ 5.88775381e-03 9.99982667e-01 2.60870493e-06 -6.85905021e-01] [-2.22069959e-03 1.04664154e-05 9.99997534e-01 -2.06424329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.22592 meters Centerline goodness : 0.997018 Centerline is valid? [True, True] Translation: X:279.88, Y:-0.69, Z:-2.06 [[ 9.99991301e-01 -3.53087033e-03 2.22072296e-03 2.79878877e+02] [ 3.53087373e-03 9.99993766e-01 2.39082797e-06 -6.90105223e-01] [-2.22071756e-03 5.45028519e-06 9.99997534e-01 -2.06327145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.25591999999995 meters Centerline goodness : 0.996973 Centerline is valid? [True, True] Translation: X:279.91, Y:-0.69, Z:-2.06 [[ 9.99994004e-01 -2.65702390e-03 2.22072324e-03 2.79910855e+02] [ 2.65702581e-03 9.99996470e-01 2.09292237e-06 -6.91699417e-01] [-2.22072096e-03 3.80760913e-06 9.99997534e-01 -2.06324048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.28592 meters Centerline goodness : 0.994791 Centerline is valid? [True, True] Translation: X:279.94, Y:-0.69, Z:-2.05 [[ 9.99997523e-01 1.48541543e-04 2.22072373e-03 2.79940845e+02] [-1.48544260e-04 9.99999989e-01 1.05861473e-06 -6.93342189e-01] [-2.22072355e-03 -1.38848788e-06 9.99997534e-01 -2.05110569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.31591999999995 meters Centerline goodness : 0.994713 Centerline is valid? [True, True] Translation: X:279.97, Y:-0.69, Z:-2.05 [[ 9.99994627e-01 2.41120325e-03 2.22072047e-03 2.79972739e+02] [-2.41123003e-03 9.99997093e-01 9.38562147e-06 -6.93525387e-01] [-2.22069138e-03 -1.47402389e-05 9.99997534e-01 -2.05126196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.34592 meters Centerline goodness : 0.995880 Centerline is valid? [True, True] Translation: X:280.01, Y:-0.69, Z:-2.05 [[ 9.99986710e-01 4.65277411e-03 2.22072146e-03 2.80005170e+02] [-4.65279024e-03 9.99989176e-01 2.09773990e-06 -6.93919400e-01] [-2.22068766e-03 -1.24302631e-05 9.99997534e-01 -2.05142156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.37591999999995 meters Centerline goodness : 0.995569 Centerline is valid? [True, True] Translation: X:280.04, Y:-0.70, Z:-2.05 [[ 9.99984278e-01 5.14905127e-03 2.22072202e-03 2.80036557e+02] [-5.14906151e-03 9.99986743e-01 -1.11049218e-06 -6.95938894e-01] [-2.22069830e-03 -1.03241595e-05 9.99997534e-01 -2.05060692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.40592 meters Centerline goodness : 0.852076 Centerline is valid? [True, False] Translation: X:280.04, Y:-0.70, Z:-2.05 [[ 9.99956273e-01 9.13869230e-03 1.98413415e-03 2.80037251e+02] [-9.14868447e-03 9.99945212e-01 5.08675655e-03 -6.99909580e-01] [-1.93753914e-03 -5.10468633e-03 9.99985094e-01 -2.05076829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.43591999999995 meters Centerline goodness : 0.995576 Centerline is valid? [False, True] Translation: X:280.06, Y:-0.71, Z:-2.05 [[ 9.99961049e-01 7.68723712e-03 -4.33661367e-03 2.80058938e+02] [-7.63314396e-03 9.99894536e-01 1.23552055e-02 -7.06963785e-01] [ 4.43113371e-03 -1.23216222e-02 9.99914268e-01 -2.04765127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.46592 meters Centerline goodness : 0.995928 Centerline is valid? [True, True] Translation: X:280.09, Y:-0.70, Z:-2.05 [[ 9.99952164e-01 8.76489167e-03 -4.34129463e-03 2.80087819e+02] [-8.76512716e-03 9.99961585e-01 -3.52212620e-05 -6.96413237e-01] [ 4.34081915e-03 7.32715766e-05 9.99990576e-01 -2.04651392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.49591999999996 meters Centerline goodness : 0.996022 Centerline is valid? [True, True] Translation: X:280.12, Y:-0.70, Z:-2.05 [[ 9.99957551e-01 8.12707102e-03 -4.34128315e-03 2.80116937e+02] [-8.12697990e-03 9.99966975e-01 3.86301368e-05 -6.97283900e-01] [ 4.34145373e-03 -3.34697615e-06 9.99990576e-01 -2.04542898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.52592 meters Centerline goodness : 0.995877 Centerline is valid? [True, True] Translation: X:280.15, Y:-0.70, Z:-2.04 [[ 9.99962582e-01 7.48250749e-03 -4.34128047e-03 2.80146219e+02] [-7.48246617e-03 9.99972006e-01 2.57584834e-05 -6.97397451e-01] [ 4.34135167e-03 6.72596472e-06 9.99990576e-01 -2.04438729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.55591999999996 meters Centerline goodness : 0.926952 Centerline is valid? [True, False] Translation: X:280.17, Y:-0.70, Z:-2.04 [[ 9.99964797e-01 3.42762451e-03 -7.65874886e-03 2.80168505e+02] [-3.37564339e-03 9.99971251e-01 6.78980622e-03 -7.03819847e-01] [ 7.68180159e-03 -6.76371399e-03 9.99947620e-01 -2.04131764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.58592 meters Centerline goodness : 0.999056 Centerline is valid? [False, True] Translation: X:280.17, Y:-0.71, Z:-2.05 [[ 9.99949012e-01 5.31467997e-03 -8.58650620e-03 2.80173737e+02] [-5.23610862e-03 9.99944454e-01 9.14727356e-03 -7.06547475e-01] [ 8.63464408e-03 -9.10184728e-03 9.99921297e-01 -2.04576299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.61591999999996 meters Centerline goodness : 0.997219 Centerline is valid? [True, True] Translation: X:280.22, Y:-0.68, Z:-2.04 [[ 9.97638754e-01 6.80765118e-02 -9.08321276e-03 2.80221741e+02] [-6.80732150e-02 9.97680102e-01 6.71982927e-04 -6.75911710e-01] [ 9.10788688e-03 -5.20727150e-05 9.99958521e-01 -2.04466990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.64592 meters Centerline goodness : 0.996273 Centerline is valid? [True, True] Translation: X:280.25, Y:-0.68, Z:-2.03 [[ 9.97641771e-01 6.80313799e-02 -9.09003801e-03 2.80251594e+02] [-6.80290876e-02 9.97683180e-01 5.61488521e-04 -6.78315148e-01] [ 9.10717687e-03 5.82225908e-05 9.99958527e-01 -2.03191668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.67591999999996 meters Centerline goodness : 0.997269 Centerline is valid? [True, True] Translation: X:280.28, Y:-0.68, Z:-2.03 [[ 9.97755041e-01 6.63501569e-02 -9.08484648e-03 2.80279717e+02] [-6.63470269e-02 9.97796400e-01 6.45802996e-04 -6.79312504e-01] [ 9.10767624e-03 -4.16006407e-05 9.99958523e-01 -2.03158757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.70592 meters Centerline goodness : 0.997122 Centerline is valid? [True, True] Translation: X:280.31, Y:-0.68, Z:-2.03 [[ 9.97834132e-01 6.51495686e-02 -9.08723018e-03 2.80308002e+02] [-6.51467440e-02 9.97875510e-01 6.06817255e-04 -6.82033066e-01] [ 9.10745833e-03 -1.34995117e-05 9.99958526e-01 -2.03273116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.73591999999996 meters Centerline goodness : 0.997617 Centerline is valid? [True, True] Translation: X:280.34, Y:-0.69, Z:-2.03 [[ 9.97962077e-01 6.31592260e-02 -9.08876639e-03 2.80335154e+02] [-6.31565493e-02 9.98003463e-01 5.81506226e-04 -6.86585319e-01] [ 9.10734781e-03 -6.30603854e-06 9.99958527e-01 -2.03233134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.76592 meters Centerline goodness : 0.998511 Centerline is valid? [True, True] Translation: X:280.36, Y:-0.69, Z:-2.03 [[ 9.98054884e-01 6.16750678e-02 -9.09031085e-03 2.80363642e+02] [-6.16725627e-02 9.98096281e-01 5.55913434e-04 -6.88531375e-01] [ 9.10729145e-03 5.79064680e-06 9.99958528e-01 -2.03346438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.79591999999997 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:280.39, Y:-0.69, Z:-2.04 [[ 9.98148084e-01 6.01476750e-02 -9.09171992e-03 2.80393676e+02] [-6.01453198e-02 9.98189490e-01 5.32492149e-04 -6.91485205e-01] [ 9.10728743e-03 1.53183836e-05 9.99958528e-01 -2.04350466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.82592 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:280.42, Y:-0.70, Z:-2.04 [[ 9.98314256e-01 5.73236535e-02 -9.09092097e-03 2.80422355e+02] [-5.73210600e-02 9.98355647e-01 5.45799607e-04 -6.96102324e-01] [ 9.10725951e-03 -2.37783020e-05 9.99958528e-01 -2.04189034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.85591999999997 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:280.45, Y:-0.70, Z:-2.04 [[ 9.98445580e-01 5.49888482e-02 -9.09117702e-03 2.80450250e+02] [-5.49861971e-02 9.98486968e-01 5.41500724e-04 -7.00845349e-01] [ 9.10719828e-03 -4.07697537e-05 9.99958528e-01 -2.04160868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.88592 meters Centerline goodness : 0.998655 Centerline is valid? [True, True] Translation: X:280.48, Y:-0.71, Z:-2.03 [[ 9.98673243e-01 5.06862750e-02 -9.09146292e-03 2.80479039e+02] [-5.06834896e-02 9.98714622e-01 5.36657377e-04 -7.08203803e-01] [ 9.10697812e-03 -7.51582964e-05 9.99958528e-01 -2.02875333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.91591999999997 meters Centerline goodness : 0.997810 Centerline is valid? [True, True] Translation: X:280.51, Y:-0.71, Z:-2.03 [[ 9.98798455e-01 4.81555282e-02 -9.09345660e-03 2.80507481e+02] [-4.81529479e-02 9.98839848e-01 5.02618267e-04 -7.12836781e-01] [ 9.10711065e-03 -6.41376070e-05 9.99958527e-01 -2.02573516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.94592 meters Centerline goodness : 0.997661 Centerline is valid? [True, True] Translation: X:280.54, Y:-0.72, Z:-2.03 [[ 9.98873338e-01 4.65762835e-02 -9.09424226e-03 2.80537069e+02] [-4.65737601e-02 9.98914734e-01 4.89169802e-04 -7.20014281e-01] [ 9.10715630e-03 -6.50656154e-05 9.99958527e-01 -2.02564361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.97592 meters Centerline goodness : 0.998360 Centerline is valid? [True, True] Translation: X:280.57, Y:-0.72, Z:-2.03 [[ 9.98878226e-01 4.64717322e-02 -9.09219726e-03 2.80566299e+02] [-4.64688853e-02 9.98919600e-01 5.24231076e-04 -7.23864383e-01] [ 9.10673598e-03 -1.01138736e-04 9.99958528e-01 -2.02867545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.00591999999995 meters Centerline goodness : 0.998759 Centerline is valid? [True, True] Translation: X:280.59, Y:-0.73, Z:-2.03 [[ 9.98854342e-01 4.69825400e-02 -9.09085211e-03 2.80594541e+02] [-4.69795032e-02 9.98895704e-01 5.47432080e-04 -7.27493237e-01] [ 9.10653286e-03 -1.19721195e-04 9.99958528e-01 -2.02886441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.03592 meters Centerline goodness : 0.999452 Centerline is valid? [True, True] Translation: X:280.62, Y:-0.73, Z:-2.03 [[ 9.98738514e-01 4.93832985e-02 -9.09230568e-03 2.80624362e+02] [-4.93805903e-02 9.98779898e-01 5.22254394e-04 -7.33590612e-01] [ 9.10700279e-03 -7.26121565e-05 9.99958528e-01 -2.02892214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.06591999999995 meters Centerline goodness : 0.998312 Centerline is valid? [True, True] Translation: X:280.66, Y:-0.74, Z:-2.02 [[ 9.98590751e-01 5.22861102e-02 -9.09257282e-03 2.80656129e+02] [-5.22835644e-02 9.98632145e-01 5.17631357e-04 -7.37623545e-01] [ 9.10720042e-03 -4.15097696e-05 9.99958528e-01 -2.02404214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.09592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:280.68, Y:-0.74, Z:-2.04 [[ 9.98592136e-01 5.22605702e-02 -9.08729881e-03 2.80684677e+02] [-5.22571899e-02 9.98633474e-01 6.09189722e-04 -7.41150360e-01] [ 9.10671738e-03 -1.33455366e-04 9.99958524e-01 -2.03863064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.12591999999995 meters Centerline goodness : 0.998958 Centerline is valid? [True, True] Translation: X:280.71, Y:-0.74, Z:-2.03 [[ 9.98550951e-01 5.30407825e-02 -9.09249233e-03 2.80714875e+02] [-5.30382642e-02 9.98592346e-01 5.18034155e-04 -7.41984134e-01] [ 9.10717019e-03 -3.50334875e-05 9.99958528e-01 -2.02509553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.15592 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:280.74, Y:-0.74, Z:-2.03 [[ 9.98592600e-01 5.22510864e-02 -9.09085407e-03 2.80744148e+02] [-5.22482735e-02 9.98633976e-01 5.46798946e-04 -7.43704543e-01] [ 9.10700659e-03 -7.10479513e-05 9.99958528e-01 -2.02654021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.18591999999995 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:280.77, Y:-0.75, Z:-2.04 [[ 9.98710722e-01 4.99424040e-02 -9.09117047e-03 2.80773409e+02] [-4.99395461e-02 9.98752096e-01 5.41234405e-04 -7.48303267e-01] [ 9.10685611e-03 -8.65276763e-05 9.99958528e-01 -2.03739522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.21592 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:280.80, Y:-0.75, Z:-2.02 [[ 9.98772339e-01 4.86943429e-02 -9.09265326e-03 2.80803057e+02] [-4.86916716e-02 9.98813724e-01 5.15057828e-04 -7.50888918e-01] [ 9.10694727e-03 -7.16890249e-05 9.99958528e-01 -2.02342621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.24591999999996 meters Centerline goodness : 0.998611 Centerline is valid? [True, True] Translation: X:280.83, Y:-0.75, Z:-2.02 [[ 9.98868715e-01 4.66759852e-02 -9.09079793e-03 2.80832007e+02] [-4.66729321e-02 9.98910075e-01 5.47829715e-04 -7.53716493e-01] [ 9.10646013e-03 -1.22915770e-04 9.99958528e-01 -2.02142054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.27592 meters Centerline goodness : 0.998461 Centerline is valid? [True, True] Translation: X:280.86, Y:-0.76, Z:-2.02 [[ 9.99092455e-01 4.16127901e-02 -9.09075511e-03 2.80859347e+02] [-4.16095204e-02 9.99133798e-01 5.48589675e-04 -7.57963696e-01] [ 9.10570903e-03 -1.69829845e-04 9.99958528e-01 -2.02120864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.30591999999996 meters Centerline goodness : 0.998756 Centerline is valid? [True, True] Translation: X:280.89, Y:-0.76, Z:-2.02 [[ 9.99146632e-01 4.02906264e-02 -9.09250598e-03 2.80890180e+02] [-4.02875870e-02 9.99187992e-01 5.17256815e-04 -7.62199300e-01] [ 9.10596339e-03 -1.50500279e-04 9.99958529e-01 -2.02053156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.33592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:280.92, Y:-0.77, Z:-2.04 [[ 9.99297169e-01 3.63667118e-02 -9.09011885e-03 2.80919478e+02] [-3.63631192e-02 9.99338486e-01 5.60235852e-04 -7.68916738e-01] [ 9.10447954e-03 -2.29297025e-04 9.99958527e-01 -2.03549940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.36591999999996 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:280.95, Y:-0.77, Z:-2.04 [[ 9.99329370e-01 3.54700245e-02 -9.09327556e-03 2.80948144e+02] [-3.54669137e-02 9.99370724e-01 5.03190320e-04 -7.72430468e-01] [ 9.10540156e-03 -1.80342447e-04 9.99958529e-01 -2.03552019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.39592 meters Centerline goodness : 0.998709 Centerline is valid? [True, True] Translation: X:280.98, Y:-0.78, Z:-2.02 [[ 9.99326767e-01 3.55432339e-02 -9.09350109e-03 2.80976727e+02] [-3.55401635e-02 9.99368124e-01 4.99081191e-04 -7.75838688e-01] [ 9.10549408e-03 -1.75560678e-04 9.99958529e-01 -2.02265217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.42591999999996 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:281.01, Y:-0.78, Z:-2.03 [[ 9.99319327e-01 3.57514470e-02 -9.09484216e-03 2.81007470e+02] [-3.57486079e-02 9.99360702e-01 4.74593611e-04 -7.84033867e-01] [ 9.10599525e-03 -1.49142622e-04 9.99958528e-01 -2.03475850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.45592 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:281.04, Y:-0.79, Z:-2.02 [[ 9.99309257e-01 3.60321297e-02 -9.09365915e-03 2.81035620e+02] [-3.60291050e-02 9.99350618e-01 4.96271024e-04 -7.89059458e-01] [ 9.10563559e-03 -1.68291827e-04 9.99958529e-01 -2.02170469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.48591999999996 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:281.07, Y:-0.80, Z:-2.03 [[ 9.99284612e-01 3.67088650e-02 -9.09526888e-03 2.81065490e+02] [-3.67061389e-02 9.99325994e-01 4.66525114e-04 -7.95300986e-01] [ 9.10626422e-03 -1.32339165e-04 9.99958528e-01 -2.03282340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.51592 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:281.09, Y:-0.80, Z:-2.02 [[ 9.99225181e-01 3.82927822e-02 -9.09403246e-03 2.81094845e+02] [-3.82899127e-02 9.99266553e-01 4.89495839e-04 -7.99309292e-01] [ 9.10610662e-03 -1.40906859e-04 9.99958529e-01 -2.02205143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.54591999999997 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:281.12, Y:-0.81, Z:-2.02 [[ 9.99139029e-01 4.04780909e-02 -9.09536153e-03 2.81124409e+02] [-4.04755371e-02 9.99180422e-01 4.64747544e-04 -8.07812934e-01] [ 9.10671926e-03 -9.62077669e-05 9.99958528e-01 -2.02286968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.57592 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:281.15, Y:-0.81, Z:-2.02 [[ 9.99070432e-01 4.21373976e-02 -9.09458919e-03 2.81153317e+02] [-4.21347812e-02 9.99111821e-01 4.79181772e-04 -8.12229058e-01] [ 9.10670303e-03 -9.55378144e-05 9.99958529e-01 -2.02049423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.60591999999997 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:281.18, Y:-0.82, Z:-2.02 [[ 9.98984217e-01 4.41341352e-02 -9.09459684e-03 2.81182919e+02] [-4.41316029e-02 9.99025611e-01 4.79038507e-04 -8.15223898e-01] [ 9.10687712e-03 -7.71927722e-05 9.99958529e-01 -2.02057010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.63592 meters Centerline goodness : 0.998659 Centerline is valid? [True, True] Translation: X:281.21, Y:-0.83, Z:-2.03 [[ 9.99803220e-01 1.76298282e-02 -9.09452776e-03 2.81211227e+02] [-1.76261874e-02 9.99844531e-01 4.80333011e-04 -8.30118338e-01] [ 9.10158203e-03 -3.19936640e-04 9.99958529e-01 -2.02843062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.66591999999997 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:281.24, Y:-0.82, Z:-2.02 [[ 9.98750009e-01 4.91494175e-02 -9.09689196e-03 2.81241848e+02] [-4.91474849e-02 9.98791437e-01 4.36009534e-04 -8.23140071e-01] [ 9.10732741e-03 1.16248343e-05 9.99958527e-01 -2.01803853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.69592 meters Centerline goodness : 0.998805 Centerline is valid? [True, True] Translation: X:281.27, Y:-0.83, Z:-2.02 [[ 9.98666523e-01 5.08178736e-02 -9.09497813e-03 2.81270328e+02] [-5.08156834e-02 9.98707937e-01 4.71885265e-04 -8.26312219e-01] [ 9.10720705e-03 -9.08848751e-06 9.99958528e-01 -2.01730490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.72592 meters Centerline goodness : 0.998660 Centerline is valid? [True, True] Translation: X:281.30, Y:-0.83, Z:-2.02 [[ 9.98373228e-01 5.62863556e-02 -9.09636535e-03 2.81301500e+02] [-5.62846298e-02 9.98414664e-01 4.45815072e-04 -8.28070853e-01] [ 9.10703786e-03 6.68957235e-05 9.99958528e-01 -2.01537061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.75591999999995 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:281.33, Y:-0.83, Z:-2.02 [[ 9.98199682e-01 5.92847840e-02 -9.09444295e-03 2.81330797e+02] [-5.92828538e-02 9.98241109e-01 4.81913186e-04 -8.28823615e-01] [ 9.10701693e-03 5.80989423e-05 9.99958529e-01 -2.01617063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.78592 meters Centerline goodness : 0.998510 Centerline is valid? [True, True] Translation: X:281.36, Y:-0.83, Z:-2.01 [[ 9.98065710e-01 6.14987387e-02 -9.09640201e-03 2.81360748e+02] [-6.14972373e-02 9.98107154e-01 4.44945479e-04 -8.29787261e-01] [ 9.10654751e-03 1.15318767e-04 9.99958528e-01 -2.01364105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.81591999999995 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:281.39, Y:-0.83, Z:-2.02 [[ 9.97892582e-01 6.42470424e-02 -9.09463791e-03 2.81390527e+02] [-6.42453513e-02 9.97934019e-01 4.78271475e-04 -8.30486546e-01] [ 9.10657609e-03 1.07024650e-04 9.99958529e-01 -2.01747328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.84592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:281.42, Y:-0.83, Z:-2.03 [[ 9.97583041e-01 6.88865118e-02 -9.09530226e-03 2.81421040e+02] [-6.88851283e-02 9.97624490e-01 4.65661412e-04 -8.29462618e-01] [ 9.10577407e-03 1.61995136e-04 9.99958528e-01 -2.02676361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.87591999999995 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:281.45, Y:-0.83, Z:-2.03 [[ 9.97583039e-01 6.88866226e-02 -9.09466314e-03 2.81451991e+02] [-6.88851283e-02 9.97624484e-01 4.77826140e-04 -8.31100196e-01] [ 9.10597445e-03 1.49815783e-04 9.99958529e-01 -2.02647990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.90592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:281.48, Y:-0.83, Z:-2.03 [[ 9.97484197e-01 7.03033709e-02 -9.09466314e-03 2.81481304e+02] [-7.03019355e-02 9.97525644e-01 4.77826140e-04 -8.30766688e-01] [ 9.10575249e-03 1.62748397e-04 9.99958529e-01 -2.02590786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.93591999999995 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:281.51, Y:-0.83, Z:-2.01 [[ 9.97340687e-01 7.23107160e-02 -9.09469365e-03 2.81512517e+02] [-7.23093693e-02 9.97382137e-01 4.77244675e-04 -8.27302574e-01] [ 9.10539489e-03 1.81656029e-04 9.99958529e-01 -2.01154450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.96592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:281.54, Y:-0.83, Z:-2.01 [[ 9.97379581e-01 7.17726740e-02 -9.09148533e-03 2.81542663e+02] [-7.17707462e-02 9.97421009e-01 5.38552003e-04 -8.26106204e-01] [ 9.10669179e-03 1.15361915e-04 9.99958527e-01 -2.01237927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.99591999999996 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:281.57, Y:-0.82, Z:-2.01 [[ 9.97458559e-01 7.06665117e-02 -9.09218160e-03 2.81572346e+02] [-7.06646596e-02 9.97499990e-01 5.25199039e-04 -8.24183944e-01] [ 9.10656504e-03 1.18631642e-04 9.99958527e-01 -2.01212619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.02592 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:281.60, Y:-0.82, Z:-2.01 [[ 9.97687829e-01 6.73522013e-02 -9.09271150e-03 2.81602279e+02] [-6.73503051e-02 9.97729257e-01 5.14935021e-04 -8.20570272e-01] [ 9.10674630e-03 9.86524897e-05 9.99958528e-01 -2.01231038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.05591999999996 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:281.63, Y:-0.82, Z:-2.01 [[ 9.97864777e-01 6.46778252e-02 -9.09207587e-03 2.81631399e+02] [-6.46757050e-02 9.97906196e-01 5.27334358e-04 -8.20895082e-01] [ 9.10714568e-03 6.18280348e-05 9.99958527e-01 -2.01256373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.08592 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:281.66, Y:-0.82, Z:-2.01 [[ 9.98047311e-01 6.17969678e-02 -9.09393806e-03 2.81661118e+02] [-6.17950610e-02 9.98088738e-01 4.90786567e-04 -8.22370444e-01] [ 9.10688629e-03 7.21322440e-05 9.99958529e-01 -2.01124635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.11591999999996 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:281.69, Y:-0.82, Z:-2.02 [[ 9.98381034e-01 5.61481827e-02 -9.09349930e-03 2.81689906e+02] [-5.61459625e-02 9.98422446e-01 4.99453648e-04 -8.24002281e-01] [ 9.10719723e-03 1.19182218e-05 9.99958529e-01 -2.02247402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.14592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:281.72, Y:-0.83, Z:-2.01 [[ 9.98490351e-01 5.41690725e-02 -9.09564819e-03 2.81720184e+02] [-5.41671601e-02 9.98531777e-01 4.56652065e-04 -8.25278793e-01] [ 9.10703017e-03 3.67227510e-05 9.99958529e-01 -2.01076243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.17591999999996 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:281.75, Y:-0.83, Z:-2.01 [[ 9.98669034e-01 5.07686163e-02 -9.09435393e-03 2.81748276e+02] [-5.07663279e-02 9.98710442e-01 4.82449551e-04 -8.28397347e-01] [ 9.10711953e-03 -2.01204737e-05 9.99958529e-01 -2.00977816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.20592 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:281.78, Y:-0.83, Z:-2.01 [[ 9.98689695e-01 5.03600876e-02 -9.09694486e-03 2.81778198e+02] [-5.03582557e-02 9.98731125e-01 4.30471111e-04 -8.31290152e-01] [ 9.10708054e-03 2.81992126e-05 9.99958529e-01 -2.00958739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.23591999999996 meters Centerline goodness : 0.998958 Centerline is valid? [True, True] Translation: X:281.81, Y:-0.84, Z:-2.01 [[ 9.98682370e-01 5.05053163e-02 -9.09598892e-03 2.81805766e+02] [-5.05033147e-02 9.98723792e-01 4.49754621e-04 -8.36291640e-01] [ 9.10709555e-03 1.02155804e-05 9.99958529e-01 -2.00908751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.26592 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:281.83, Y:-0.84, Z:-2.01 [[ 9.98678971e-01 5.05723817e-02 -9.09651460e-03 2.81834133e+02] [-5.05704803e-02 9.98720398e-01 4.39053558e-04 -8.39982780e-01] [ 9.10707867e-03 2.15415571e-05 9.99958529e-01 -2.00978033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.29591999999997 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:281.86, Y:-0.84, Z:-2.02 [[ 9.98620244e-01 5.17189036e-02 -9.09741083e-03 2.81863562e+02] [-5.17172165e-02 9.98661681e-01 4.20756868e-04 -8.44122671e-01] [ 9.10699667e-03 5.03164396e-05 9.99958529e-01 -2.02174013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.32592 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:281.89, Y:-0.85, Z:-2.01 [[ 9.98629764e-01 5.15349722e-02 -9.09619288e-03 2.81892057e+02] [-5.15330510e-02 9.98671190e-01 4.45618294e-04 -8.47659446e-01] [ 9.10707069e-03 2.37468804e-05 9.99958529e-01 -2.00923151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.35591999999997 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:281.92, Y:-0.85, Z:-2.02 [[ 9.98408417e-01 5.56583987e-02 -9.09814545e-03 2.81921898e+02] [-5.56570144e-02 9.98449865e-01 4.05465268e-04 -8.52478171e-01] [ 9.10660964e-03 1.01555676e-04 9.99958529e-01 -2.02054969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.38592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:281.95, Y:-0.85, Z:-2.02 [[ 9.98295579e-01 5.76471415e-02 -9.09639408e-03 2.81950806e+02] [-5.76455110e-02 9.98337017e-01 4.41545762e-04 -8.54445581e-01] [ 9.10672078e-03 8.35731030e-05 9.99958529e-01 -2.01985917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.41591999999997 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:281.98, Y:-0.86, Z:-2.01 [[ 9.98206329e-01 5.91724359e-02 -9.09659543e-03 2.81980213e+02] [-5.91709069e-02 9.98247771e-01 4.37357741e-04 -8.55234895e-01] [ 9.10653564e-03 1.01680537e-04 9.99958529e-01 -2.00709212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.44592 meters Centerline goodness : 0.911106 Centerline is valid? [True, False] Translation: X:281.98, Y:-0.86, Z:-2.01 [[ 9.98940170e-01 4.57761624e-02 -4.80408684e-03 2.81976456e+02] [-4.57429294e-02 9.98930008e-01 6.81348573e-03 -8.61756751e-01] [ 5.11084173e-03 -6.58651159e-03 9.99965248e-01 -2.00719355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.47592 meters Centerline goodness : 0.943918 Centerline is valid? [False, False] Translation: X:281.97, Y:-0.87, Z:-2.01 [[ 9.99465716e-01 3.26445272e-02 1.61808734e-03 2.81971632e+02] [-3.26625149e-02 9.99385335e-01 1.27323372e-02 -8.67520705e-01] [-1.20145163e-03 -1.27783854e-02 9.99917631e-01 -2.00750046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.50591999999995 meters Centerline goodness : 0.999404 Centerline is valid? [False, True] Translation: X:281.97, Y:-0.87, Z:-2.01 [[ 9.99782287e-01 1.96597626e-02 6.99090429e-03 2.81967709e+02] [-1.97898551e-02 9.99622584e-01 1.90538892e-02 -8.72297650e-01] [-6.61367088e-03 -1.91880899e-02 9.99794017e-01 -2.00793892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.53592 meters Centerline goodness : 0.975421 Centerline is valid? [True, True] Translation: X:281.97, Y:-0.90, Z:-2.02 [[ 9.97229626e-01 -7.40415177e-02 7.13633278e-03 2.81967252e+02] [ 7.40444745e-02 9.97254929e-01 -1.50655657e-04 -8.98442799e-01] [-7.10558827e-03 6.78644295e-04 9.99974525e-01 -2.02324205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.56591999999995 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:282.03, Y:-0.85, Z:-2.01 [[ 9.99547533e-01 2.92221169e-02 7.12714501e-03 2.82025170e+02] [-2.92288501e-02 9.99572391e-01 8.42376573e-04 -8.50177611e-01] [-7.09948135e-03 -1.05031368e-03 9.99974247e-01 -2.00991268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.59592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:282.05, Y:-0.85, Z:-2.02 [[ 9.99563478e-01 2.86706232e-02 7.13081384e-03 2.82054807e+02] [-2.86709956e-02 9.99588901e-01 -5.00256390e-05 -8.47256397e-01] [-7.12931664e-03 -1.54443730e-04 9.99974574e-01 -2.02089864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.62591999999995 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:282.09, Y:-0.85, Z:-2.02 [[ 9.99581078e-01 2.80503868e-02 7.13047922e-03 2.82087331e+02] [-2.80513128e-02 9.99606484e-01 2.98672382e-05 -8.45943224e-01] [-7.12683547e-03 -2.29874029e-04 9.99974577e-01 -2.02211217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.65592 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:282.12, Y:-0.84, Z:-2.01 [[ 9.99649670e-01 2.54890691e-02 7.13048284e-03 2.82120491e+02] [-2.54899237e-02 9.99675079e-01 2.89768329e-05 -8.44296939e-01] [-7.12742740e-03 -2.10722145e-04 9.99974577e-01 -2.00996441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.68591999999995 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:282.13, Y:-0.87, Z:-2.02 [[ 9.99503371e-01 -3.06946935e-02 7.13068572e-03 2.82134385e+02] [ 3.06956432e-02 9.99528777e-01 -2.37567234e-05 -8.67424464e-01] [-7.12659638e-03 2.42625910e-04 9.99974576e-01 -2.01929241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.71592 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:282.18, Y:-0.84, Z:-2.01 [[ 9.99645720e-01 2.56441766e-02 7.12818062e-03 2.82180403e+02] [-2.56484056e-02 9.99670899e-01 5.02478294e-04 -8.42099679e-01] [-7.11294909e-03 -6.85126744e-04 9.99974468e-01 -2.01010005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.74591999999996 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:282.21, Y:-0.84, Z:-2.02 [[ 9.99670952e-01 2.46406161e-02 7.12929661e-03 2.82210394e+02] [-2.46409384e-02 9.99696365e-01 -4.26463808e-05 -8.40749106e-01] [-7.12818274e-03 -1.33040210e-04 9.99974585e-01 -2.02317905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.77592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:282.24, Y:-0.84, Z:-2.01 [[ 9.99686027e-01 2.40212765e-02 7.12918325e-03 2.82242577e+02] [-2.40219883e-02 9.99711430e-01 1.42140688e-05 -8.40065291e-01] [-7.12678455e-03 -1.85466762e-04 9.99974587e-01 -2.01272073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.80591999999996 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:282.27, Y:-0.84, Z:-2.01 [[ 9.99746362e-01 2.13632008e-02 7.12923321e-03 2.82274549e+02] [-2.13636696e-02 9.99771771e-01 -1.03949115e-05 -8.39993972e-01] [-7.12782817e-03 -1.41914308e-04 9.99974587e-01 -2.01312559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.83592 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:282.31, Y:-0.84, Z:-2.01 [[ 9.99778864e-01 1.97837773e-02 7.12922237e-03 2.82307620e+02] [-1.97842468e-02 9.99804273e-01 -4.66298296e-06 -8.40417209e-01] [-7.12791924e-03 -1.36384343e-04 9.99974587e-01 -2.01391291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.86591999999996 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:282.34, Y:-0.84, Z:-2.02 [[ 9.99829304e-01 1.70451562e-02 7.12923848e-03 2.82339003e+02] [-1.70454839e-02 9.99854715e-01 -1.48094883e-05 -8.41397968e-01] [-7.12845514e-03 -1.06714359e-04 9.99974587e-01 -2.02402089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.89592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:282.37, Y:-0.84, Z:-2.01 [[ 9.99898468e-01 1.23380759e-02 7.12920020e-03 2.82371258e+02] [-1.23384657e-02 9.99923878e-01 1.06983440e-05 -8.42960572e-01] [-7.12852552e-03 -9.86606502e-05 9.99974587e-01 -2.01294230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.92591999999996 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:282.40, Y:-0.84, Z:-2.01 [[ 9.99933775e-01 9.03433560e-03 7.12923834e-03 2.82402940e+02] [-9.03441772e-03 9.99959189e-01 -2.06864800e-05 -8.44122274e-01] [-7.12913427e-03 -4.37234071e-05 9.99974586e-01 -2.01342260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.95592 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:282.43, Y:-0.85, Z:-2.01 [[ 9.99954850e-01 6.28262833e-03 7.12921623e-03 2.82434328e+02] [-6.28277723e-03 9.99980263e-01 -1.50985958e-06 -8.45118392e-01] [-7.12908501e-03 -4.32814860e-05 9.99974587e-01 -2.01045367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.98591999999996 meters Centerline goodness : 0.998907 Centerline is valid? [True, True] Translation: X:282.47, Y:-0.85, Z:-2.01 [[ 9.99971090e-01 2.64445711e-03 7.12921663e-03 2.82465217e+02] [-2.64451111e-03 9.99996503e-01 -1.85276087e-06 -8.47851271e-01] [-7.12919660e-03 -1.70005853e-05 9.99974587e-01 -2.01213079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.01592 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:282.50, Y:-0.85, Z:-2.01 [[ 9.99973584e-01 1.41602121e-03 7.12918718e-03 2.82498009e+02] [-1.41625495e-03 9.99998997e-01 2.77381607e-05 -8.49876698e-01] [-7.12914075e-03 -3.78341746e-05 9.99974587e-01 -2.01257105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.04591999999997 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:282.53, Y:-0.85, Z:-2.02 [[ 9.99974104e-01 9.83017238e-04 7.12919950e-03 2.82529570e+02] [-9.83045321e-04 9.99999517e-01 4.34934010e-07 -8.52558817e-01] [-7.12919563e-03 -7.44324895e-06 9.99974587e-01 -2.01569055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.07592 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:282.56, Y:-0.85, Z:-2.01 [[ 9.99974491e-01 4.38876281e-04 7.12920220e-03 2.82561874e+02] [-4.38797700e-04 9.99999904e-01 -1.25865309e-05 -8.53425469e-01] [-7.12920703e-03 9.45793231e-06 9.99974587e-01 -2.01372816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.10591999999997 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] Translation: X:282.59, Y:-0.86, Z:-2.01 [[ 9.99974494e-01 4.32232145e-04 7.12920206e-03 2.82594750e+02] [-4.32191095e-04 9.99999907e-01 -7.29863836e-06 -8.55192084e-01] [-7.12920455e-03 4.21727456e-06 9.99974587e-01 -2.01373540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.13592 meters Centerline goodness : 0.998859 Centerline is valid? [True, True] Translation: X:282.63, Y:-0.86, Z:-2.01 [[ 9.99974583e-01 8.70381871e-05 7.12919860e-03 2.82627050e+02] [-8.69052657e-05 9.99999996e-01 -1.89544339e-05 -8.57471839e-01] [-7.12920022e-03 1.83343873e-05 9.99974587e-01 -2.01423803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.16591999999997 meters Centerline goodness : 0.894745 Centerline is valid? [True, False] Translation: X:282.63, Y:-0.87, Z:-2.01 [[ 9.99967475e-01 4.02018279e-03 6.99196986e-03 2.82627430e+02] [-4.06211642e-03 9.99973788e-01 5.99357400e-03 -8.65641829e-01] [-6.96769132e-03 -6.02178125e-03 9.99957594e-01 -2.01409786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.19592 meters Centerline goodness : 0.999405 Centerline is valid? [False, True] Translation: X:282.63, Y:-0.87, Z:-2.01 [[ 9.99945378e-01 7.94877789e-03 6.78656721e-03 2.82628057e+02] [-8.02480647e-03 9.99904515e-01 1.12500529e-02 -8.70577373e-01] [-6.69649502e-03 -1.13038993e-02 9.99913686e-01 -2.01385324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.22592 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:282.66, Y:-0.86, Z:-2.01 [[ 9.99929074e-01 9.85226877e-03 6.69181880e-03 2.82660856e+02] [-9.85191269e-03 9.99951465e-01 -8.61736740e-05 -8.64019171e-01] [-6.69234302e-03 2.02403474e-05 9.99977606e-01 -2.01472035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.25591999999995 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:282.69, Y:-0.87, Z:-2.02 [[ 9.99926733e-01 1.00869790e-02 6.69187987e-03 2.82692723e+02] [-1.00866752e-02 9.99949125e-01 -7.91521622e-05 -8.65963258e-01] [-6.69233783e-03 1.16475443e-05 9.99977606e-01 -2.01522957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.28592 meters Centerline goodness : 0.998958 Centerline is valid? [True, True] Translation: X:282.73, Y:-0.87, Z:-2.01 [[ 9.99926381e-01 1.01216616e-02 6.69205439e-03 2.82725313e+02] [-1.01214918e-02 9.99948775e-01 -5.92502709e-05 -8.67422693e-01] [-6.69231130e-03 -8.48766455e-06 9.99977606e-01 -2.01382892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.31591999999995 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:282.74, Y:-0.87, Z:-2.02 [[ 9.99914485e-01 1.12356783e-02 6.69190002e-03 2.82741641e+02] [-1.12354186e-02 9.99936878e-01 -7.64016806e-05 -8.73295809e-01] [-6.69233604e-03 1.20884953e-06 9.99977606e-01 -2.01690963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.34592 meters Centerline goodness : 0.828090 Centerline is valid? [True, False] Translation: X:282.75, Y:-0.89, Z:-2.01 [[ 9.99978034e-01 6.62722961e-03 1.07349450e-04 2.82747225e+02] [-6.62808907e-03 9.99817347e-01 1.79259645e-02 -8.91130483e-01] [ 1.14696404e-05 -1.79262823e-02 9.99839311e-01 -2.01454592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.37591999999995 meters Centerline goodness : 0.798176 Centerline is valid? [False, False] Translation: X:282.75, Y:-0.91, Z:-2.01 [[ 9.99986045e-01 2.60847194e-04 -5.27645501e-03 2.82750139e+02] [-8.31906225e-05 9.99433947e-01 3.36419202e-02 -9.09254748e-01] [ 5.28224366e-03 -3.36410118e-02 9.99420022e-01 -2.01261488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.40592 meters Centerline goodness : 0.999355 Centerline is valid? [False, True] Translation: X:282.77, Y:-0.90, Z:-2.01 [[ 9.99924901e-01 2.59186732e-03 -1.19780723e-02 2.82773976e+02] [-2.27708204e-03 9.99653618e-01 2.62194538e-02 -9.03233083e-01] [ 1.20418807e-02 -2.61902097e-02 9.99584447e-01 -2.00944825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.43591999999995 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:282.80, Y:-0.88, Z:-2.02 [[ 9.99924617e-01 -1.16907497e-03 -1.22226701e-02 2.82803960e+02] [ 1.17049435e-03 9.99999309e-01 1.08973767e-04 -8.82694304e-01] [ 1.22225342e-02 -1.23272118e-04 9.99925294e-01 -2.02442087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.46592 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:282.83, Y:-0.89, Z:-2.01 [[ 9.99905593e-01 -6.27793203e-03 -1.22226442e-02 2.82832424e+02] [ 6.27976752e-03 9.99980276e-01 1.11797949e-04 -8.89845567e-01] [ 1.22217013e-02 -1.88542759e-04 9.99925294e-01 -2.01251655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.49591999999996 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:282.86, Y:-0.89, Z:-2.01 [[ 9.99896613e-01 -7.57381213e-03 -1.22229874e-02 2.82862035e+02] [ 7.57527857e-03 9.99971304e-01 7.36796797e-05 -8.94623733e-01] [ 1.22220786e-02 -1.66264597e-04 9.99925294e-01 -2.01005913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.52592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:282.89, Y:-0.90, Z:-2.02 [[ 9.99878125e-01 -9.71285797e-03 -1.22227182e-02 2.82892125e+02] [ 9.71486269e-03 9.99952804e-01 1.04652295e-04 -8.99659053e-01] [ 1.22211249e-02 -2.23381570e-04 9.99925294e-01 -2.02285526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.55591999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.92, Y:-0.91, Z:-2.02 [[ 9.99875704e-01 -9.95898463e-03 -1.22227079e-02 2.82920683e+02] [ 9.96102222e-03 9.99950382e-01 1.05837899e-04 -9.07700600e-01] [ 1.22210474e-02 -2.27575409e-04 9.99925294e-01 -2.02219160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.58592 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:282.95, Y:-0.91, Z:-2.02 [[ 9.99870673e-01 -1.04519081e-02 -1.22227218e-02 2.82949429e+02] [ 1.04539627e-02 9.99945350e-01 1.04215377e-04 -9.11148017e-01] [ 1.22209646e-02 -2.31977776e-04 9.99925294e-01 -2.02165328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.61591999999996 meters Centerline goodness : 0.999257 Centerline is valid? [True, True] Translation: X:282.98, Y:-0.91, Z:-2.01 [[ 9.99880973e-01 -9.41508884e-03 -1.22227353e-02 2.82978437e+02] [ 9.41704631e-03 9.99955653e-01 1.02605100e-04 -9.14083159e-01] [ 1.22212272e-02 -2.17694952e-04 9.99925294e-01 -2.00961952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.64592 meters Centerline goodness : 0.999405 Centerline is valid? [True, True] Translation: X:283.01, Y:-0.92, Z:-2.01 [[ 9.99869518e-01 -1.05618464e-02 -1.22226759e-02 2.83006770e+02] [ 1.05639777e-02 9.99944194e-01 1.09824692e-04 -9.21314819e-01] [ 1.22208338e-02 -2.38930437e-04 9.99925294e-01 -2.00881045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.67591999999996 meters Centerline goodness : 0.998861 Centerline is valid? [True, True] Translation: X:283.04, Y:-0.93, Z:-2.01 [[ 9.99867175e-01 -1.07812749e-02 -1.22227476e-02 2.83035552e+02] [ 1.07833125e-02 9.99941853e-01 1.00808148e-04 -9.26226357e-01] [ 1.22209500e-02 -2.32596464e-04 9.99925294e-01 -2.00790964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.70592 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:283.06, Y:-0.93, Z:-2.01 [[ 9.99863478e-01 -1.11189775e-02 -1.22226818e-02 2.83064316e+02] [ 1.11211448e-02 9.99938152e-01 1.09364247e-04 -9.34508334e-01] [ 1.22207098e-02 -2.45279530e-04 9.99925294e-01 -2.00834473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.73591999999996 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:283.09, Y:-0.94, Z:-2.01 [[ 9.99856401e-01 -1.17381918e-02 -1.22226192e-02 2.83093051e+02] [ 1.17405086e-02 9.99931071e-01 1.17810629e-04 -9.38170179e-01] [ 1.22203938e-02 -2.61293477e-04 9.99925294e-01 -2.00746399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.76592 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:283.12, Y:-0.94, Z:-2.02 [[ 9.99827613e-01 -1.39767817e-02 -1.22227042e-02 2.83122329e+02] [ 1.39791160e-02 9.99902282e-01 1.05562674e-04 -9.42171213e-01] [ 1.22200344e-02 -2.76407077e-04 9.99925294e-01 -2.01863794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.79591999999997 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:283.15, Y:-0.94, Z:-2.02 [[ 9.99820026e-01 -1.45092035e-02 -1.22228657e-02 2.83150907e+02] [ 1.45112809e-02 9.99894703e-01 8.12840455e-05 -9.42622701e-01] [ 1.22203993e-02 -2.58638854e-04 9.99925295e-01 -2.01829334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.82592 meters Centerline goodness : 0.998861 Centerline is valid? [True, True] Translation: X:283.18, Y:-0.95, Z:-2.01 [[ 9.99834849e-01 -1.34490157e-02 -1.22229055e-02 2.83179924e+02] [ 1.34509344e-02 9.99909529e-01 7.47782980e-05 -9.45266315e-01] [ 1.22207940e-02 -2.39175449e-04 9.99925295e-01 -2.00563210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.85591999999997 meters Centerline goodness : 0.998912 Centerline is valid? [True, True] Translation: X:283.21, Y:-0.95, Z:-2.00 [[ 9.99835549e-01 -1.33969827e-02 -1.22227190e-02 2.83208132e+02] [ 1.33992779e-02 9.99910220e-01 1.05907104e-04 -9.50866769e-01] [ 1.22202028e-02 -2.69665295e-04 9.99925294e-01 -2.00393581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.88592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.24, Y:-0.95, Z:-2.02 [[ 9.99836987e-01 -1.32891298e-02 -1.22228715e-02 2.83237606e+02] [ 1.32910841e-02 9.99911667e-01 7.86618227e-05 -9.54285950e-01] [ 1.22207465e-02 -2.41104213e-04 9.99925295e-01 -2.01658397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.91591999999997 meters Centerline goodness : 0.886580 Centerline is valid? [True, False] Translation: X:283.24, Y:-0.97, Z:-2.01 [[ 9.99929379e-01 -7.67412578e-04 -1.18594922e-02 2.83236381e+02] [ 9.64903070e-04 9.99860817e-01 1.66557857e-02 -9.70723998e-01] [ 1.18450597e-02 -1.66660528e-02 9.99790947e-01 -2.01352290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.94592 meters Centerline goodness : 0.998862 Centerline is valid? [False, True] Translation: X:283.23, Y:-0.97, Z:-2.01 [[ 9.99940079e-01 -2.41224901e-03 -1.06780166e-02 2.83231604e+02] [ 2.57615092e-03 9.99878672e-01 1.53624245e-02 -9.70641546e-01] [ 1.06396631e-02 -1.53890122e-02 9.99824973e-01 -2.01016694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.97592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:283.26, Y:-0.96, Z:-2.03 [[ 9.99940200e-01 1.63486512e-03 -1.08131470e-02 2.83261007e+02] [-1.63413088e-03 9.99998662e-01 7.67374346e-05 -9.58526179e-01] [ 1.08132579e-02 -5.90627484e-05 9.99941533e-01 -2.02624263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.00591999999995 meters Centerline goodness : 0.858136 Centerline is valid? [True, False] Translation: X:283.28, Y:-0.97, Z:-2.02 [[ 9.99868047e-01 4.05742384e-03 -1.57297703e-02 2.83282190e+02] [-3.85890606e-03 9.99912787e-01 1.26303886e-02 -9.70330486e-01] [ 1.57796453e-02 -1.25680223e-02 9.99796503e-01 -2.02093987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.03592 meters Centerline goodness : 0.999505 Centerline is valid? [False, True] Translation: X:283.30, Y:-0.98, Z:-2.02 [[ 9.99837800e-01 7.10265355e-04 -1.79963607e-02 2.83302874e+02] [-3.55108089e-04 9.99805272e-01 1.97304645e-02 -9.77985193e-01] [ 1.80068702e-02 -1.97208736e-02 9.99643356e-01 -2.01659530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.06591999999995 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:283.33, Y:-0.96, Z:-2.02 [[ 9.99816382e-01 6.60377664e-03 -1.79886522e-02 2.83334818e+02] [-6.60543382e-03 9.99978183e-01 -3.27084222e-05 -9.59360550e-01] [ 1.79880438e-02 1.51525268e-04 9.99838191e-01 -2.02044541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.09592 meters Centerline goodness : 0.998910 Centerline is valid? [True, True] Translation: X:283.36, Y:-0.96, Z:-2.02 [[ 9.99794146e-01 9.38407734e-03 -1.79890196e-02 2.83363477e+02] [-9.38103059e-03 9.99955965e-01 2.53746354e-04 -9.58413231e-01] [ 1.79906086e-02 -8.49385756e-05 9.99838152e-01 -2.02015679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.12591999999995 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:283.39, Y:-0.96, Z:-2.03 [[ 9.99781424e-01 1.06535714e-02 -1.79890370e-02 2.83389825e+02] [-1.06505644e-02 9.99943247e-01 2.62958405e-04 -9.56572210e-01] [ 1.79908175e-02 -7.13075311e-05 9.99838150e-01 -2.03316309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.15592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:283.42, Y:-0.96, Z:-2.03 [[ 9.99757985e-01 1.26647670e-02 -1.79882020e-02 2.83418205e+02] [-1.26676856e-02 9.99919760e-01 -4.83097039e-05 -9.55464844e-01] [ 1.79861468e-02 2.76166899e-04 9.99838198e-01 -2.03122604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.18591999999995 meters Centerline goodness : 0.999109 Centerline is valid? [True, True] Translation: X:283.45, Y:-0.95, Z:-2.02 [[ 9.99694125e-01 1.69729522e-02 -1.79881727e-02 2.83450599e+02] [-1.69767329e-02 9.99855883e-01 -5.74823581e-05 -9.53440902e-01] [ 1.79846046e-02 3.62845178e-04 9.99838198e-01 -2.01744158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.21592 meters Centerline goodness : 0.998758 Centerline is valid? [True, True] Translation: X:283.48, Y:-0.95, Z:-2.02 [[ 9.99672709e-01 1.81894967e-02 -1.79893660e-02 2.83479026e+02] [-1.81874664e-02 9.99834556e-01 2.76471666e-04 -9.49152261e-01] [ 1.79914186e-02 5.07998110e-05 9.99838140e-01 -2.01721793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.24591999999996 meters Centerline goodness : 0.998611 Centerline is valid? [True, True] Translation: X:283.51, Y:-0.95, Z:-2.02 [[ 9.99685176e-01 1.74911401e-02 -1.79891527e-02 2.83506635e+02] [-1.74899413e-02 9.99847014e-01 2.23978400e-04 -9.47225823e-01] [ 1.79903182e-02 9.07213385e-05 9.99838157e-01 -2.01593213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.27592 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] Translation: X:283.54, Y:-0.94, Z:-2.02 [[ 9.99651889e-01 1.93002540e-02 -1.79888948e-02 2.83535168e+02] [-1.93003008e-02 9.99813717e-01 1.71025402e-04 -9.42437043e-01] [ 1.79888446e-02 1.76225215e-04 9.99838172e-01 -2.01614187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.30591999999996 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:283.56, Y:-0.94, Z:-2.03 [[ 9.99710454e-01 1.59813387e-02 -1.79890398e-02 2.83561368e+02] [-1.59803721e-02 9.99872286e-01 1.97485339e-04 -9.41184896e-01] [ 1.79898984e-02 9.00433911e-05 9.99838165e-01 -2.02909801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.33592 meters Centerline goodness : 0.998860 Centerline is valid? [True, True] Translation: X:283.59, Y:-0.94, Z:-2.02 [[ 9.99653847e-01 1.92002358e-02 -1.79871299e-02 2.83593726e+02] [-1.92053444e-02 9.99815554e-01 -1.11302519e-04 -9.36983886e-01] [ 1.79816752e-02 4.56713015e-04 9.99838212e-01 -2.01638795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.36591999999996 meters Centerline goodness : 0.998512 Centerline is valid? [True, True] Translation: X:283.62, Y:-0.93, Z:-2.02 [[ 9.99651631e-01 1.93133205e-02 -1.79892086e-02 2.83621513e+02] [-1.93126838e-02 9.99813471e-01 2.09135422e-04 -9.31625396e-01] [ 1.79898922e-02 1.38357332e-04 9.99838159e-01 -2.01700398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.39592 meters Centerline goodness : 0.998810 Centerline is valid? [True, True] Translation: X:283.65, Y:-0.93, Z:-2.02 [[ 9.99645272e-01 1.96402050e-02 -1.79886503e-02 2.83650305e+02] [-1.96409709e-02 9.99807089e-01 1.34111298e-04 -9.29314959e-01] [ 1.79878140e-02 2.19250832e-04 9.99838182e-01 -2.01658147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.42591999999996 meters Centerline goodness : 0.998910 Centerline is valid? [True, True] Translation: X:283.68, Y:-0.92, Z:-2.02 [[ 9.99651776e-01 1.93063441e-02 -1.79886375e-02 2.83678422e+02] [-1.93070850e-02 9.99813592e-01 1.32494058e-04 -9.24790855e-01] [ 1.79878423e-02 2.14860234e-04 9.99838183e-01 -2.01632661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.45592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:283.71, Y:-0.92, Z:-2.03 [[ 9.99705254e-01 1.63042734e-02 -1.79882316e-02 2.83705554e+02] [-1.63053633e-02 9.99867055e-01 8.60786726e-05 -9.23493045e-01] [ 1.79872436e-02 2.07251351e-04 9.99838195e-01 -2.02746855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.48591999999996 meters Centerline goodness : 0.998958 Centerline is valid? [True, True] Translation: X:283.74, Y:-0.92, Z:-2.02 [[ 9.99672819e-01 1.81868754e-02 -1.79858814e-02 2.83737482e+02] [-1.81928219e-02 9.99834483e-01 -1.67039025e-04 -9.20496206e-01] [ 1.79798665e-02 4.94198310e-04 9.99838227e-01 -2.01517000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.51592 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:283.77, Y:-0.92, Z:-2.01 [[ 9.99695446e-01 1.68947600e-02 -1.79883970e-02 2.83766006e+02] [-1.68956602e-02 9.99857253e-01 1.01943399e-04 -9.19764933e-01] [ 1.79875516e-02 2.02013492e-04 9.99838190e-01 -2.01459912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.54591999999997 meters Centerline goodness : 0.998612 Centerline is valid? [True, True] Translation: X:283.79, Y:-0.92, Z:-2.01 [[ 9.99720501e-01 1.53410109e-02 -1.79881625e-02 2.83794672e+02] [-1.53420684e-02 9.99882300e-01 7.92191221e-05 -9.19795342e-01] [ 1.79872606e-02 1.96778639e-04 9.99838197e-01 -2.01369747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.57592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:283.82, Y:-0.92, Z:-2.03 [[ 9.99769587e-01 1.17129629e-02 -1.79883122e-02 2.83821339e+02] [-1.17131883e-02 9.99931394e-01 9.28308893e-05 -9.21256659e-01] [ 1.79881654e-02 1.17890988e-04 9.99838193e-01 -2.02762955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.60591999999997 meters Centerline goodness : 0.886727 Centerline is valid? [True, False] Translation: X:283.82, Y:-0.93, Z:-2.03 [[ 9.99959297e-01 1.04433925e-03 -8.96173888e-03 2.83817850e+02] [-9.76067581e-04 9.99970498e-01 7.61912230e-03 -9.29496754e-01] [ 8.96943144e-03 -7.61006492e-03 9.99930816e-01 -2.02881925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.63592 meters Centerline goodness : 1.000000 Centerline is valid? [False, True] Translation: X:283.81, Y:-0.93, Z:-2.03 [[ 9.99968417e-01 -6.75123831e-04 -7.91889381e-03 2.83813308e+02] [ 7.19141947e-04 9.99984301e-01 5.55708961e-03 -9.26546149e-01] [ 7.91501777e-03 -5.56260891e-03 9.99953204e-01 -2.02557475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.66591999999997 meters Centerline goodness : 0.936357 Centerline is valid? [True, False] Translation: X:283.81, Y:-0.93, Z:-2.03 [[ 9.99968499e-01 -6.36353541e-04 -7.91175232e-03 2.83813366e+02] [ 6.78198291e-04 9.99985792e-01 5.28737824e-03 -9.25192472e-01] [ 7.90827527e-03 -5.29257742e-03 9.99954723e-01 -2.02563966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.69592 meters Centerline goodness : 0.998415 Centerline is valid? [False, True] Translation: X:283.81, Y:-0.92, Z:-2.03 [[ 9.99968047e-01 -6.04213406e-04 -7.97119960e-03 2.83813533e+02] [ 6.45129371e-04 9.99986626e-01 5.13140228e-03 -9.24434670e-01] [ 7.96799253e-03 -5.13638077e-03 9.99955063e-01 -2.02592176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.72592 meters Centerline goodness : 0.998465 Centerline is valid? [True, True] Translation: X:283.84, Y:-0.92, Z:-2.03 [[ 9.99969447e-01 5.04083228e-04 -7.80066111e-03 2.83840828e+02] [-5.05693954e-04 9.99999851e-01 -2.04514742e-04 -9.17550008e-01] [ 7.80055686e-03 2.08453241e-04 9.99969553e-01 -2.02578245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.75591999999995 meters Centerline goodness : 0.997967 Centerline is valid? [True, True] Translation: X:283.87, Y:-0.91, Z:-2.03 [[ 9.99943888e-01 7.16448316e-03 -7.80320702e-03 2.83868916e+02] [-7.16568573e-03 9.99974318e-01 -1.26165826e-04 -9.11247100e-01] [ 7.80210270e-03 1.82074076e-04 9.99969547e-01 -2.02587790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.78592 meters Centerline goodness : 0.998414 Centerline is valid? [True, True] Translation: X:283.90, Y:-0.91, Z:-2.02 [[ 9.99920513e-01 9.90419049e-03 -7.80220109e-03 2.83898232e+02] [-9.90570937e-03 9.99950925e-01 -1.56051825e-04 -9.07825983e-01] [ 7.80027263e-03 2.33325757e-04 9.99969550e-01 -2.02463818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.81591999999995 meters Centerline goodness : 0.997717 Centerline is valid? [True, True] Translation: X:283.91, Y:-0.94, Z:-2.04 [[ 9.97996219e-01 -6.27906504e-02 -7.80266540e-03 2.83908615e+02] [ 6.27914510e-02 9.98026660e-01 -1.42566660e-04 -9.37977093e-01] [ 7.79621994e-03 -3.47659695e-04 9.99969549e-01 -2.03500582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.84592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:283.95, Y:-0.89, Z:-2.03 [[ 9.99741935e-01 2.13437896e-02 -7.77859384e-03 2.83953185e+02] [-2.13507198e-02 9.99771720e-01 -8.08971071e-04 -8.92892533e-01] [ 7.75955163e-03 9.74840881e-04 9.99969419e-01 -2.03470737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.87591999999995 meters Centerline goodness : 0.997915 Centerline is valid? [True, True] Translation: X:283.99, Y:-0.89, Z:-2.02 [[ 9.99614657e-01 2.66410644e-02 -7.79691487e-03 2.83986914e+02] [-2.66439027e-02 9.99644954e-01 -2.60366848e-04 -8.85910487e-01] [ 7.78721016e-03 4.68006759e-04 9.99969570e-01 -2.02216346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.90592 meters Centerline goodness : 0.998460 Centerline is valid? [True, True] Translation: X:284.01, Y:-0.87, Z:-2.03 [[ 9.99526085e-01 2.97779827e-02 -7.80241248e-03 2.84014529e+02] [-2.97796357e-02 9.99556484e-01 -9.57371951e-05 -8.74656999e-01] [ 7.79610112e-03 3.28044825e-04 9.99969556e-01 -2.02600583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.93591999999995 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:284.04, Y:-0.87, Z:-2.02 [[ 9.99817938e-01 1.74135135e-02 -7.80130110e-03 2.84041970e+02] [-1.74150429e-02 9.99848338e-01 -1.28150461e-04 -8.72185716e-01] [ 7.79788639e-03 2.63987123e-04 9.99969561e-01 -2.02389693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.96592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:284.07, Y:-0.86, Z:-2.03 [[ 9.99547593e-01 2.90479959e-02 -7.79890065e-03 2.84069355e+02] [-2.90504140e-02 9.99577928e-01 -1.96919455e-04 -8.62449226e-01] [ 7.78988884e-03 4.23391660e-04 9.99969569e-01 -2.03223032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.99591999999996 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:284.10, Y:-0.85, Z:-2.03 [[ 9.99576009e-01 2.80539251e-02 -7.79611058e-03 2.84097516e+02] [-2.80569259e-02 9.99606289e-01 -2.75790611e-04 -8.48884995e-01] [ 7.78530415e-03 4.94408575e-04 9.99969572e-01 -2.03170388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.02592 meters Centerline goodness : 0.998409 Centerline is valid? [True, True] Translation: X:284.13, Y:-0.84, Z:-2.02 [[ 9.99595108e-01 2.73649781e-02 -7.79599825e-03 2.84130637e+02] [-2.73679824e-02 9.99625388e-01 -2.78930210e-04 -8.40243793e-01] [ 7.78544485e-03 4.92178017e-04 9.99969572e-01 -2.02137815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.05591999999996 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:284.16, Y:-0.84, Z:-2.03 [[ 9.99696235e-01 2.33791266e-02 -7.80087739e-03 2.84156864e+02] [-2.33809485e-02 9.99726618e-01 -1.42426843e-04 -8.35967360e-01] [ 7.79541496e-03 3.24775492e-04 9.99969563e-01 -2.03209006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.08592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:284.18, Y:-0.82, Z:-2.03 [[ 9.99794862e-01 1.86938653e-02 -7.79567146e-03 2.84184884e+02] [-1.86966532e-02 9.99825162e-01 -2.84885412e-04 -8.22930115e-01] [ 7.78898287e-03 4.30579937e-04 9.99969573e-01 -2.03250257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.11591999999996 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:284.21, Y:-0.82, Z:-2.03 [[ 9.99864840e-01 1.44751641e-02 -7.79560906e-03 2.84213078e+02] [-1.44778373e-02 9.99895150e-01 -2.86582686e-04 -8.16208592e-01] [ 7.79064336e-03 3.99407511e-04 9.99969573e-01 -2.03182229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.14592 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:284.24, Y:-0.80, Z:-2.03 [[ 9.99943022e-01 7.29262815e-03 -7.79546965e-03 2.84241703e+02] [-7.29511267e-03 9.99973348e-01 -2.90326123e-04 -8.04590376e-01] [ 7.79314464e-03 3.47178410e-04 9.99969573e-01 -2.03208483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.17591999999996 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:284.27, Y:-0.80, Z:-2.03 [[ 9.99965575e-01 2.84262987e-03 -7.79543414e-03 2.84270835e+02] [-2.84498681e-03 9.99995911e-01 -2.91276557e-04 -7.99411612e-01] [ 7.79457427e-03 3.13444437e-04 9.99969573e-01 -2.03193309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.20592 meters Centerline goodness : 0.997866 Centerline is valid? [True, True] Translation: X:284.30, Y:-0.79, Z:-2.02 [[ 9.99966913e-01 -2.32495398e-03 -7.79539814e-03 2.84299572e+02] [ 2.32274636e-03 9.99997260e-01 -2.92236787e-04 -7.94076539e-01] [ 7.79605621e-03 2.74120385e-04 9.99969573e-01 -2.02264544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.23591999999996 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:284.33, Y:-0.79, Z:-2.03 [[ 9.99934513e-01 -8.37864450e-03 -7.79534380e-03 2.84329063e+02] [ 8.37660938e-03 9.99964872e-01 -2.93682977e-04 -7.91880573e-01] [ 7.79753063e-03 2.28365195e-04 9.99969573e-01 -2.03207875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.26592 meters Centerline goodness : 0.998061 Centerline is valid? [True, True] Translation: X:284.36, Y:-0.79, Z:-2.02 [[ 9.99801921e-01 -1.83126127e-02 -7.79535364e-03 2.84356782e+02] [ 1.83108813e-02 9.99832299e-01 -2.93421378e-04 -7.85198479e-01] [ 7.79941966e-03 1.50623462e-04 9.99969573e-01 -2.02131093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.29591999999997 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:284.39, Y:-0.78, Z:-2.03 [[ 9.99642163e-01 -2.55889028e-02 -7.79443894e-03 2.84387025e+02] [ 2.55872037e-02 9.99672543e-01 -3.17650055e-04 -7.81051830e-01] [ 7.80001492e-03 1.18098492e-04 9.99969572e-01 -2.03329717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.32592 meters Centerline goodness : 0.997917 Centerline is valid? [True, True] Translation: X:284.42, Y:-0.78, Z:-2.02 [[ 9.99552366e-01 -2.88842455e-02 -7.79533231e-03 2.84415313e+02] [ 2.88828313e-02 9.99582761e-01 -2.93959446e-04 -7.78015374e-01] [ 7.80057058e-03 6.86765923e-05 9.99969573e-01 -2.01821797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.35591999999997 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:284.45, Y:-0.78, Z:-2.03 [[ 9.99514287e-01 -3.01735384e-02 -7.79412593e-03 2.84446874e+02] [ 3.01719138e-02 9.99544671e-01 -3.25956678e-04 -7.76206912e-01] [ 7.80041231e-03 9.06346600e-05 9.99969572e-01 -2.03315573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.38592 meters Centerline goodness : 0.998412 Centerline is valid? [True, True] Translation: X:284.48, Y:-0.77, Z:-2.02 [[ 9.99400866e-01 -3.37215202e-02 -7.79534363e-03 2.84475086e+02] [ 3.37202557e-02 9.99431267e-01 -2.93628960e-04 -7.74280773e-01] [ 7.80081178e-03 3.05920566e-05 9.99969573e-01 -2.01948643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.41591999999997 meters Centerline goodness : 0.998857 Centerline is valid? [True, True] Translation: X:284.50, Y:-0.77, Z:-2.02 [[ 9.99242980e-01 -3.81145758e-02 -7.79395765e-03 2.84503925e+02] [ 3.81131605e-02 9.99273375e-01 -3.30086878e-04 -7.71184289e-01] [ 7.80087548e-03 3.27846367e-05 9.99969572e-01 -2.02073039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.44592 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:284.53, Y:-0.77, Z:-2.02 [[ 9.99159102e-01 -4.02536073e-02 -7.79335496e-03 2.84532839e+02] [ 4.02521335e-02 9.99189495e-01 -3.45922462e-04 -7.69195483e-01] [ 7.80096303e-03 3.19324116e-05 9.99969572e-01 -2.01866824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.47592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:284.56, Y:-0.77, Z:-2.03 [[ 9.99124987e-01 -4.10914692e-02 -7.79426697e-03 2.84563943e+02] [ 4.10902080e-02 9.99155389e-01 -3.21947447e-04 -7.68399396e-01] [ 7.80091314e-03 1.39768796e-06 9.99969572e-01 -2.03455506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.50591999999995 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:284.59, Y:-0.77, Z:-2.02 [[ 9.99009967e-01 -4.37986210e-02 -7.79525444e-03 2.84592831e+02] [ 4.37976451e-02 9.99040379e-01 -2.95936594e-04 -7.67024115e-01] [ 7.80073557e-03 -4.57701802e-05 9.99969573e-01 -2.01920199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.53592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:284.62, Y:-0.77, Z:-2.02 [[ 9.98970706e-01 -4.46853557e-02 -7.79402320e-03 2.84621898e+02] [ 4.46841540e-02 9.99001110e-01 -3.28341005e-04 -7.65558859e-01] [ 7.80090987e-03 -2.02662871e-05 9.99969572e-01 -2.01803276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.56591999999995 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:284.65, Y:-0.76, Z:-2.02 [[ 9.98962204e-01 -4.48749565e-02 -7.79448883e-03 2.84651638e+02] [ 4.48738556e-02 9.98992611e-01 -3.16156983e-04 -7.62241529e-01] [ 7.80082428e-03 -3.39398893e-05 9.99969573e-01 -2.01788045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.59592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.68, Y:-0.76, Z:-2.02 [[ 9.99013820e-01 -4.37108211e-02 -7.79433177e-03 2.84682955e+02] [ 4.37096527e-02 9.99044225e-01 -3.20265197e-04 -7.61090194e-01] [ 7.80088119e-03 -2.07381768e-05 9.99969572e-01 -2.01774494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.62591999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.71, Y:-0.76, Z:-2.02 [[ 9.99148914e-01 -4.05051715e-02 -7.79604418e-03 2.84713686e+02] [ 4.05042559e-02 9.99179328e-01 -2.75352810e-04 -7.59980298e-01] [ 7.80079940e-03 -4.06545075e-05 9.99969572e-01 -2.02061768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.65592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.74, Y:-0.76, Z:-2.03 [[ 9.99128344e-01 -4.10091854e-02 -7.79742515e-03 2.84741754e+02] [ 4.10085653e-02 9.99158766e-01 -2.39465115e-04 -7.58582896e-01] [ 7.80068596e-03 -8.05048350e-05 9.99969571e-01 -2.03257076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.68591999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.77, Y:-0.76, Z:-2.03 [[ 9.99120150e-01 -4.12087846e-02 -7.79494718e-03 2.84770226e+02] [ 4.12076734e-02 9.99150557e-01 -3.03176357e-04 -7.57467206e-01] [ 7.80081935e-03 -1.83020294e-05 9.99969573e-01 -2.03235106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.71592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.80, Y:-0.76, Z:-2.03 [[ 9.99181350e-01 -3.96972238e-02 -7.79488645e-03 2.84799177e+02] [ 3.96960545e-02 9.99211755e-01 -3.04729743e-04 -7.55590152e-01] [ 7.80083909e-03 -4.94596154e-06 9.99969573e-01 -2.03211255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.74591999999996 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:284.83, Y:-0.75, Z:-2.02 [[ 9.99274826e-01 -3.72701269e-02 -7.79484583e-03 2.84829674e+02] [ 3.72688757e-02 9.99305227e-01 -3.05765244e-04 -7.53373321e-01] [ 7.80082610e-03 1.50383706e-05 9.99969573e-01 -2.01585748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.77592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:284.86, Y:-0.75, Z:-2.02 [[ 9.99273515e-01 -3.73048581e-02 -7.79674626e-03 2.84857498e+02] [ 3.73039853e-02 9.99303931e-01 -2.57397123e-04 -7.52361354e-01] [ 7.80092135e-03 -3.36395803e-05 9.99969572e-01 -2.01804431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.80591999999996 meters Centerline goodness : 0.995327 Centerline is valid? [True, True] Translation: X:284.87, Y:-0.78, Z:-2.03 [[ 9.93950057e-01 -1.09556037e-01 -7.79481781e-03 2.84873055e+02] [ 1.09556989e-01 9.93980469e-01 -3.05993824e-04 -7.82065029e-01] [ 7.78142013e-03 -5.49834193e-04 9.99969573e-01 -2.03144790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.83592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:284.92, Y:-0.75, Z:-2.01 [[ 9.99476940e-01 -3.13922616e-02 -7.76999132e-03 2.84917943e+02] [ 3.13861515e-02 9.99506922e-01 -9.07086727e-04 -7.45723033e-01] [ 7.79463561e-03 6.62742142e-04 9.99969402e-01 -2.01457750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.86591999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.95, Y:-0.74, Z:-2.02 [[ 9.99491878e-01 -3.09066167e-02 -7.79535515e-03 2.84946571e+02] [ 3.09056775e-02 9.99522276e-01 -2.40945690e-04 -7.44624972e-01] [ 7.79907794e-03 -9.74723431e-08 9.99969587e-01 -2.01558414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.89592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:284.97, Y:-0.74, Z:-2.02 [[ 9.99479027e-01 -3.13197134e-02 -7.79422322e-03 2.84974875e+02] [ 3.13185572e-02 9.99509417e-01 -2.70380714e-04 -7.43516719e-01] [ 7.79886776e-03 2.61360270e-05 9.99969588e-01 -2.01645509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.92591999999996 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:285.00, Y:-0.74, Z:-2.01 [[ 9.99483782e-01 -3.11677758e-02 -7.79360052e-03 2.85004789e+02] [ 3.11664898e-02 9.99514166e-01 -2.86427825e-04 -7.42471195e-01] [ 7.79874144e-03 4.33807942e-05 9.99969588e-01 -2.01462599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.95592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:285.03, Y:-0.74, Z:-2.02 [[ 9.99503917e-01 -3.05149498e-02 -7.79469133e-03 2.85032929e+02] [ 3.05138618e-02 9.99534310e-01 -2.58496826e-04 -7.41052200e-01] [ 7.79894944e-03 2.05224562e-05 9.99969588e-01 -2.01563208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.98591999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.06, Y:-0.74, Z:-2.03 [[ 9.99494113e-01 -3.08346896e-02 -7.79353598e-03 2.85063179e+02] [ 3.08333825e-02 9.99524497e-01 -2.87846284e-04 -7.41308201e-01] [ 7.79870578e-03 4.73995904e-05 9.99969589e-01 -2.02657647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.01592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:285.09, Y:-0.74, Z:-2.02 [[ 9.99530667e-01 -2.96263156e-02 -7.79273987e-03 2.85092276e+02] [ 2.96248146e-02 9.99561041e-01 -3.07989461e-04 -7.40539684e-01] [ 7.79844377e-03 7.69864377e-05 9.99969589e-01 -2.01524666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.04591999999997 meters Centerline goodness : 0.982651 Centerline is valid? [True, True] Translation: X:285.08, Y:-0.73, Z:-2.04 [[ 9.99965673e-01 -2.81376271e-03 -7.79328779e-03 2.85081852e+02] [ 2.81155570e-03 9.99996004e-01 -2.94135020e-04 -7.25942295e-01] [ 7.79408427e-03 2.72213661e-04 9.99969589e-01 -2.04071029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.07592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:285.15, Y:-0.74, Z:-2.02 [[ 9.99817795e-01 -1.74449066e-02 -7.74928110e-03 2.85146120e+02] [ 1.74340299e-02 9.99846937e-01 -1.46892387e-03 -7.36953076e-01] [ 7.77372021e-03 1.33355503e-03 9.99968895e-01 -2.01589915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.10591999999997 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:285.17, Y:-0.74, Z:-2.02 [[ 9.99858659e-01 -1.49002347e-02 -7.78749434e-03 2.85174452e+02] [ 1.48991488e-02 9.99888982e-01 -1.97441126e-04 -7.38863453e-01] [ 7.78957171e-03 8.13861830e-05 9.99969658e-01 -2.01549161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.13592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.20, Y:-0.74, Z:-2.01 [[ 9.99895242e-01 -1.22014414e-02 -7.78657496e-03 2.85202678e+02] [ 1.22000373e-02 9.99925551e-01 -2.27800606e-04 -7.38079422e-01] [ 7.78877475e-03 1.32780237e-04 9.99969658e-01 -2.01452856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.16591999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.23, Y:-0.74, Z:-2.03 [[ 9.99914795e-01 -1.04774399e-02 -7.78631120e-03 2.85232403e+02] [ 1.04759159e-02 9.99945098e-01 -2.36490657e-04 -7.37969151e-01] [ 7.78836153e-03 1.54901766e-04 9.99969658e-01 -2.02578767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.19592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.26, Y:-0.74, Z:-2.03 [[ 9.99932492e-01 -8.62470297e-03 -7.78629953e-03 2.85260242e+02] [ 8.62311982e-03 9.99962792e-01 -2.36874336e-04 -7.37616312e-01] [ 7.78805279e-03 1.69716151e-04 9.99969658e-01 -2.02570918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.22592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.29, Y:-0.74, Z:-2.03 [[ 9.99956558e-01 -5.12417154e-03 -7.78625331e-03 2.85289457e+02] [ 5.12247058e-03 9.99986852e-01 -2.38383867e-04 -7.36728653e-01] [ 7.78737246e-03 1.98488657e-04 9.99969658e-01 -2.02500578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.25591999999995 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:285.32, Y:-0.74, Z:-2.03 [[ 9.99963843e-01 -3.41877970e-03 -7.78622270e-03 2.85318078e+02] [ 3.41701933e-03 9.99994133e-01 -2.39379549e-04 -7.35374533e-01] [ 7.78699541e-03 2.12765220e-04 9.99969658e-01 -2.02504769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.28592 meters Centerline goodness : 0.998660 Centerline is valid? [True, True] Translation: X:285.35, Y:-0.73, Z:-2.01 [[ 9.99969270e-01 9.13220245e-04 -7.78619186e-03 2.85347408e+02] [-9.15119591e-04 9.99999552e-01 -2.40378419e-04 -7.31542934e-01] [ 7.78596886e-03 2.47496329e-04 9.99969658e-01 -2.01442676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.31591999999995 meters Centerline goodness : 0.998909 Centerline is valid? [True, True] Translation: X:285.38, Y:-0.73, Z:-2.03 [[ 9.99965528e-01 2.88086422e-03 -7.78739132e-03 2.85375804e+02] [-2.88252459e-03 9.99995825e-01 -2.01997530e-04 -7.29392256e-01] [ 7.78677688e-03 2.24437914e-04 9.99969657e-01 -2.02611698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.34592 meters Centerline goodness : 0.998311 Centerline is valid? [True, True] Translation: X:285.41, Y:-0.73, Z:-2.01 [[ 9.99960279e-01 4.33802876e-03 -7.78598187e-03 2.85406091e+02] [-4.34007952e-03 9.99990551e-01 -2.46514282e-04 -7.26136564e-01] [ 7.78483892e-03 2.80296271e-04 9.99969658e-01 -2.01187503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.37591999999995 meters Centerline goodness : 0.998163 Centerline is valid? [True, True] Translation: X:285.43, Y:-0.72, Z:-2.01 [[ 9.99957597e-01 4.91460446e-03 -7.78788663e-03 2.85431836e+02] [-4.91621068e-03 9.99987898e-01 -1.87115482e-04 -7.20645926e-01] [ 7.78687278e-03 2.25394439e-04 9.99969656e-01 -2.01362248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.40592 meters Centerline goodness : 0.998809 Centerline is valid? [True, True] Translation: X:285.46, Y:-0.72, Z:-2.02 [[ 9.99918625e-01 1.01072773e-02 -7.78375894e-03 2.85463365e+02] [-1.01100235e-02 9.99948843e-01 -3.13542566e-04 -7.17133189e-01] [ 7.78019169e-03 3.92211037e-04 9.99969657e-01 -2.02374764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.43591999999995 meters Centerline goodness : 0.998210 Centerline is valid? [True, True] Translation: X:285.50, Y:-0.73, Z:-2.03 [[ 9.99328321e-01 -3.58090642e-02 -7.78569287e-03 2.85501001e+02] [ 3.58081694e-02 9.99358649e-01 -2.54343703e-04 -7.30876566e-01] [ 7.78980732e-03 -2.46185431e-05 9.99969659e-01 -2.02721078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.46592 meters Centerline goodness : 0.998262 Centerline is valid? [True, True] Translation: X:285.52, Y:-0.71, Z:-2.01 [[ 9.99925720e-01 9.36892297e-03 -7.79595619e-03 2.85521380e+02] [-9.36875128e-03 9.99956111e-01 5.85427828e-05 -7.08356630e-01] [ 7.79616251e-03 1.44999403e-05 9.99969609e-01 -2.01294916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.49591999999996 meters Centerline goodness : 0.998710 Centerline is valid? [True, True] Translation: X:285.55, Y:-0.70, Z:-2.02 [[ 9.99919676e-01 1.00016045e-02 -7.78516309e-03 2.85551057e+02] [-1.00038927e-02 9.99949927e-01 -2.55033891e-04 -7.04536424e-01] [ 7.78222252e-03 3.32895342e-04 9.99969663e-01 -2.02374796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.52592 meters Centerline goodness : 0.998807 Centerline is valid? [True, True] Translation: X:285.58, Y:-0.70, Z:-2.02 [[ 9.99926249e-01 9.32176152e-03 -7.78465652e-03 2.85580228e+02] [-9.32414281e-03 9.99956493e-01 -2.69657788e-04 -6.99910172e-01] [ 7.78180415e-03 3.42223150e-04 9.99969663e-01 -2.02438917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.55591999999996 meters Centerline goodness : 0.997814 Centerline is valid? [True, True] Translation: X:285.61, Y:-0.70, Z:-2.01 [[ 9.99931710e-01 8.71635564e-03 -7.78459383e-03 2.85611676e+02] [-8.71873260e-03 9.99961954e-01 -2.71455484e-04 -6.96674159e-01] [ 7.78193156e-03 3.39308739e-04 9.99969663e-01 -2.00798280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.58592 meters Centerline goodness : 0.998164 Centerline is valid? [True, True] Translation: X:285.64, Y:-0.69, Z:-2.01 [[ 9.99956293e-01 5.17345006e-03 -7.78763950e-03 2.85639248e+02] [-5.17504061e-03 9.99986592e-01 -1.84103514e-04 -6.91956838e-01] [ 7.78658264e-03 2.24396818e-04 9.99969659e-01 -2.01285088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.61591999999996 meters Centerline goodness : 0.998413 Centerline is valid? [True, True] Translation: X:285.67, Y:-0.69, Z:-2.02 [[ 9.99963720e-01 3.45574554e-03 -7.78566206e-03 2.85667634e+02] [-3.45771796e-03 9.99993993e-01 -2.39892544e-04 -6.89797123e-01] [ 7.78478629e-03 2.66804464e-04 9.99969662e-01 -2.02151942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.64592 meters Centerline goodness : 0.998512 Centerline is valid? [True, True] Translation: X:285.70, Y:-0.69, Z:-2.02 [[ 9.99969544e-01 -5.62043335e-04 -7.78426870e-03 2.85696396e+02] [ 5.59890048e-04 9.99999804e-01 -2.78796724e-04 -6.88607965e-01] [ 7.78442387e-03 2.74429899e-04 9.99969663e-01 -2.02188450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.67591999999996 meters Centerline goodness : 0.998159 Centerline is valid? [True, True] Translation: X:285.73, Y:-0.69, Z:-2.02 [[ 9.99965405e-01 -2.93153181e-03 -7.78423367e-03 2.85725191e+02] [ 2.92944266e-03 9.99995670e-01 -2.79771460e-04 -6.86812715e-01] [ 7.78502012e-03 2.56958315e-04 9.99969663e-01 -2.02254946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.70592 meters Centerline goodness : 0.994588 Centerline is valid? [True, True] Translation: X:285.72, Y:-0.71, Z:-2.02 [[ 9.97434633e-01 -7.11586967e-02 -7.78419856e-03 2.85716738e+02] [ 7.11586700e-02 9.97464969e-01 -2.80744756e-04 -7.14936873e-01] [ 7.78444281e-03 -2.73888675e-04 9.99969663e-01 -2.01826282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.73591999999996 meters Centerline goodness : 0.883721 Centerline is valid? [True, False] Translation: X:285.71, Y:-0.70, Z:-2.02 [[ 9.98380159e-01 -5.66647242e-02 -5.11541068e-03 2.85713942e+02] [ 5.66334041e-02 9.98376570e-01 -6.07301595e-03 -7.04922792e-01] [ 5.45123195e-03 5.77347550e-03 9.99968475e-01 -2.01723917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.76592 meters Centerline goodness : 0.997522 Centerline is valid? [False, True] Translation: X:285.71, Y:-0.70, Z:-2.02 [[ 9.99159751e-01 -4.08680291e-02 -3.09776297e-03 2.85711490e+02] [ 4.08351351e-02 9.99115584e-01 -1.00270227e-02 -6.99498265e-01] [ 3.50480791e-03 9.89209991e-03 9.99944930e-01 -2.01606557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.79591999999997 meters Centerline goodness : 0.998313 Centerline is valid? [True, True] Translation: X:285.74, Y:-0.71, Z:-2.03 [[ 9.98953296e-01 -4.55872527e-02 -3.75694040e-03 2.85740560e+02] [ 4.55870852e-02 9.98960360e-01 -1.30265341e-04 -7.06715143e-01] [ 3.75897297e-03 -4.11389702e-05 9.99992934e-01 -2.02906028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.82592 meters Centerline goodness : 0.997469 Centerline is valid? [True, True] Translation: X:285.77, Y:-0.70, Z:-2.02 [[ 9.98933883e-01 -4.60113375e-02 -3.74885573e-03 2.85769944e+02] [ 4.60107194e-02 9.98940915e-01 -2.51010657e-04 -7.03128259e-01] [ 3.75643470e-03 7.82555019e-05 9.99992942e-01 -2.01531401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.85591999999997 meters Centerline goodness : 0.997916 Centerline is valid? [True, True] Translation: X:285.80, Y:-0.70, Z:-2.02 [[ 9.98972133e-01 -4.51732071e-02 -3.74957521e-03 2.85799606e+02] [ 4.51726233e-02 9.98979167e-01 -2.40280506e-04 -6.99921538e-01] [ 3.75660176e-03 7.06553806e-05 9.99992941e-01 -2.01766111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.88592 meters Centerline goodness : 0.998213 Centerline is valid? [True, True] Translation: X:285.83, Y:-0.70, Z:-2.03 [[ 9.98911962e-01 -4.64847600e-02 -3.74950232e-03 2.85828227e+02] [ 4.64841814e-02 9.98918997e-01 -2.41365194e-04 -6.97591913e-01] [ 3.75666890e-03 6.68100333e-05 9.99992941e-01 -2.02928689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.91591999999997 meters Centerline goodness : 0.997620 Centerline is valid? [True, True] Translation: X:285.86, Y:-0.69, Z:-2.02 [[ 9.98877138e-01 -4.72272113e-02 -3.74874255e-03 2.85857684e+02] [ 4.72265956e-02 9.98884170e-01 -2.52639003e-04 -6.94492160e-01] [ 3.75649102e-03 7.53149765e-05 9.99992942e-01 -2.01620774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.94592 meters Centerline goodness : 0.998410 Centerline is valid? [True, True] Translation: X:285.89, Y:-0.69, Z:-2.03 [[ 9.98912028e-01 -4.64833505e-02 -3.74954173e-03 2.85886320e+02] [ 4.64827740e-02 9.98919063e-01 -2.40801776e-04 -6.90983843e-01] [ 3.75668198e-03 6.62506895e-05 9.99992941e-01 -2.02836376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.97592 meters Centerline goodness : 0.997856 Centerline is valid? [True, True] Translation: X:285.92, Y:-0.69, Z:-2.02 [[ 9.98904151e-01 -4.66523754e-02 -3.74867228e-03 2.85916113e+02] [ 4.66517519e-02 9.98911182e-01 -2.53651245e-04 -6.89090578e-01] [ 3.75642409e-03 7.84911525e-05 9.99992942e-01 -2.01872051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.00591999999995 meters Centerline goodness : 0.870496 Centerline is valid? [True, False] Translation: X:285.91, Y:-0.68, Z:-2.02 [[ 9.99398194e-01 -3.46324276e-02 -1.96100519e-03 2.85913616e+02] [ 3.46130553e-02 9.99358674e-01 -9.17485250e-03 -6.79269930e-01] [ 2.27749496e-03 9.10145464e-03 9.99955987e-01 -2.01769815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.03592 meters Centerline goodness : 0.997713 Centerline is valid? [False, True] Translation: X:285.91, Y:-0.67, Z:-2.02 [[ 9.99795950e-01 -2.01955761e-02 4.43621444e-04 2.85911491e+02] [ 2.01999689e-02 9.99682358e-01 -1.50712994e-02 -6.70637204e-01] [-1.39106956e-04 1.50771853e-02 9.99886323e-01 -2.01708267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.06591999999995 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:285.94, Y:-0.68, Z:-2.03 [[ 9.99747804e-01 -2.24566410e-02 -1.63844336e-04 2.85942315e+02] [ 2.24566491e-02 9.99747817e-01 4.77493282e-05 -6.82619565e-01] [ 1.62730728e-04 -5.14166808e-05 9.99999985e-01 -2.02879167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.09592 meters Centerline goodness : 0.997568 Centerline is valid? [True, True] Translation: X:285.97, Y:-0.68, Z:-2.02 [[ 9.99709326e-01 -2.41088515e-02 -1.61663440e-04 2.85972928e+02] [ 2.41088508e-02 9.99709339e-01 -6.49918586e-06 -6.80970346e-01] [ 1.61773139e-04 2.59977696e-06 9.99999987e-01 -2.01689362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.12591999999995 meters Centerline goodness : 0.997518 Centerline is valid? [True, True] Translation: X:286.00, Y:-0.68, Z:-2.02 [[ 9.99698054e-01 -2.45718363e-02 -1.61677600e-04 2.86003203e+02] [ 2.45718356e-02 9.99698067e-01 -6.14624085e-06 -6.78950451e-01] [ 1.61779808e-04 2.17166961e-06 9.99999987e-01 -2.01707779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.15592 meters Centerline goodness : 0.997370 Centerline is valid? [True, True] Translation: X:286.02, Y:-0.70, Z:-2.03 [[ 9.97006305e-01 -7.73201246e-02 -1.61686031e-04 2.86019165e+02] [ 7.73201246e-02 9.97006318e-01 -5.93572043e-06 -6.97015651e-01] [ 1.61660946e-04 -6.58363341e-06 9.99999987e-01 -2.02917371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.18591999999995 meters Centerline goodness : 0.996477 Centerline is valid? [True, True] Translation: X:286.06, Y:-0.70, Z:-2.03 [[ 9.96159505e-01 -8.75569167e-02 -1.61204583e-04 2.86056564e+02] [ 8.75569149e-02 9.96159519e-01 -1.78319207e-05 -6.99912788e-01] [ 1.62146788e-04 3.64886133e-06 9.99999987e-01 -2.03093276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.21592 meters Centerline goodness : 0.998362 Centerline is valid? [True, True] Translation: X:286.09, Y:-0.67, Z:-2.03 [[ 9.99675290e-01 -2.54811263e-02 -1.61420521e-04 2.86092393e+02] [ 2.54811246e-02 9.99675303e-01 -1.22457111e-05 -6.74026247e-01] [ 1.61680143e-04 8.12855836e-06 9.99999987e-01 -2.02821428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.24591999999996 meters Centerline goodness : 0.998610 Centerline is valid? [True, True] Translation: X:286.12, Y:-0.67, Z:-2.03 [[ 9.99617174e-01 -2.76673099e-02 -1.61652398e-04 2.86122997e+02] [ 2.76673093e-02 9.99617187e-01 -6.04654330e-06 -6.73622240e-01] [ 1.61757807e-04 1.57174162e-06 9.99999987e-01 -2.02794115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.27592 meters Centerline goodness : 0.998214 Centerline is valid? [True, True] Translation: X:286.15, Y:-0.67, Z:-2.03 [[ 9.99563745e-01 -2.95346025e-02 -1.61652398e-04 2.86153005e+02] [ 2.95346019e-02 9.99563758e-01 -6.04654330e-06 -6.73028252e-01] [ 1.61760461e-04 1.26956624e-06 9.99999987e-01 -2.02744167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.30591999999996 meters Centerline goodness : 0.997621 Centerline is valid? [True, True] Translation: X:286.18, Y:-0.67, Z:-2.01 [[ 9.99511352e-01 -3.12575089e-02 -1.61652398e-04 2.86183761e+02] [ 3.12575084e-02 9.99511365e-01 -6.04654330e-06 -6.70980130e-01] [ 1.61762409e-04 9.90737479e-07 9.99999987e-01 -2.01450486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.33592 meters Centerline goodness : 0.997968 Centerline is valid? [True, True] Translation: X:286.21, Y:-0.67, Z:-2.02 [[ 9.99502212e-01 -3.15484002e-02 -1.61658445e-04 2.86214579e+02] [ 3.15483996e-02 9.99502225e-01 -5.88370193e-06 -6.69845335e-01] [ 1.61763597e-04 7.80707864e-07 9.99999987e-01 -2.01636168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.36591999999996 meters Centerline goodness : 0.997967 Centerline is valid? [True, True] Translation: X:286.24, Y:-0.67, Z:-2.01 [[ 9.99428041e-01 -3.38166273e-02 -1.61650212e-04 2.86244918e+02] [ 3.38166267e-02 9.99428054e-01 -6.10675674e-06 -6.69487276e-01] [ 1.61764267e-04 6.36799048e-07 9.99999987e-01 -2.01474752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.39592 meters Centerline goodness : 0.998118 Centerline is valid? [True, True] Translation: X:286.27, Y:-0.67, Z:-2.02 [[ 9.99359459e-01 -3.57860983e-02 -1.61637693e-04 2.86274875e+02] [ 3.57860977e-02 9.99359472e-01 -6.44882663e-06 -6.69297216e-01] [ 1.61764938e-04 6.60313627e-07 9.99999987e-01 -2.01544668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.42591999999996 meters Centerline goodness : 0.998160 Centerline is valid? [True, True] Translation: X:286.31, Y:-0.67, Z:-2.02 [[ 9.99318699e-01 -3.69067855e-02 -1.61634473e-04 2.86305792e+02] [ 3.69067850e-02 9.99318713e-01 -6.53718809e-06 -6.68943636e-01] [ 1.61765620e-04 5.67325566e-07 9.99999987e-01 -2.01699618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.45592 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:286.34, Y:-0.67, Z:-2.03 [[ 9.99201434e-01 -3.99558253e-02 -1.61648882e-04 2.86336734e+02] [ 3.99558248e-02 9.99201447e-01 -6.13928760e-06 -6.70606014e-01] [ 1.61765097e-04 -3.24429453e-07 9.99999987e-01 -2.02951857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.48591999999996 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:286.37, Y:-0.67, Z:-2.03 [[ 9.99144366e-01 -4.13583094e-02 -1.61660445e-04 2.86367320e+02] [ 4.13583090e-02 9.99144379e-01 -5.81800885e-06 -6.71030812e-01] [ 1.61762748e-04 -8.72971861e-07 9.99999987e-01 -2.02878129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.51592 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:286.40, Y:-0.67, Z:-2.01 [[ 9.99009885e-01 -4.44884643e-02 -1.61660445e-04 2.86397471e+02] [ 4.44884640e-02 9.99009898e-01 -5.81800885e-06 -6.71691231e-01] [ 1.61759219e-04 -1.37977652e-06 9.99999987e-01 -2.01481955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.54591999999997 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:286.43, Y:-0.67, Z:-2.02 [[ 9.98922794e-01 -4.64028526e-02 -1.61633991e-04 2.86428394e+02] [ 4.64028522e-02 9.98922807e-01 -6.55813851e-06 -6.72204098e-01] [ 1.61764196e-04 -9.49204150e-07 9.99999987e-01 -2.01510534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.57592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.46, Y:-0.67, Z:-2.03 [[ 9.98936224e-01 -4.61128424e-02 -1.61634071e-04 2.86459532e+02] [ 4.61128419e-02 9.98936237e-01 -6.55588568e-06 -6.71561900e-01] [ 1.61764442e-04 -9.04494697e-07 9.99999987e-01 -2.02872890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.60591999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.49, Y:-0.67, Z:-2.03 [[ 9.98936224e-01 -4.61128423e-02 -1.61663563e-04 2.86490502e+02] [ 4.61128419e-02 9.98936237e-01 -5.72276076e-06 -6.70466346e-01] [ 1.61755484e-04 -1.73809331e-06 9.99999987e-01 -2.02872388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.63592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:286.52, Y:-0.67, Z:-2.01 [[ 9.98820906e-01 -4.85466002e-02 -1.61663563e-04 2.86520204e+02] [ 4.85465999e-02 9.98820919e-01 -5.72276076e-06 -6.72297856e-01] [ 1.61750769e-04 -2.13220324e-06 9.99999987e-01 -2.01284256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.66591999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.55, Y:-0.67, Z:-2.03 [[ 9.98844298e-01 -4.80629011e-02 -1.61617593e-04 2.86551917e+02] [ 4.80629006e-02 9.98844311e-01 -7.02824331e-06 -6.72504764e-01] [ 1.61768611e-04 -7.47689541e-07 9.99999987e-01 -2.02783971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.69592 meters Centerline goodness : 0.840429 Centerline is valid? [True, False] Translation: X:286.55, Y:-0.67, Z:-2.03 [[ 9.99430953e-01 -3.37288261e-02 3.69154567e-04 2.86552413e+02] [ 3.37303729e-02 9.99415052e-01 -5.64046428e-03 -6.66781256e-01] [-1.78692392e-04 5.64970631e-03 9.99984024e-01 -2.02885019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.72592 meters Centerline goodness : 1.000000 Centerline is valid? [False, True] Translation: X:286.55, Y:-0.66, Z:-2.03 [[ 9.99797328e-01 -2.00518374e-02 -1.79649804e-03 2.86554982e+02] [ 2.00297131e-02 9.99732248e-01 -1.15863271e-02 -6.62690954e-01] [ 2.02834417e-03 1.15479956e-02 9.99931262e-01 -2.02968080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.75591999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.58, Y:-0.68, Z:-2.03 [[ 9.99807996e-01 -1.95073446e-02 -1.85304386e-03 2.86583624e+02] [ 1.95073613e-02 9.99809713e-01 -9.03075636e-06 -6.75464033e-01] [ 1.85286741e-03 -2.71189736e-05 9.99998283e-01 -2.03004656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.78592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:286.61, Y:-0.68, Z:-2.01 [[ 9.99850551e-01 -1.71884234e-02 -1.85303940e-03 2.86612635e+02] [ 1.71884346e-02 9.99852268e-01 -9.86772479e-06 -6.78612450e-01] [ 1.85293526e-03 -2.19845965e-05 9.99998283e-01 -2.01384814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.81591999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.64, Y:-0.68, Z:-2.03 [[ 9.99889585e-01 -1.47439561e-02 -1.85299356e-03 2.86643601e+02] [ 1.47439468e-02 9.99891302e-01 -1.86778668e-05 -6.78936100e-01] [ 1.85306753e-03 -8.64463408e-06 9.99998283e-01 -2.02947374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.84592 meters Centerline goodness : 0.757194 Centerline is valid? [True, False] Translation: X:286.64, Y:-0.69, Z:-2.03 [[ 9.99942539e-01 -1.05116030e-02 -2.10355063e-03 2.86644221e+02] [ 1.05238353e-02 9.99927270e-01 5.89104349e-03 -6.86062924e-01] [ 2.04147333e-03 -5.91284241e-03 9.99980435e-01 -2.02953049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.87591999999995 meters Centerline goodness : 1.000000 Centerline is valid? [False, True] Translation: X:286.64, Y:-0.68, Z:-2.03 [[ 9.99999001e-01 1.29159806e-03 -5.74582932e-04 2.86642537e+02] [-1.29304873e-03 9.99995960e-01 -2.53157095e-03 -6.80032868e-01] [ 5.71310838e-04 2.53231138e-03 9.99996630e-01 -2.02866200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.90592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:286.67, Y:-0.69, Z:-2.01 [[ 9.99994626e-01 3.22956570e-03 -5.64587539e-04 2.86672869e+02] [-3.22956496e-03 9.99994785e-01 2.22760312e-06 -6.85832369e-01] [ 5.64591788e-04 -4.04219022e-07 9.99999841e-01 -2.01345543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.93591999999995 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:286.70, Y:-0.69, Z:-2.03 [[ 9.99983546e-01 5.70872345e-03 -5.64583226e-04 2.86702625e+02] [-5.70872244e-03 9.99983705e-01 3.38652050e-06 -6.89626200e-01] [ 5.64593359e-04 -1.63415842e-07 9.99999841e-01 -2.03041431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.96592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:286.73, Y:-0.69, Z:-2.03 [[ 9.99977815e-01 6.63702112e-03 -5.64588133e-04 2.86731814e+02] [-6.63702105e-03 9.99977975e-01 2.00443222e-06 -6.90726615e-01] [ 5.64589001e-04 1.74279557e-06 9.99999841e-01 -2.03007806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.99591999999996 meters Centerline goodness : 0.998810 Centerline is valid? [True, True] Translation: X:286.76, Y:-0.69, Z:-2.01 [[ 9.99967057e-01 8.09732961e-03 -5.64588416e-04 2.86761376e+02] [-8.09732982e-03 9.99967216e-01 1.92125648e-06 -6.94236922e-01] [ 5.64585464e-04 2.65046543e-06 9.99999841e-01 -2.01446085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.02592 meters Centerline goodness : 0.998810 Centerline is valid? [True, True] Translation: X:286.79, Y:-0.70, Z:-2.01 [[ 9.99956832e-01 9.27447179e-03 -5.64584758e-04 2.86791908e+02] [-9.27447150e-03 9.99956991e-01 3.12098247e-06 -6.95734073e-01] [ 5.64589422e-04 2.11537751e-06 9.99999841e-01 -2.01397159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.05591999999996 meters Centerline goodness : 0.998162 Centerline is valid? [True, True] Translation: X:286.82, Y:-0.70, Z:-2.01 [[ 9.99965298e-01 8.31163167e-03 -5.64583097e-04 2.86821680e+02] [-8.31163090e-03 9.99965458e-01 3.71117135e-06 -6.97128624e-01] [ 5.64594441e-04 9.81563745e-07 9.99999841e-01 -2.01297502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.08592 meters Centerline goodness : 0.998112 Centerline is valid? [True, True] Translation: X:286.85, Y:-0.70, Z:-2.02 [[ 9.99965359e-01 8.30429888e-03 -5.64585663e-04 2.86851689e+02] [-8.30429868e-03 9.99965519e-01 2.68840167e-06 -6.99150222e-01] [ 5.64588520e-04 2.00017943e-06 9.99999841e-01 -2.01906360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.11591999999996 meters Centerline goodness : 0.996527 Centerline is valid? [True, True] Translation: X:286.88, Y:-0.70, Z:-2.01 [[ 9.99968713e-01 7.89014759e-03 -5.64589693e-04 2.86881662e+02] [-7.89014826e-03 9.99968872e-01 1.03984858e-06 -7.04982946e-01] [ 5.64580324e-04 3.41488035e-06 9.99999841e-01 -2.01487957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.14592 meters Centerline goodness : 0.996129 Centerline is valid? [True, True] Translation: X:286.91, Y:-0.71, Z:-2.02 [[ 9.99973114e-01 7.31116875e-03 -5.64589042e-04 2.86912519e+02] [-7.31116917e-03 9.99973273e-01 1.31419295e-06 -7.08022595e-01] [ 5.64583560e-04 2.81364838e-06 9.99999841e-01 -2.01541321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.17591999999996 meters Centerline goodness : 0.995784 Centerline is valid? [True, True] Translation: X:286.94, Y:-0.71, Z:-2.02 [[ 9.99972879e-01 7.34320107e-03 -5.64587564e-04 2.86943058e+02] [-7.34320112e-03 9.99973038e-01 1.98541322e-06 -7.11660574e-01] [ 5.64586921e-04 2.16052066e-06 9.99999841e-01 -2.01722440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.20592 meters Centerline goodness : 0.996283 Centerline is valid? [True, True] Translation: X:286.97, Y:-0.71, Z:-2.04 [[ 9.99963212e-01 8.55895101e-03 -5.64592164e-04 2.86974077e+02] [-8.55895256e-03 9.99963371e-01 -3.26916134e-07 -7.14950218e-01] [ 5.64568686e-04 5.15922166e-06 9.99999841e-01 -2.03737912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.23591999999996 meters Centerline goodness : 0.996228 Centerline is valid? [True, True] Translation: X:287.01, Y:-0.72, Z:-2.04 [[ 9.99969002e-01 7.85336868e-03 -5.64589813e-04 2.87005007e+02] [-7.85336937e-03 9.99969162e-01 1.00019612e-06 -7.18707732e-01] [ 5.64580257e-04 3.43376723e-06 9.99999841e-01 -2.03864536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.26592 meters Centerline goodness : 0.995679 Centerline is valid? [True, True] Translation: X:287.04, Y:-0.73, Z:-2.04 [[ 9.99975835e-01 6.92899409e-03 -5.64589813e-04 2.87035594e+02] [-6.92899463e-03 9.99975994e-01 1.00019612e-06 -7.25110067e-01] [ 5.64583190e-04 2.91186784e-06 9.99999841e-01 -2.03695332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.29591999999997 meters Centerline goodness : 0.995586 Centerline is valid? [True, True] Translation: X:287.07, Y:-0.73, Z:-2.04 [[ 9.99977810e-01 6.63782684e-03 -5.64589813e-04 2.87066351e+02] [-6.63782733e-03 9.99977969e-01 1.00019612e-06 -7.28442722e-01] [ 5.64584014e-04 2.74747577e-06 9.99999841e-01 -2.03717482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.32592 meters Centerline goodness : 0.902092 Centerline is valid? [True, False] Translation: X:287.09, Y:-0.75, Z:-2.04 [[ 9.99946153e-01 7.21544055e-03 -7.45839059e-03 2.87093675e+02] [-7.11916574e-03 9.99892025e-01 1.28551956e-02 -7.46730486e-01] [ 7.55034117e-03 -1.28014059e-02 9.99889552e-01 -2.03613618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.35591999999997 meters Centerline goodness : 0.995431 Centerline is valid? [False, True] Translation: X:287.09, Y:-0.75, Z:-2.04 [[ 9.99945854e-01 6.97321408e-03 -7.72423106e-03 2.87094417e+02] [-6.86746555e-03 9.99883477e-01 1.36334392e-02 -7.50179479e-01] [ 7.81839990e-03 -1.35796551e-02 9.99877225e-01 -2.03639846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.38592 meters Centerline goodness : 0.995185 Centerline is valid? [True, True] Translation: X:287.12, Y:-0.74, Z:-2.04 [[ 9.99959791e-01 4.38521517e-03 -7.82210566e-03 2.87124307e+02] [-4.38472590e-03 9.99990384e-01 7.96982923e-05 -7.43758900e-01] [ 7.82237994e-03 -4.53972985e-05 9.99969404e-01 -2.03594509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.41591999999997 meters Centerline goodness : 0.995485 Centerline is valid? [True, True] Translation: X:287.15, Y:-0.75, Z:-2.05 [[ 9.99965900e-01 2.64761303e-03 -7.82230672e-03 2.87154891e+02] [-2.64728861e-03 9.99996495e-01 5.18281218e-05 -7.47759647e-01] [ 7.82241652e-03 -3.11184510e-05 9.99969404e-01 -2.04946568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.44592 meters Centerline goodness : 0.994937 Centerline is valid? [True, True] Translation: X:287.18, Y:-0.75, Z:-2.03 [[ 9.99969386e-01 1.99447465e-04 -7.82227654e-03 2.87183372e+02] [-1.99015188e-04 9.99999979e-01 5.60406260e-05 -7.51994179e-01] [ 7.82228755e-03 -5.44821585e-05 9.99969404e-01 -2.03437711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.47592 meters Centerline goodness : 0.994587 Centerline is valid? [True, True] Translation: X:287.21, Y:-0.76, Z:-2.03 [[ 9.99969382e-01 2.05550896e-04 -7.82264195e-03 2.87213610e+02] [-2.05545333e-04 9.99999979e-01 1.51503077e-06 -7.58503141e-01] [ 7.82264209e-03 9.29231667e-08 9.99969403e-01 -2.03494527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.50591999999995 meters Centerline goodness : 0.982400 Centerline is valid? [True, True] Translation: X:287.21, Y:-0.75, Z:-2.05 [[ 9.98894262e-01 4.63579894e-02 -7.82243468e-03 2.87211112e+02] [-4.63591577e-02 9.98924836e-01 3.19978888e-05 -7.46086546e-01] [ 7.81550763e-03 3.30678975e-04 9.99969404e-01 -2.05077455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.53592 meters Centerline goodness : 0.995341 Centerline is valid? [True, True] Translation: X:287.27, Y:-0.76, Z:-2.05 [[ 9.99893030e-01 1.23536903e-02 -7.83032129e-03 2.87270627e+02] [-1.23620521e-02 9.99923066e-01 -1.02036486e-03 -7.64890490e-01] [ 7.81711361e-03 1.11705455e-03 9.99968822e-01 -2.04906906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.56591999999995 meters Centerline goodness : 0.816524 Centerline is valid? [True, False] Translation: X:287.27, Y:-0.78, Z:-2.05 [[ 9.99947913e-01 7.13054400e-03 -7.30255423e-03 2.87270041e+02] [-7.01323458e-03 9.99847944e-01 1.59657123e-02 -7.83099373e-01] [ 7.41528804e-03 -1.59136662e-02 9.99845872e-01 -2.04803083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.59592 meters Centerline goodness : 0.994836 Centerline is valid? [False, True] Translation: X:287.27, Y:-0.79, Z:-2.05 [[ 9.99946820e-01 6.90226995e-03 -7.66257906e-03 2.87271088e+02] [-6.77246916e-03 9.99835291e-01 1.68382051e-02 -7.86837184e-01] [ 7.77753880e-03 -1.67854151e-02 9.99828865e-01 -2.04813321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.62591999999995 meters Centerline goodness : 0.908482 Centerline is valid? [True, False] Translation: X:287.29, Y:-0.79, Z:-2.04 [[ 9.99936663e-01 -1.57349521e-04 -1.12537038e-02 2.87291969e+02] [ 3.74351945e-04 9.99813991e-01 1.92832499e-02 -7.91030809e-01] [ 1.12485763e-02 -1.92862414e-02 9.99750724e-01 -2.04423364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.65592 meters Centerline goodness : 0.995040 Centerline is valid? [False, True] Translation: X:287.31, Y:-0.79, Z:-2.04 [[ 9.99897654e-01 4.48008084e-03 -1.35871151e-02 2.87313248e+02] [-4.30685936e-03 9.99909421e-01 1.27515269e-02 -7.85973233e-01] [ 1.36430123e-02 -1.26917041e-02 9.99826379e-01 -2.04139880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.68591999999995 meters Centerline goodness : 0.825198 Centerline is valid? [True, False] Translation: X:287.32, Y:-0.79, Z:-2.05 [[ 9.99889240e-01 2.50146749e-03 -1.46713960e-02 2.87318865e+02] [-2.33673417e-03 9.99934159e-01 1.12346120e-02 -7.87351868e-01] [ 1.46985330e-02 -1.11990845e-02 9.99829252e-01 -2.04560283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.71592 meters Centerline goodness : 0.994840 Centerline is valid? [False, True] Translation: X:287.32, Y:-0.79, Z:-2.05 [[ 9.99879186e-01 5.86950528e-04 -1.55328461e-02 2.87324051e+02] [-4.45174858e-04 9.99958227e-01 9.12935944e-03 -7.86247094e-01] [ 1.55375558e-02 -9.12134165e-03 9.99837680e-01 -2.05021209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.74591999999996 meters Centerline goodness : 0.995286 Centerline is valid? [True, True] Translation: X:287.35, Y:-0.78, Z:-2.06 [[ 9.99880805e-01 -1.23964955e-04 -1.54389067e-02 2.87353211e+02] [ 1.21678413e-04 9.99999981e-01 -1.49041855e-04 -7.78686317e-01] [ 1.54389249e-02 1.47145508e-04 9.99880802e-01 -2.06217374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.77592 meters Centerline goodness : 0.986994 Centerline is valid? [True, True] Translation: X:287.37, Y:-0.78, Z:-2.09 [[ 9.99267451e-01 3.50172102e-02 -1.54387719e-02 2.87365915e+02] [-3.50238820e-02 9.99386463e-01 -1.61900083e-04 -7.83758859e-01] [ 1.54236303e-02 7.02507208e-04 9.99880802e-01 -2.09107574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.80591999999996 meters Centerline goodness : 0.994793 Centerline is valid? [True, True] Translation: X:287.41, Y:-0.78, Z:-2.05 [[ 9.99842913e-01 8.74302419e-03 -1.54178373e-02 2.87409485e+02] [-8.76853484e-03 9.99960295e-01 -1.58779472e-03 -7.77623921e-01] [ 1.54033430e-02 1.72273714e-03 9.99879877e-01 -2.05005053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.83592 meters Centerline goodness : 0.994794 Centerline is valid? [True, True] Translation: X:287.45, Y:-0.78, Z:-2.05 [[ 9.99851743e-01 7.64321572e-03 -1.54296518e-02 2.87445014e+02] [-7.65114806e-03 9.99970626e-01 -4.55131522e-04 -7.79046415e-01] [ 1.54257199e-02 5.73118596e-04 9.99880852e-01 -2.04823862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.86591999999996 meters Centerline goodness : 0.994695 Centerline is valid? [True, True] Translation: X:287.46, Y:-0.78, Z:-2.05 [[ 9.99763057e-01 1.53496563e-02 -1.54342828e-02 2.87462428e+02] [-1.53511667e-02 9.99882164e-01 2.06121685e-05 -7.78338739e-01] [ 1.54327805e-02 2.16326964e-04 9.99880884e-01 -2.04982302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.89592 meters Centerline goodness : 0.915964 Centerline is valid? [True, False] Translation: X:287.46, Y:-0.79, Z:-2.05 [[ 9.99964773e-01 5.60828054e-03 -6.24498931e-03 2.87457785e+02] [-5.55526271e-03 9.99948656e-01 8.47488597e-03 -7.89193988e-01] [ 6.29219821e-03 -8.43989487e-03 9.99944587e-01 -2.04928569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.92591999999996 meters Centerline goodness : 0.996126 Centerline is valid? [False, True] Translation: X:287.48, Y:-0.79, Z:-2.05 [[ 9.99946636e-01 -1.24703281e-03 -1.02552232e-02 2.87478927e+02] [ 1.35677542e-03 9.99941820e-01 1.07011577e-02 -7.91892588e-01] [ 1.02412819e-02 -1.07145007e-02 9.99890152e-01 -2.04530602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.95592 meters Centerline goodness : 0.818191 Centerline is valid? [True, False] Translation: X:287.47, Y:-0.79, Z:-2.05 [[ 9.99986699e-01 -1.51422709e-03 4.93048195e-03 2.87471155e+02] [ 1.45943773e-03 9.99937361e-01 1.10970730e-02 -7.91347551e-01] [-4.94697659e-03 -1.10897297e-02 9.99926270e-01 -2.04652988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.98591999999996 meters Centerline goodness : 0.983099 Centerline is valid? [False, True] Translation: X:287.47, Y:-0.79, Z:-2.05 [[ 9.99988216e-01 -1.60093302e-03 4.58314465e-03 2.87472125e+02] [ 1.54932024e-03 9.99935596e-01 1.12429225e-02 -7.91911690e-01] [-4.60084865e-03 -1.12356892e-02 9.99926293e-01 -2.04674157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.01592 meters Centerline goodness : 0.995142 Centerline is valid? [True, True] Translation: X:287.52, Y:-0.79, Z:-2.05 [[ 9.99724667e-01 -2.29141908e-02 5.05263185e-03 2.87515845e+02] [ 2.28921311e-02 9.99728340e-01 4.38144403e-03 -7.92963386e-01] [-5.15165649e-03 -4.26457216e-03 9.99977637e-01 -2.04837592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.04591999999997 meters Centerline goodness : 0.995630 Centerline is valid? [True, True] Translation: X:287.56, Y:-0.78, Z:-2.04 [[ 9.99907744e-01 -1.25640659e-02 5.16211321e-03 2.87564202e+02] [ 1.25577607e-02 9.99920364e-01 1.25204426e-03 -7.76440043e-01] [-5.17743289e-03 -1.18710417e-03 9.99985892e-01 -2.03813488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.07592 meters Centerline goodness : 0.995485 Centerline is valid? [True, True] Translation: X:287.60, Y:-0.77, Z:-2.04 [[ 9.99924926e-01 -1.10971691e-02 5.19570597e-03 2.87597320e+02] [ 1.10964886e-02 9.99938419e-01 1.59780002e-04 -7.71985761e-01] [-5.19715912e-03 -1.02113915e-04 9.99986489e-01 -2.03775698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.10591999999997 meters Centerline goodness : 0.991164 Centerline is valid? [True, True] Translation: X:287.58, Y:-0.79, Z:-2.05 [[ 9.98713337e-01 -5.04447650e-02 5.19578656e-03 2.87580943e+02] [ 5.04446300e-02 9.98726847e-01 1.57114925e-04 -7.88474795e-01] [-5.19709715e-03 1.05186760e-04 9.99986489e-01 -2.05047709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.13592 meters Centerline goodness : 0.995731 Centerline is valid? [True, True] Translation: X:287.65, Y:-0.77, Z:-2.03 [[ 9.99986399e-01 -6.71069691e-04 5.17219017e-03 2.87646353e+02] [ 6.65885056e-04 9.99999274e-01 1.00406293e-03 -7.65355323e-01] [-5.17286022e-03 -1.00060519e-03 9.99986120e-01 -2.02600296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.16591999999997 meters Centerline goodness : 0.996629 Centerline is valid? [True, True] Translation: X:287.68, Y:-0.76, Z:-2.04 [[ 9.99986069e-01 -9.60544482e-04 5.19022230e-03 2.87676776e+02] [ 9.60169192e-04 9.99999536e-01 7.47983095e-05 -7.62724761e-01] [-5.19029174e-03 -6.98137759e-05 9.99986528e-01 -2.03761469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.19592 meters Centerline goodness : 0.996779 Centerline is valid? [True, True] Translation: X:287.71, Y:-0.76, Z:-2.03 [[ 9.99986347e-01 6.11025934e-04 5.18972855e-03 2.87710489e+02] [-6.11554888e-04 9.99999808e-01 1.00336855e-04 -7.60659323e-01] [-5.18966625e-03 -1.03509289e-04 9.99986528e-01 -2.02684064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.22592 meters Centerline goodness : 0.837968 Centerline is valid? [True, False] Translation: X:287.72, Y:-0.76, Z:-2.03 [[ 9.99987142e-01 2.88274117e-03 4.17199516e-03 2.87715907e+02] [-2.89336961e-03 9.99992579e-01 2.54377743e-03 -7.60871304e-01] [-4.16463114e-03 -2.55581585e-03 9.99988062e-01 -2.03114741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.25591999999995 meters Centerline goodness : 0.995439 Centerline is valid? [False, True] Translation: X:287.74, Y:-0.76, Z:-2.03 [[ 9.99996581e-01 -1.83619697e-03 -1.86190883e-03 2.87735701e+02] [ 1.84497129e-03 9.99987150e-01 4.72182239e-03 -7.63798489e-01] [ 1.85321471e-03 -4.72524141e-03 9.99987119e-01 -2.02741414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.28592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:287.79, Y:-0.73, Z:-2.02 [[ 9.97115159e-01 7.58745308e-02 -2.10141020e-03 2.87794716e+02] [-7.58733350e-02 9.97117257e-01 6.43142839e-04 -7.27636300e-01] [ 2.14415054e-03 -4.81846474e-04 9.99997585e-01 -2.02413836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.31591999999995 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:287.83, Y:-0.73, Z:-2.01 [[ 9.97091161e-01 7.61883352e-02 -2.13387242e-03 2.87826741e+02] [-7.61882168e-02 9.97093444e-01 1.36805275e-04 -7.28944703e-01] [ 2.13809317e-03 2.61686045e-05 9.99997714e-01 -2.01239456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.34592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:287.86, Y:-0.73, Z:-2.02 [[ 9.97182326e-01 7.49857234e-02 -2.13304838e-03 2.87856343e+02] [-7.49855749e-02 9.97184607e-01 1.49612908e-04 -7.31959777e-01] [ 2.13826184e-03 1.07565113e-05 9.99997714e-01 -2.02453854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.37591999999995 meters Centerline goodness : 0.997818 Centerline is valid? [True, True] Translation: X:287.89, Y:-0.75, Z:-2.02 [[ 9.99423156e-01 3.38939672e-02 -2.13386387e-03 2.87888640e+02] [-3.38937521e-02 9.99425432e-01 1.36901998e-04 -7.53098363e-01] [ 2.13727797e-03 -6.44983743e-05 9.99997714e-01 -2.02456756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.40592 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:287.92, Y:-0.73, Z:-2.01 [[ 9.96952387e-01 7.79832833e-02 -2.13194878e-03 2.87920479e+02] [-7.79831055e-02 9.96954667e-01 1.66515630e-04 -7.34859201e-01] [ 2.13844173e-03 2.47832234e-07 9.99997714e-01 -2.01100022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.43591999999995 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:287.95, Y:-0.73, Z:-2.02 [[ 9.96961387e-01 7.78681382e-02 -2.13225771e-03 2.87949536e+02] [-7.78679704e-02 9.96963667e-01 1.61702006e-04 -7.34700993e-01] [ 2.13837490e-03 4.82392402e-06 9.99997714e-01 -2.02416589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.46592 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:287.98, Y:-0.74, Z:-2.03 [[ 9.96820157e-01 7.96556382e-02 -2.13388608e-03 2.87981365e+02] [-7.96555292e-02 9.96822441e-01 1.36187580e-04 -7.35080623e-01] [ 2.13795364e-03 3.42213003e-05 9.99997714e-01 -2.02596316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.49591999999996 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:288.01, Y:-0.74, Z:-2.03 [[ 9.96809982e-01 7.97828672e-02 -2.13386861e-03 2.88013945e+02] [-7.97827578e-02 9.96812266e-01 1.36460806e-04 -7.37130297e-01] [ 2.13795364e-03 3.42204288e-05 9.99997714e-01 -2.02589332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.52592 meters Centerline goodness : 0.775001 Centerline is valid? [True, False] Translation: X:288.01, Y:-0.74, Z:-2.03 [[ 9.97921405e-01 6.44425767e-02 1.51028536e-04 2.88012799e+02] [-6.44426590e-02 9.97913185e-01 4.05210475e-03 -7.41260095e-01] [ 1.10414704e-04 -4.05341475e-03 9.99991779e-01 -2.02706979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.55591999999996 meters Centerline goodness : 0.998761 Centerline is valid? [False, True] Translation: X:288.01, Y:-0.74, Z:-2.03 [[ 9.98780656e-01 4.93432225e-02 1.56454825e-03 2.88012933e+02] [-4.93536599e-02 9.98752922e-01 7.53774698e-03 -7.41275734e-01] [-1.19066041e-03 -7.60577205e-03 9.99970367e-01 -2.02864156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.58592 meters Centerline goodness : 0.998760 Centerline is valid? [True, True] Translation: X:288.05, Y:-0.73, Z:-2.03 [[ 9.98778081e-01 4.94020116e-02 1.33620688e-03 2.88046649e+02] [-4.94020019e-02 9.98778975e-01 -4.02694653e-05 -7.32729999e-01] [-1.33656473e-03 -2.57910356e-05 9.99999106e-01 -2.02940877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.61591999999996 meters Centerline goodness : 0.997816 Centerline is valid? [True, True] Translation: X:288.08, Y:-0.73, Z:-2.02 [[ 9.98754384e-01 4.98788024e-02 1.33619913e-03 2.88079028e+02] [-4.98787928e-02 9.98755278e-01 -4.05249213e-05 -7.30263703e-01] [-1.33655727e-03 -2.61735569e-05 9.99999106e-01 -2.01740034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.64592 meters Centerline goodness : 0.997716 Centerline is valid? [True, True] Translation: X:288.11, Y:-0.73, Z:-2.02 [[ 9.98838717e-01 4.81604883e-02 1.33594260e-03 2.88111326e+02] [-4.81604658e-02 9.98839610e-01 -4.90536432e-05 -7.29945109e-01] [-1.33675483e-03 -1.53429397e-05 9.99999106e-01 -2.01672389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.67591999999996 meters Centerline goodness : 0.997320 Centerline is valid? [True, True] Translation: X:288.14, Y:-0.73, Z:-2.02 [[ 9.98887178e-01 4.71446924e-02 1.33574449e-03 2.88143890e+02] [-4.71446602e-02 9.98888071e-01 -5.56353474e-05 -7.28922498e-01] [-1.33688215e-03 -7.39978488e-06 9.99999106e-01 -2.01759766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.70592 meters Centerline goodness : 0.996924 Centerline is valid? [True, True] Translation: X:288.18, Y:-0.73, Z:-2.02 [[ 9.99040035e-01 4.37861251e-02 1.33567227e-03 2.88175223e+02] [-4.37860866e-02 9.99040928e-01 -5.80530049e-05 -7.25617720e-01] [-1.33693318e-03 -4.86585788e-07 9.99999106e-01 -2.01612751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.73591999999996 meters Centerline goodness : 0.997171 Centerline is valid? [True, True] Translation: X:288.21, Y:-0.72, Z:-2.02 [[ 9.99044379e-01 4.36868812e-02 1.33579190e-03 2.88207147e+02] [-4.36868481e-02 9.99045272e-01 -5.40077605e-05 -7.23546981e-01] [-1.33687601e-03 -4.40038833e-06 9.99999106e-01 -2.01663726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.76592 meters Centerline goodness : 0.997469 Centerline is valid? [True, True] Translation: X:288.24, Y:-0.72, Z:-2.02 [[ 9.99029296e-01 4.40304686e-02 1.33583526e-03 2.88240830e+02] [-4.40304377e-02 9.99030189e-01 -5.25352693e-05 -7.19489571e-01] [-1.33685290e-03 -6.33313811e-06 9.99999106e-01 -2.01749781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.79591999999997 meters Centerline goodness : 0.997074 Centerline is valid? [True, True] Translation: X:288.27, Y:-0.72, Z:-2.02 [[ 9.99069193e-01 4.31156970e-02 1.33573288e-03 2.88272542e+02] [-4.31156606e-02 9.99070086e-01 -5.60337582e-05 -7.18460995e-01] [-1.33690670e-03 -1.60940406e-06 9.99999106e-01 -2.01938104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.82592 meters Centerline goodness : 0.843975 Centerline is valid? [True, False] Translation: X:288.27, Y:-0.72, Z:-2.02 [[ 9.99496035e-01 3.17422593e-02 3.25359974e-04 2.88274788e+02] [-3.17438782e-02 9.99459921e-01 8.49662013e-03 -7.24533684e-01] [-5.54823350e-05 -8.50266632e-03 9.99963850e-01 -2.02036286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.85591999999997 meters Centerline goodness : 0.995535 Centerline is valid? [False, True] Translation: X:288.28, Y:-0.72, Z:-2.02 [[ 9.99866723e-01 1.63019278e-02 -8.85478036e-04 2.88276538e+02] [-1.62904734e-02 9.99798995e-01 1.16871908e-02 -7.24567565e-01] [ 1.07582379e-03 -1.16712083e-02 9.99931310e-01 -2.02113797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.88592 meters Centerline goodness : 0.996130 Centerline is valid? [True, True] Translation: X:288.31, Y:-0.71, Z:-2.02 [[ 9.99898252e-01 1.42356770e-02 -9.11453112e-04 2.88307582e+02] [-1.42358130e-02 9.99898655e-01 -1.42867663e-04 -7.09891114e-01] [ 9.09326923e-04 1.55828403e-04 9.99999574e-01 -2.02280450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.91591999999997 meters Centerline goodness : 0.996627 Centerline is valid? [True, True] Translation: X:288.34, Y:-0.71, Z:-2.02 [[ 9.99897609e-01 1.42808284e-02 -9.11129992e-04 2.88338140e+02] [-1.42808190e-02 9.99898024e-01 1.68592494e-05 -7.07310554e-01] [ 9.11277842e-04 -3.84584066e-06 9.99999585e-01 -2.02355895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.94592 meters Centerline goodness : 0.996425 Centerline is valid? [True, True] Translation: X:288.37, Y:-0.70, Z:-2.02 [[ 9.99916915e-01 1.28581715e-02 -9.11131221e-04 2.88368824e+02] [-1.28581624e-02 9.99917330e-01 1.58983149e-05 -7.04173553e-01] [ 9.11260322e-04 -4.18152080e-06 9.99999585e-01 -2.02307571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.97592 meters Centerline goodness : 0.996826 Centerline is valid? [True, True] Translation: X:288.40, Y:-0.70, Z:-2.03 [[ 9.99989450e-01 4.50228020e-03 -9.11135280e-04 2.88398205e+02] [-4.50227169e-03 9.99989865e-01 1.13939580e-05 -6.99875086e-01] [ 9.11177344e-04 -7.29165918e-06 9.99999585e-01 -2.03100134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.00591999999995 meters Centerline goodness : 0.997117 Centerline is valid? [True, True] Translation: X:288.43, Y:-0.71, Z:-2.04 [[ 9.99828389e-01 -1.85030584e-02 -9.11143879e-04 2.88428520e+02] [ 1.85030673e-02 9.99828804e-01 1.33543069e-06 -7.06766186e-01] [ 9.10963185e-04 -1.81941581e-05 9.99999585e-01 -2.03731630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.03592 meters Centerline goodness : 0.997214 Centerline is valid? [True, True] Translation: X:288.46, Y:-0.69, Z:-2.03 [[ 9.99970821e-01 7.58465979e-03 -9.11142908e-04 2.88458738e+02] [-7.58466092e-03 9.99971236e-01 2.21841848e-06 -6.89062652e-01] [ 9.11133526e-04 4.69235626e-06 9.99999585e-01 -2.02829531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.06591999999995 meters Centerline goodness : 0.996921 Centerline is valid? [True, True] Translation: X:288.49, Y:-0.69, Z:-2.03 [[ 9.99972058e-01 7.41983964e-03 -9.11139660e-04 2.88488433e+02] [-7.41983680e-03 9.99972473e-01 6.49394597e-06 -6.86326116e-01] [ 9.11162763e-04 2.66743072e-07 9.99999585e-01 -2.02772016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.09592 meters Centerline goodness : 0.996676 Centerline is valid? [True, True] Translation: X:288.52, Y:-0.69, Z:-2.03 [[ 9.99994163e-01 3.29310696e-03 -9.11139581e-04 2.88518371e+02] [-3.29310054e-03 9.99994578e-01 8.54597970e-06 -6.85436580e-01] [ 9.11162784e-04 -5.54545557e-06 9.99999585e-01 -2.02919549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.12591999999995 meters Centerline goodness : 0.995386 Centerline is valid? [True, True] Translation: X:288.61, Y:-0.69, Z:-2.06 [[ 9.99984661e-01 5.46333590e-03 -9.11139642e-04 2.88609738e+02] [-5.46333065e-03 9.99985076e-01 8.25272071e-06 -6.87749723e-01] [ 9.11171131e-04 -3.27473699e-06 9.99999585e-01 -2.06362412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.15592 meters Centerline goodness : 0.888175 Centerline is valid? [True, False] Translation: X:288.61, Y:-0.69, Z:-2.06 [[ 9.99984769e-01 5.43813356e-03 -9.42668710e-04 2.88609892e+02] [-5.43832185e-03 9.99985193e-01 -1.97294352e-04 -6.86973332e-01] [ 9.41581839e-04 2.02417883e-04 9.99999536e-01 -2.06389732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.18591999999995 meters Centerline goodness : 0.929945 Centerline is valid? [False, False] Translation: X:288.61, Y:-0.70, Z:-2.06 [[ 9.99974040e-01 -1.39639336e-03 -7.06884970e-03 2.88612260e+02] [ 1.48667804e-03 9.99917188e-01 1.27830881e-02 -6.97030927e-01] [ 7.05041409e-03 -1.27932654e-02 9.99893306e-01 -2.06247639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.21592 meters Centerline goodness : 0.996968 Centerline is valid? [False, True] Translation: X:288.62, Y:-0.70, Z:-2.07 [[ 9.99968298e-01 7.02252485e-04 -7.93158620e-03 2.88617497e+02] [-5.82491708e-04 9.99885948e-01 1.50914516e-02 -6.98165883e-01] [ 7.94127960e-03 -1.50863531e-02 9.99854658e-01 -2.06691762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.24591999999996 meters Centerline goodness : 0.997671 Centerline is valid? [True, True] Translation: X:288.65, Y:-0.68, Z:-2.07 [[ 9.99967100e-01 -3.24672181e-04 -8.10510810e-03 2.88646716e+02] [ 3.25438910e-04 9.99999943e-01 9.32795481e-05 -6.84560822e-01] [ 8.10507735e-03 -9.59141968e-05 9.99967149e-01 -2.06723139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.27592 meters Centerline goodness : 0.918209 Centerline is valid? [True, False] Translation: X:288.65, Y:-0.69, Z:-2.07 [[ 9.99960236e-01 3.82189192e-03 -8.05725313e-03 2.88646540e+02] [-3.78064148e-03 9.99979701e-01 5.12869466e-03 -6.88462786e-01] [ 8.07669090e-03 -5.09802914e-03 9.99954388e-01 -2.06685892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.30591999999996 meters Centerline goodness : 0.995037 Centerline is valid? [False, True] Translation: X:288.62, Y:-0.70, Z:-2.07 [[ 9.99988765e-01 3.08542583e-03 -3.59848758e-03 2.88621641e+02] [-3.02687046e-03 9.99864745e-01 1.61656946e-02 -6.97120791e-01] [ 3.64787891e-03 -1.61546208e-02 9.99862851e-01 -2.06840820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.33592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:288.64, Y:-0.68, Z:-2.08 [[ 9.99690982e-01 2.43665028e-02 -4.92075204e-03 2.88639191e+02] [-2.43603453e-02 9.99702388e-01 1.30743470e-03 -6.79673475e-01] [ 4.95114518e-03 -1.18715946e-03 9.99987038e-01 -2.07569773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.36591999999996 meters Centerline goodness : 0.986929 Centerline is valid? [True, True] Translation: X:288.69, Y:-0.69, Z:-2.07 [[ 9.99934811e-01 -1.03028374e-02 -4.92189876e-03 2.88694851e+02] [ 1.03093233e-02 9.99946020e-01 1.29420285e-03 -6.90101942e-01] [ 4.90829911e-03 -1.34485993e-03 9.99987050e-01 -2.07073657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.39592 meters Centerline goodness : 0.996825 Centerline is valid? [True, True] Translation: X:288.67, Y:-0.71, Z:-2.05 [[ 9.99882164e-01 -1.45404420e-02 -4.92276467e-03 2.88673134e+02] [ 1.45451269e-02 9.99893793e-01 9.17222346e-04 -7.14492879e-01] [ 4.90890503e-03 -9.88716501e-04 9.99987462e-01 -2.05453760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.42591999999996 meters Centerline goodness : 0.996571 Centerline is valid? [True, True] Translation: X:288.70, Y:-0.72, Z:-2.05 [[ 9.99830125e-01 -1.77639251e-02 -4.91575014e-03 2.88702681e+02] [ 1.77639466e-02 9.99842208e-01 -3.92747068e-05 -7.16183887e-01] [ 4.91567214e-03 -4.80550881e-05 9.99987917e-01 -2.05261167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.45592 meters Centerline goodness : 0.922211 Centerline is valid? [True, False] Translation: X:288.70, Y:-0.71, Z:-2.05 [[ 9.99992796e-01 -3.34338311e-03 1.79708639e-03 2.88698939e+02] [ 3.35145351e-03 9.99984228e-01 -4.50673183e-03 -7.10644192e-01] [-1.78199032e-03 4.51272222e-03 9.99988230e-01 -2.05350159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.48591999999996 meters Centerline goodness : 0.912976 Centerline is valid? [False, False] Translation: X:288.70, Y:-0.72, Z:-2.05 [[ 9.99993112e-01 -3.31002004e-03 1.67933162e-03 2.88699351e+02] [ 3.31570095e-03 9.99988752e-01 -3.39141088e-03 -7.15361360e-01] [-1.66808709e-03 3.39695568e-03 9.99992839e-01 -2.05349175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.51592 meters Centerline goodness : 0.911633 Centerline is valid? [False, False] Translation: X:288.70, Y:-0.72, Z:-2.05 [[ 9.99998323e-01 7.53827389e-04 1.66899873e-03 2.88699447e+02] [-7.57250109e-04 9.99997610e-01 2.05108124e-03 -7.20850091e-01] [-1.66744858e-03 -2.05234165e-03 9.99996504e-01 -2.05363196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.54591999999997 meters Centerline goodness : 0.995535 Centerline is valid? [False, True] Translation: X:288.69, Y:-0.72, Z:-2.05 [[ 9.99993709e-01 2.47820314e-03 2.53798176e-03 2.88694825e+02] [-2.48966456e-03 9.99986673e-01 4.52280072e-03 -7.24970818e-01] [-2.52673951e-03 -4.52909099e-03 9.99986551e-01 -2.04982806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.57592 meters Centerline goodness : 0.997069 Centerline is valid? [True, True] Translation: X:288.72, Y:-0.72, Z:-2.06 [[ 9.99990448e-01 3.57840334e-03 2.50996725e-03 2.88724227e+02] [-3.57817632e-03 9.99993594e-01 -9.49296018e-05 -7.21352798e-01] [-2.51029087e-03 8.59475896e-05 9.99996846e-01 -2.05855998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.60591999999997 meters Centerline goodness : 0.996273 Centerline is valid? [True, True] Translation: X:288.76, Y:-0.72, Z:-2.05 [[ 9.99971128e-01 7.17217175e-03 2.51044223e-03 2.88756455e+02] [-7.17215694e-03 9.99974280e-01 -1.48993957e-05 -7.22338407e-01] [-2.51048452e-03 -3.10632019e-06 9.99996849e-01 -2.05316341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.63592 meters Centerline goodness : 0.845596 Centerline is valid? [True, False] Translation: X:288.76, Y:-0.74, Z:-2.05 [[ 9.99992422e-01 3.85489023e-03 -5.43322410e-04 2.88758107e+02] [-3.84358497e-03 9.99803158e-01 1.94646549e-02 -7.41042469e-01] [ 6.18249570e-04 -1.94624191e-02 9.99810398e-01 -2.05229694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.66591999999997 meters Centerline goodness : 0.991404 Centerline is valid? [False, True] Translation: X:288.76, Y:-0.73, Z:-2.05 [[ 9.99990064e-01 -4.38888621e-03 -7.80791126e-04 2.88758695e+02] [ 4.39616488e-03 9.99944462e-01 9.57841296e-03 -7.34327884e-01] [ 7.38709198e-04 -9.58175027e-03 9.99953821e-01 -2.05286012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.69592 meters Centerline goodness : 0.996779 Centerline is valid? [True, True] Translation: X:288.77, Y:-0.71, Z:-2.04 [[ 9.99404086e-01 3.45002819e-02 -1.09710383e-03 2.88765548e+02] [-3.45012363e-02 9.99404282e-01 -8.63179854e-04 -7.11555104e-01] [ 1.06667032e-03 9.00516912e-04 9.99999026e-01 -2.04469791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.72592 meters Centerline goodness : 0.997028 Centerline is valid? [True, True] Translation: X:288.80, Y:-0.71, Z:-2.04 [[ 9.99363607e-01 3.56542819e-02 -1.07410068e-03 2.88796901e+02] [-3.56542735e-02 9.99364184e-01 2.69616827e-05 -7.14355342e-01] [ 1.07437905e-03 1.13517550e-05 9.99999423e-01 -2.04367437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.75591999999995 meters Centerline goodness : 0.995574 Centerline is valid? [True, True] Translation: X:288.83, Y:-0.72, Z:-2.03 [[ 9.99290631e-01 3.76441440e-02 -1.07406977e-03 2.88829357e+02] [-3.76441355e-02 9.99291208e-01 2.81585567e-05 -7.15903480e-01] [ 1.07436848e-03 1.22938461e-05 9.99999423e-01 -2.03206906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.78592 meters Centerline goodness : 0.997322 Centerline is valid? [True, True] Translation: X:288.86, Y:-0.72, Z:-2.04 [[ 9.99330023e-01 3.65834865e-02 -1.07376398e-03 2.88858346e+02] [-3.65834644e-02 9.99330600e-01 4.02218252e-05 -7.17051899e-01] [ 1.07451666e-03 -9.12870994e-07 9.99999423e-01 -2.04348185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.81591999999995 meters Centerline goodness : 0.996426 Centerline is valid? [True, True] Translation: X:288.89, Y:-0.72, Z:-2.03 [[ 9.99279579e-01 3.79363834e-02 -1.07408995e-03 2.88889155e+02] [-3.79363761e-02 9.99280156e-01 2.71952626e-05 -7.18216320e-01] [ 1.07434847e-03 1.35714099e-05 9.99999423e-01 -2.03428182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.84592 meters Centerline goodness : 0.997270 Centerline is valid? [True, True] Translation: X:288.92, Y:-0.72, Z:-2.04 [[ 9.99220854e-01 3.94528928e-02 -1.07393527e-03 2.88920373e+02] [-3.94528797e-02 9.99221432e-01 3.33843693e-05 -7.18359647e-01] [ 1.07441625e-03 9.01148099e-06 9.99999423e-01 -2.03510931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.87591999999995 meters Centerline goodness : 0.997566 Centerline is valid? [True, True] Translation: X:288.95, Y:-0.72, Z:-2.04 [[ 9.99210351e-01 3.97180164e-02 -1.07393175e-03 2.88949583e+02] [-3.97180033e-02 9.99210928e-01 3.35260215e-05 -7.18428687e-01] [ 1.07441593e-03 9.15487721e-06 9.99999423e-01 -2.04488796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.90592 meters Centerline goodness : 0.996425 Centerline is valid? [True, True] Translation: X:288.98, Y:-0.72, Z:-2.03 [[ 9.98986395e-01 4.50003120e-02 -1.07414064e-03 2.88981300e+02] [-4.50003111e-02 9.98986973e-01 2.49897778e-05 -7.17957066e-01] [ 1.07417705e-03 2.33722150e-05 9.99999423e-01 -2.03413309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.93591999999995 meters Centerline goodness : 0.996424 Centerline is valid? [True, True] Translation: X:289.01, Y:-0.72, Z:-2.03 [[ 9.98894792e-01 4.69897954e-02 -1.07392463e-03 2.89013237e+02] [-4.69897860e-02 9.98895369e-01 3.39525090e-05 -7.18336035e-01] [ 1.07433376e-03 1.65485040e-05 9.99999423e-01 -2.03424181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.96592 meters Centerline goodness : 0.997267 Centerline is valid? [True, True] Translation: X:289.04, Y:-0.72, Z:-2.05 [[ 9.99008779e-01 4.45006411e-02 -1.07386017e-03 2.89041723e+02] [-4.45006274e-02 9.99009356e-01 3.66481761e-05 -7.19658857e-01] [ 1.07442723e-03 1.11756018e-05 9.99999423e-01 -2.04828677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.99591999999996 meters Centerline goodness : 0.995979 Centerline is valid? [True, True] Translation: X:289.07, Y:-0.72, Z:-2.04 [[ 9.98738541e-01 5.02013318e-02 -1.07412914e-03 2.89074827e+02] [-5.02013337e-02 9.98739118e-01 2.51697384e-05 -7.18185766e-01] [ 1.07403835e-03 2.87847278e-05 9.99999423e-01 -2.03587321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.02592 meters Centerline goodness : 0.997218 Centerline is valid? [True, True] Translation: X:289.10, Y:-0.72, Z:-2.05 [[ 9.98995704e-01 4.47932045e-02 -1.07375143e-03 2.89102302e+02] [-4.47931858e-02 9.98996281e-01 4.14595300e-05 -7.19013729e-01] [ 1.07453079e-03 6.67885486e-06 9.99999423e-01 -2.04902832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.05591999999996 meters Centerline goodness : 0.995680 Centerline is valid? [True, True] Translation: X:289.14, Y:-0.72, Z:-2.04 [[ 9.98811267e-01 4.87329328e-02 -1.07414060e-03 2.89135554e+02] [-4.87329350e-02 9.98811844e-01 2.41498019e-05 -7.19259362e-01] [ 1.07404125e-03 2.82249299e-05 9.99999423e-01 -2.03570561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.08592 meters Centerline goodness : 0.995082 Centerline is valid? [True, True] Translation: X:289.17, Y:-0.72, Z:-2.03 [[ 9.98899477e-01 4.68900993e-02 -1.07376167e-03 2.89166276e+02] [-4.68900821e-02 9.98900054e-01 4.12104595e-05 -7.21993234e-01] [ 1.07451295e-03 9.18366620e-06 9.99999423e-01 -2.03275527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.11591999999996 meters Centerline goodness : 0.995468 Centerline is valid? [True, True] Translation: X:289.20, Y:-0.72, Z:-2.03 [[ 9.98847072e-01 4.79934712e-02 -1.07370082e-03 2.89196515e+02] [-4.79934517e-02 9.98847649e-01 4.39595559e-05 -7.22571727e-01] [ 1.07457331e-03 7.62173466e-06 9.99999423e-01 -2.03416381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.14592 meters Centerline goodness : 0.996524 Centerline is valid? [True, True] Translation: X:289.22, Y:-0.72, Z:-2.05 [[ 9.99087928e-01 4.26867565e-02 -1.07382932e-03 2.89224491e+02] [-4.26867405e-02 9.99088505e-01 3.78803159e-05 -7.20936506e-01] [ 1.07446752e-03 7.99250726e-06 9.99999423e-01 -2.04620281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.17591999999996 meters Centerline goodness : 0.996172 Centerline is valid? [True, True] Translation: X:289.26, Y:-0.72, Z:-2.05 [[ 9.98988749e-01 4.49480294e-02 -1.07415307e-03 2.89256014e+02] [-4.49480314e-02 9.98989326e-01 2.22532001e-05 -7.19383570e-01] [ 1.07406769e-03 2.60503693e-05 9.99999423e-01 -2.04634799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.20592 meters Centerline goodness : 0.996527 Centerline is valid? [True, True] Translation: X:289.29, Y:-0.72, Z:-2.05 [[ 9.98843119e-01 4.80756658e-02 -1.07415165e-03 2.89286939e+02] [-4.80756696e-02 9.98843696e-01 2.23214444e-05 -7.17908946e-01] [ 1.07398272e-03 2.93449386e-05 9.99999423e-01 -2.04714083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.23591999999996 meters Centerline goodness : 0.995320 Centerline is valid? [True, True] Translation: X:289.32, Y:-0.72, Z:-2.03 [[ 9.98605064e-01 5.27898867e-02 -1.07415165e-03 2.89321674e+02] [-5.27898932e-02 9.98605641e-01 2.23214444e-05 -7.16616110e-01] [ 1.07383224e-03 3.44140434e-05 9.99999423e-01 -2.03469315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.26592 meters Centerline goodness : 0.999005 Centerline is valid? [True, True] Translation: X:289.37, Y:-0.71, Z:-2.06 [[ 9.97961511e-01 6.38096380e-02 -1.07365983e-03 2.89365217e+02] [-6.38096257e-02 9.97962088e-01 4.57203653e-05 -7.12225833e-01] [ 1.07438920e-03 2.28826669e-05 9.99999423e-01 -2.06495049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.29591999999997 meters Centerline goodness : 0.990367 Centerline is valid? [True, True] Translation: X:289.42, Y:-0.73, Z:-2.06 [[ 9.99988041e-01 4.77178104e-03 -1.07182769e-03 2.89417892e+02] [-4.77165964e-03 9.99988609e-01 1.15796111e-04 -7.25539996e-01] [ 1.07236804e-03 -1.10680330e-04 9.99999419e-01 -2.05595376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.32592 meters Centerline goodness : 0.996412 Centerline is valid? [True, True] Translation: X:289.40, Y:-0.72, Z:-2.05 [[ 9.99189258e-01 4.02452590e-02 -1.07019393e-03 2.89402279e+02] [-4.02450592e-02 9.99189818e-01 2.07630450e-04 -7.16743651e-01] [ 1.07768302e-03 -1.64392097e-04 9.99999406e-01 -2.04643304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.35591999999997 meters Centerline goodness : 0.897538 Centerline is valid? [True, False] Translation: X:289.40, Y:-0.72, Z:-2.05 [[ 9.99664131e-01 2.58908123e-02 -1.13601288e-03 2.89402683e+02] [-2.58853365e-02 9.99654355e-01 4.59572911e-03 -7.16698292e-01] [ 1.25460738e-03 -4.56477948e-03 9.99988794e-01 -2.04741789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.38592 meters Centerline goodness : 0.996479 Centerline is valid? [False, True] Translation: X:289.40, Y:-0.72, Z:-2.05 [[ 9.99904760e-01 1.37638394e-02 -1.01350322e-03 2.89403285e+02] [-1.37507340e-02 9.99833847e-01 1.19664685e-02 -7.20597141e-01] [ 1.17803937e-03 -1.19513925e-02 9.99927886e-01 -2.04822865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.41591999999997 meters Centerline goodness : 0.996479 Centerline is valid? [True, True] Translation: X:289.43, Y:-0.71, Z:-2.05 [[ 9.99905084e-01 1.37528209e-02 -8.26572080e-04 2.89434094e+02] [-1.37528363e-02 9.99905425e-01 -1.29022724e-05 -7.08901968e-01] [ 8.26316465e-04 2.42687583e-05 9.99999658e-01 -2.04848444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.44592 meters Centerline goodness : 0.998557 Centerline is valid? [True, True] Translation: X:289.47, Y:-0.70, Z:-2.06 [[ 9.99290767e-01 3.76467732e-02 -8.26572080e-04 2.89465494e+02] [-3.76467967e-02 9.99291108e-01 -1.29022724e-05 -6.98946399e-01] [ 8.25500401e-04 4.40109128e-05 9.99999658e-01 -2.06457433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.47592 meters Centerline goodness : 0.933519 Centerline is valid? [True, False] Translation: X:289.47, Y:-0.70, Z:-2.07 [[ 9.99743038e-01 2.26162633e-02 -1.53697580e-03 2.89467677e+02] [-2.26101327e-02 9.99736769e-01 3.89548777e-03 -7.00449938e-01] [ 1.62467260e-03 -3.85973555e-03 9.99991231e-01 -2.06612638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.50591999999995 meters Centerline goodness : 0.996479 Centerline is valid? [False, True] Translation: X:289.47, Y:-0.70, Z:-2.07 [[ 9.99971344e-01 7.49789072e-03 -1.04582291e-03 2.89468756e+02] [-7.48945788e-03 9.99941166e-01 7.84677220e-03 -7.03509877e-01] [ 1.10459562e-03 -7.83871469e-03 9.99968667e-01 -2.06798361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.53592 meters Centerline goodness : 0.787127 Centerline is valid? [True, False] Translation: X:289.49, Y:-0.70, Z:-2.06 [[ 9.99990038e-01 -4.17971264e-04 -4.44402586e-03 2.89490914e+02] [ 4.54535886e-04 9.99966030e-01 8.22999085e-03 -6.98743736e-01] [ 4.44043499e-03 -8.23192883e-03 9.99956258e-01 -2.06479779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.56591999999995 meters Centerline goodness : 0.921036 Centerline is valid? [False, False] Translation: X:289.49, Y:-0.70, Z:-2.06 [[ 9.99989886e-01 -3.64031752e-04 -4.48271656e-03 2.89491015e+02] [ 3.99563884e-04 9.99968492e-01 7.92813038e-03 -6.97104485e-01] [ 4.47968923e-03 -7.92984133e-03 9.99958524e-01 -2.06465955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.59592 meters Centerline goodness : 0.995380 Centerline is valid? [False, True] Translation: X:289.51, Y:-0.70, Z:-2.06 [[ 9.99950963e-01 -3.47650157e-03 -9.27278655e-03 2.89513193e+02] [ 3.61327206e-03 9.99884331e-01 1.47739231e-02 -7.02770795e-01] [ 9.22035241e-03 -1.48067037e-02 9.99847862e-01 -2.06095003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.62591999999995 meters Centerline goodness : 0.910662 Centerline is valid? [True, False] Translation: X:289.51, Y:-0.70, Z:-2.06 [[ 9.99951760e-01 -3.58168758e-03 -9.14595083e-03 2.89512885e+02] [ 3.71599331e-03 9.99884894e-01 1.47101978e-02 -7.02962166e-01] [ 9.09221075e-03 -1.47434745e-02 9.99849970e-01 -2.06066019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.65592 meters Centerline goodness : 0.996378 Centerline is valid? [False, True] Translation: X:289.51, Y:-0.69, Z:-2.06 [[ 9.99949371e-01 3.08907855e-04 -1.00577956e-02 2.89511935e+02] [-3.43381030e-04 9.99994072e-01 -3.42596156e-03 -6.86902973e-01] [ 1.00566777e-02 3.42924176e-03 9.99943550e-01 -2.05886631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.68591999999995 meters Centerline goodness : 0.893936 Centerline is valid? [True, False] Translation: X:289.51, Y:-0.69, Z:-2.06 [[ 9.99947483e-01 2.74236694e-04 -1.02448346e-02 2.89512366e+02] [-3.01743806e-04 9.99996354e-01 -2.68352455e-03 -6.90335157e-01] [ 1.02440613e-02 2.68647494e-03 9.99943919e-01 -2.05908211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.71592 meters Centerline goodness : 0.896518 Centerline is valid? [False, False] Translation: X:289.51, Y:-0.71, Z:-2.06 [[ 9.99981198e-01 -5.46578432e-03 -2.78000310e-03 2.89507950e+02] [ 5.49843204e-03 9.99914373e-01 1.18749344e-02 -7.05982260e-01] [ 2.71485923e-03 -1.18899968e-02 9.99925626e-01 -2.05901596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.74591999999996 meters Centerline goodness : 0.967684 Centerline is valid? [False, True] Translation: X:289.51, Y:-0.71, Z:-2.06 [[ 9.99981388e-01 -5.45671395e-03 -2.72916628e-03 2.89507860e+02] [ 5.49086983e-03 9.99904678e-01 1.26682766e-02 -7.09417923e-01] [ 2.65977897e-03 -1.26830263e-02 9.99916030e-01 -2.05859908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.77592 meters Centerline goodness : 0.996677 Centerline is valid? [True, True] Translation: X:289.48, Y:-0.72, Z:-2.05 [[ 9.99974525e-01 -6.53595590e-03 -2.86889168e-03 2.89481621e+02] [ 6.53037806e-03 9.99976777e-01 -1.94933118e-03 -7.21238731e-01] [ 2.88156580e-03 1.93054657e-03 9.99993985e-01 -2.04839122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.80591999999996 meters Centerline goodness : 0.996325 Centerline is valid? [True, True] Translation: X:289.51, Y:-0.72, Z:-2.04 [[ 9.99988433e-01 3.85927540e-03 -2.87036892e-03 2.89511498e+02] [-3.85929753e-03 9.99992553e-01 -2.16961500e-06 -7.21607339e-01] [ 2.87033917e-03 1.32471976e-05 9.99995880e-01 -2.04027122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.83592 meters Centerline goodness : 0.907149 Centerline is valid? [True, False] Translation: X:289.49, Y:-0.73, Z:-2.04 [[ 9.99994760e-01 1.24417533e-03 2.98876170e-03 2.89488519e+02] [-1.26959099e-03 9.99962924e-01 8.51694924e-03 -7.33005174e-01] [-2.97805431e-03 -8.52069911e-03 9.99959264e-01 -2.04391208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.86591999999996 meters Centerline goodness : 0.996378 Centerline is valid? [False, True] Translation: X:289.47, Y:-0.74, Z:-2.05 [[ 9.99955154e-01 -6.90086123e-04 9.44527261e-03 2.89466156e+02] [ 5.36393065e-04 9.99867575e-01 1.62648273e-02 -7.41256664e-01] [-9.45524595e-03 -1.62590315e-02 9.99823105e-01 -2.04732291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.89592 meters Centerline goodness : 0.995928 Centerline is valid? [True, True] Translation: X:289.50, Y:-0.73, Z:-2.04 [[ 9.99956476e-01 -3.54052539e-04 9.32309208e-03 2.89498240e+02] [ 3.53779929e-04 9.99999937e-01 3.08893998e-05 -7.29511213e-01] [-9.32310243e-03 -2.75897325e-05 9.99956539e-01 -2.03791253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.92591999999996 meters Centerline goodness : 0.997123 Centerline is valid? [True, True] Translation: X:289.53, Y:-0.73, Z:-2.05 [[ 9.99951135e-01 -3.28970436e-03 9.32226076e-03 2.89530155e+02] [ 3.29051649e-03 9.99994584e-01 -7.17801828e-05 -7.31691724e-01] [-9.32197414e-03 1.02451728e-04 9.99956544e-01 -2.05102099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.95592 meters Centerline goodness : 0.997816 Centerline is valid? [True, True] Translation: X:289.53, Y:-0.74, Z:-2.05 [[ 9.99956439e-01 -4.65185534e-04 9.32219479e-03 2.89528700e+02] [ 4.65947035e-04 9.99999888e-01 -7.95151248e-05 -7.44929816e-01] [-9.32215676e-03 8.38553100e-05 9.99956544e-01 -2.05347499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.98591999999996 meters Centerline goodness : 0.997868 Centerline is valid? [True, True] Translation: X:289.59, Y:-0.74, Z:-2.05 [[ 9.99953341e-01 2.49453406e-03 9.33236003e-03 2.89585565e+02] [-2.50427885e-03 9.99996331e-01 1.03265291e-03 -7.36473749e-01] [-9.32974981e-03 -1.05597556e-03 9.99955919e-01 -2.05195241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.01592 meters Centerline goodness : 0.787141 Centerline is valid? [True, False] Translation: X:289.59, Y:-0.74, Z:-2.05 [[ 9.99953746e-01 2.49820338e-03 9.28787621e-03 2.89585715e+02] [-2.51245482e-03 9.99995684e-01 1.52306248e-03 -7.38582924e-01] [-9.28403120e-03 -1.54632740e-03 9.99955707e-01 -2.05202586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.04591999999997 meters Centerline goodness : 0.998559 Centerline is valid? [False, True] Translation: X:289.59, Y:-0.74, Z:-2.05 [[ 9.99953679e-01 2.41787265e-03 9.31631179e-03 2.89585641e+02] [-2.44334551e-03 9.99993305e-01 2.72381092e-03 -7.44033664e-01] [-9.30966360e-03 -2.74644772e-03 9.99952892e-01 -2.05201407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.07592 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:289.62, Y:-0.74, Z:-2.05 [[ 9.99948165e-01 4.18357071e-03 9.28250889e-03 2.89619012e+02] [-4.18294388e-03 9.99991248e-01 -8.69415129e-05 -7.43937682e-01] [-9.28279137e-03 4.81087926e-05 9.99956913e-01 -2.05492742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.10591999999997 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:289.65, Y:-0.74, Z:-2.05 [[ 9.99938250e-01 6.11054325e-03 9.28214882e-03 2.89651255e+02] [-6.10972921e-03 9.99981329e-01 -1.16053746e-04 -7.44634389e-01] [-9.28268466e-03 5.93351640e-05 9.99956913e-01 -2.05172493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.13592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.68, Y:-0.75, Z:-2.07 [[ 9.99913296e-01 9.34084515e-03 9.28164050e-03 2.89682217e+02] [-9.33979554e-03 9.99956371e-01 -1.56423875e-04 -7.46443287e-01] [-9.28269668e-03 6.97216880e-05 9.99956912e-01 -2.06741707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.16591999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.71, Y:-0.75, Z:-2.07 [[ 9.99881230e-01 1.23031360e-02 9.28213995e-03 2.89713937e+02] [-1.23025828e-02 9.99924314e-01 -1.16698600e-04 -7.47527723e-01] [-9.28287318e-03 2.49044454e-06 9.99956913e-01 -2.06863919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.19592 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:289.74, Y:-0.75, Z:-2.05 [[ 9.99811448e-01 1.70561023e-02 9.28212421e-03 2.89744483e+02] [-1.70557424e-02 9.99854533e-01 -1.17937747e-04 -7.49319505e-01] [-9.28278553e-03 -4.03980099e-05 9.99956913e-01 -2.05423573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.22592 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:289.78, Y:-0.75, Z:-2.05 [[ 9.99762763e-01 1.97041814e-02 9.28243510e-03 2.89776794e+02] [-1.97041628e-02 9.99805850e-01 -9.34615171e-05 -7.49536414e-01] [-9.28247450e-03 -8.94632680e-05 9.99956913e-01 -2.05425502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.25591999999995 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:289.81, Y:-0.75, Z:-2.06 [[ 9.99700354e-01 2.26504059e-02 9.28234157e-03 2.89810333e+02] [-2.26504467e-02 9.99743441e-01 -1.00739914e-04 -7.49989484e-01] [-9.28224189e-03 -1.09539455e-04 9.99956913e-01 -2.06420457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.28592 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:289.84, Y:-0.75, Z:-2.06 [[ 9.99673437e-01 2.38090027e-02 9.28171295e-03 2.89841298e+02] [-2.38086550e-02 9.99716523e-01 -1.47966289e-04 -7.52467793e-01] [-9.28260472e-03 -7.30671324e-05 9.99956913e-01 -2.05672293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.31591999999995 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:289.87, Y:-0.75, Z:-2.07 [[ 9.99626136e-01 2.57182420e-02 9.28228267e-03 2.89874443e+02] [-2.57183664e-02 9.99669222e-01 -1.05986891e-04 -7.53298078e-01] [-9.28193809e-03 -1.32777881e-04 9.99956913e-01 -2.06638072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.34592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:289.91, Y:-0.75, Z:-2.07 [[ 9.99586678e-01 2.72088771e-02 9.28167172e-03 2.89906422e+02] [-2.72086600e-02 9.99629765e-01 -1.49685846e-04 -7.53161545e-01] [-9.28230810e-03 -1.02917872e-04 9.99956913e-01 -2.06669999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.37591999999995 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:289.94, Y:-0.75, Z:-2.07 [[ 9.99527886e-01 2.92890893e-02 9.28191721e-03 2.89939112e+02] [-2.92891212e-02 9.99570973e-01 -1.32529390e-04 -7.54149562e-01] [-9.28181668e-03 -1.39392377e-04 9.99956913e-01 -2.06767668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.40592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.97, Y:-0.76, Z:-2.07 [[ 9.99500105e-01 3.02223372e-02 9.28169279e-03 2.89971325e+02] [-3.02222669e-02 9.99543192e-01 -1.47861743e-04 -7.55936759e-01] [-9.28192157e-03 -1.32725969e-04 9.99956913e-01 -2.06851927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.43591999999995 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:290.00, Y:-0.76, Z:-2.07 [[ 9.99445971e-01 3.19624791e-02 9.28171175e-03 2.90002856e+02] [-3.19624957e-02 9.99489058e-01 -1.46577373e-04 -7.55929055e-01] [-9.28165431e-03 -1.50170508e-04 9.99956913e-01 -2.07132582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.46592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.03, Y:-0.75, Z:-2.07 [[ 9.99401901e-01 3.33119659e-02 9.28183097e-03 2.90034724e+02] [-3.33121148e-02 9.99444988e-01 -1.38593373e-04 -7.54617382e-01] [-9.28129626e-03 -1.70686939e-04 9.99956913e-01 -2.07213058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.49591999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.07, Y:-0.75, Z:-2.07 [[ 9.99307168e-01 3.60420809e-02 9.28181289e-03 2.90067355e+02] [-3.60423364e-02 9.99350254e-01 -1.39793381e-04 -7.52841940e-01] [-9.28082052e-03 -1.94841695e-04 9.99956913e-01 -2.07299363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.52592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.10, Y:-0.75, Z:-2.07 [[ 9.99299300e-01 3.62595915e-02 9.28179481e-03 2.90099568e+02] [-3.62598454e-02 9.99342386e-01 -1.40983673e-04 -7.53159148e-01] [-9.28080298e-03 -1.95671559e-04 9.99956913e-01 -2.07205213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.55591999999996 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:290.13, Y:-0.75, Z:-2.07 [[ 9.99286870e-01 3.66005398e-02 9.28177662e-03 2.90132163e+02] [-3.66007974e-02 9.99329956e-01 -1.42171298e-04 -7.52839834e-01] [-9.28076097e-03 -1.97650514e-04 9.99956913e-01 -2.07143943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.58592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:290.17, Y:-0.75, Z:-2.07 [[ 9.99223696e-01 3.82864677e-02 9.28175814e-03 2.90165006e+02] [-3.82867869e-02 9.99266782e-01 -1.43367691e-04 -7.49040665e-01] [-9.28044163e-03 -2.12112302e-04 9.99956913e-01 -2.07082082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.61591999999996 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:290.20, Y:-0.75, Z:-2.07 [[ 9.99244656e-01 3.77354971e-02 9.28173012e-03 2.90196844e+02] [-3.77357759e-02 9.99287741e-01 -1.45159296e-04 -7.46802797e-01] [-9.28059679e-03 -2.05203636e-04 9.99956913e-01 -2.07027919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.64592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:290.23, Y:-0.74, Z:-2.06 [[ 9.99212322e-01 3.85822026e-02 9.28171138e-03 2.90229951e+02] [-3.85825068e-02 9.99255407e-01 -1.46347800e-04 -7.42308874e-01] [-9.28044671e-03 -2.11879167e-04 9.99956913e-01 -2.05551618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.67591999999996 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:290.26, Y:-0.74, Z:-2.05 [[ 9.99253415e-01 3.75031791e-02 9.28031261e-03 2.90262907e+02] [-3.75026162e-02 9.99296502e-01 -2.34727039e-04 -7.40629862e-01] [-9.28258694e-03 -1.13484207e-04 9.99956909e-01 -2.05418943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.70592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:290.30, Y:-0.74, Z:-2.06 [[ 9.99286300e-01 3.66165350e-02 9.28005929e-03 2.90296118e+02] [-3.66157853e-02 9.99329386e-01 -2.50737596e-04 -7.35882406e-01] [-9.28301709e-03 -8.92380134e-05 9.99956908e-01 -2.05606064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.73591999999996 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:290.33, Y:-0.73, Z:-2.05 [[ 9.99297060e-01 3.63217221e-02 9.28000881e-03 2.90328757e+02] [-3.63209296e-02 9.99340145e-01 -2.53977691e-04 -7.33727799e-01] [-9.28311026e-03 -8.32593870e-05 9.99956908e-01 -2.05447581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.76592 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:290.36, Y:-0.73, Z:-2.06 [[ 9.99381923e-01 3.39066031e-02 9.27982613e-03 2.90358571e+02] [-3.39055972e-02 9.99425005e-01 -2.65743993e-04 -7.31901784e-01] [-9.28350074e-03 -4.90583036e-05 9.99956906e-01 -2.06004364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.79591999999997 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:290.39, Y:-0.73, Z:-2.06 [[ 9.99449712e-01 3.18454926e-02 9.28109734e-03 2.90392028e+02] [-3.18451737e-02 9.99492797e-01 -1.82170621e-04 -7.27470329e-01] [-9.28219125e-03 -1.13487782e-04 9.99956913e-01 -2.06061368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.82592 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:290.42, Y:-0.72, Z:-2.06 [[ 9.99494420e-01 3.04099947e-02 9.28097480e-03 2.90424067e+02] [-3.04095389e-02 9.99537505e-01 -1.90258476e-04 -7.24894892e-01] [-9.28246816e-03 -9.20678790e-05 9.99956913e-01 -2.06114321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.85591999999997 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:290.45, Y:-0.72, Z:-2.06 [[ 9.99421967e-01 3.27046509e-02 9.28103612e-03 2.90452286e+02] [-3.27043315e-02 9.99465053e-01 -1.86221088e-04 -7.17442995e-01] [-9.28216155e-03 -1.17416636e-04 9.99956913e-01 -2.06413099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.88592 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:290.49, Y:-0.72, Z:-2.06 [[ 9.99561771e-01 2.81083206e-02 9.28371104e-03 2.90487310e+02] [-2.81094282e-02 9.99604852e-01 -1.11828225e-05 -7.16158691e-01] [-9.28035693e-03 -2.49781887e-04 9.99956905e-01 -2.06366513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.91591999999997 meters Centerline goodness : 0.998958 Centerline is valid? [True, True] Translation: X:290.52, Y:-0.71, Z:-2.06 [[ 9.99596791e-01 2.68347337e-02 9.28181204e-03 2.90518999e+02] [-2.68346708e-02 9.99639877e-01 -1.31336345e-04 -7.13945110e-01] [-9.28199382e-03 -1.17790982e-04 9.99956914e-01 -2.05863061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.94592 meters Centerline goodness : 0.998610 Centerline is valid? [True, True] Translation: X:290.55, Y:-0.71, Z:-2.06 [[ 9.99713558e-01 2.20603361e-02 9.28135743e-03 2.90550754e+02] [-2.20598023e-02 9.99756640e-01 -1.59901806e-04 -7.10345429e-01] [-9.28262621e-03 -4.48889065e-05 9.99956914e-01 -2.05715240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.97592 meters Centerline goodness : 0.998959 Centerline is valid? [True, True] Translation: X:290.58, Y:-0.71, Z:-2.07 [[ 9.99758812e-01 1.99042791e-02 9.28102478e-03 2.90581143e+02] [-1.99034595e-02 9.99801890e-01 -1.80673791e-04 -7.10097625e-01] [-9.28278230e-03 -4.09428630e-06 9.99956914e-01 -2.06532046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.00591999999995 meters Centerline goodness : 0.978467 Centerline is valid? [True, True] Translation: X:290.62, Y:-0.67, Z:-2.08 [[ 9.94680465e-01 1.02589592e-01 9.28157649e-03 2.90620488e+02] [-1.02592660e-01 9.94723441e-01 -1.46205313e-04 -6.70017640e-01] [-9.24760085e-03 -8.06794050e-04 9.99956915e-01 -2.07879189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.03592 meters Centerline goodness : 0.998313 Centerline is valid? [True, True] Translation: X:290.64, Y:-0.71, Z:-2.07 [[ 9.99931968e-01 7.07478415e-03 9.27403585e-03 2.90640920e+02] [-7.06959283e-03 9.99974835e-01 -5.92432460e-04 -7.08601051e-01] [-9.27799380e-03 5.26828498e-04 9.99956820e-01 -2.07415748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.06591999999995 meters Centerline goodness : 0.997419 Centerline is valid? [True, True] Translation: X:290.67, Y:-0.71, Z:-2.07 [[ 9.99941749e-01 5.51026277e-03 9.28091738e-03 2.90671233e+02] [-5.50918523e-03 9.99984814e-01 -1.41665437e-04 -7.07868092e-01] [-9.28155705e-03 9.05268916e-05 9.99956921e-01 -2.06834024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.09592 meters Centerline goodness : 0.997718 Centerline is valid? [True, True] Translation: X:290.70, Y:-0.71, Z:-2.08 [[ 9.99956925e-01 -4.96614678e-05 9.28151435e-03 2.90702594e+02] [ 5.06182917e-05 9.99999993e-01 -1.02854315e-04 -7.09515165e-01] [-9.28150918e-03 1.03319699e-04 9.99956921e-01 -2.07525111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.12591999999995 meters Centerline goodness : 0.994487 Centerline is valid? [True, True] Translation: X:290.73, Y:-0.71, Z:-2.06 [[ 9.99954973e-01 -1.97914520e-03 9.28085174e-03 2.90731841e+02] [ 1.98057811e-03 9.99998028e-01 -1.45205795e-04 -7.12112963e-01] [-9.28054605e-03 1.63580709e-04 9.99956921e-01 -2.05615388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.15592 meters Centerline goodness : 0.997370 Centerline is valid? [True, True] Translation: X:290.77, Y:-0.71, Z:-2.08 [[ 9.99954310e-01 -2.28401092e-03 9.28227689e-03 2.90765473e+02] [ 2.28461506e-03 9.99997389e-01 -5.44823063e-05 -7.13149303e-01] [-9.28212821e-03 7.56862465e-05 9.99956917e-01 -2.07741784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.18591999999995 meters Centerline goodness : 0.993656 Centerline is valid? [True, True] Translation: X:290.79, Y:-0.71, Z:-2.05 [[ 9.99953300e-01 -2.69570472e-03 9.28069869e-03 2.90794338e+02] [ 2.69722497e-03 9.99996351e-01 -1.51294460e-04 -7.14233824e-01] [-9.28025698e-03 1.76319527e-04 9.99956922e-01 -2.05467066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.21592 meters Centerline goodness : 0.997315 Centerline is valid? [True, True] Translation: X:290.83, Y:-0.72, Z:-2.08 [[ 9.99954917e-01 -2.00073935e-03 9.28226593e-03 2.90828182e+02] [ 2.00135217e-03 9.99997996e-01 -5.67325254e-05 -7.16424838e-01] [-9.28213382e-03 7.53070509e-05 9.99956917e-01 -2.07826914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.24591999999996 meters Centerline goodness : 0.996764 Centerline is valid? [True, True] Translation: X:290.86, Y:-0.72, Z:-2.08 [[ 9.99952055e-01 -3.12416152e-03 9.28051728e-03 2.90860951e+02] [ 3.12577056e-03 9.99995102e-01 -1.58878522e-04 -7.20545824e-01] [-9.27997546e-03 1.87879672e-04 9.99956922e-01 -2.07980442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.27592 meters Centerline goodness : 0.993789 Centerline is valid? [True, True] Translation: X:290.89, Y:-0.72, Z:-2.07 [[ 9.99953205e-01 -2.73143019e-03 9.28043500e-03 2.90892677e+02] [ 2.73306564e-03 9.99996252e-01 -1.63547661e-04 -7.23421696e-01] [-9.27995349e-03 1.88904046e-04 9.99956922e-01 -2.06564443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.30591999999996 meters Centerline goodness : 0.993789 Centerline is valid? [True, True] Translation: X:290.92, Y:-0.72, Z:-2.07 [[ 9.99954065e-01 -2.39797188e-03 9.27999665e-03 2.90924361e+02] [ 2.39982183e-03 9.99997103e-01 -1.88217801e-04 -7.23737013e-01] [-9.27951842e-03 2.10479494e-04 9.99956922e-01 -2.06593871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.33592 meters Centerline goodness : 0.993491 Centerline is valid? [True, True] Translation: X:290.95, Y:-0.73, Z:-2.06 [[ 9.99933895e-01 -6.78889974e-03 9.27994131e-03 2.90952258e+02] [ 6.79096702e-03 9.99976923e-01 -1.91275604e-04 -7.30654057e-01] [-9.27842861e-03 2.54282735e-04 9.99956922e-01 -2.06112075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.36591999999996 meters Centerline goodness : 0.996319 Centerline is valid? [True, True] Translation: X:290.99, Y:-0.74, Z:-2.08 [[ 9.99930484e-01 -7.26961253e-03 9.28329860e-03 2.90988137e+02] [ 7.27002442e-03 9.99973573e-01 -1.06234361e-05 -7.35117399e-01] [-9.28297604e-03 7.81125052e-05 9.99956909e-01 -2.08143875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.39592 meters Centerline goodness : 0.992604 Centerline is valid? [True, True] Translation: X:291.02, Y:-0.74, Z:-2.06 [[ 9.99928888e-01 -7.49010798e-03 9.27996912e-03 2.91016262e+02] [ 7.49211169e-03 9.99971917e-01 -1.81172129e-04 -7.39417672e-01] [-9.27835152e-03 2.50685811e-04 9.99956924e-01 -2.06153086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.42591999999996 meters Centerline goodness : 0.992496 Centerline is valid? [True, True] Translation: X:291.05, Y:-0.75, Z:-2.06 [[ 9.99927410e-01 -7.68214408e-03 9.28219029e-03 2.91048189e+02] [ 7.68310902e-03 9.99970482e-01 -6.83014971e-05 -7.45783862e-01] [-9.28139159e-03 1.39612619e-04 9.99956917e-01 -2.06238624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.45592 meters Centerline goodness : 0.992506 Centerline is valid? [True, True] Translation: X:291.08, Y:-0.75, Z:-2.06 [[ 9.99927798e-01 -7.63092406e-03 9.28261409e-03 2.91080390e+02] [ 7.63169335e-03 9.99970877e-01 -4.74547631e-05 -7.49015818e-01] [-9.28198163e-03 1.18293401e-04 9.99956914e-01 -2.06491058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.48591999999996 meters Centerline goodness : 0.986163 Centerline is valid? [True, True] Translation: X:291.14, Y:-0.76, Z:-2.08 [[ 9.99843055e-01 -1.50905744e-02 9.28121315e-03 2.91141076e+02] [ 1.50922923e-02 9.99886098e-01 -1.15076386e-04 -7.56156682e-01] [-9.27841944e-03 2.55133107e-04 9.99956922e-01 -2.07710092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.51592 meters Centerline goodness : 0.992755 Centerline is valid? [True, True] Translation: X:291.14, Y:-0.77, Z:-2.07 [[ 9.99907473e-01 -9.96999752e-03 9.25439976e-03 2.91139403e+02] [ 9.98382483e-03 9.99949110e-01 -1.44913857e-03 -7.66801660e-01] [-9.23948090e-03 1.54139879e-03 9.99956127e-01 -2.06551445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.54591999999997 meters Centerline goodness : 0.992446 Centerline is valid? [True, True] Translation: X:291.17, Y:-0.77, Z:-2.07 [[ 9.99924124e-01 -8.10718817e-03 9.27462924e-03 2.91171199e+02] [ 8.10824856e-03 9.99967125e-01 -7.67359360e-05 -7.70940413e-01] [-9.27370222e-03 1.51931113e-04 9.99956987e-01 -2.06661567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.57592 meters Centerline goodness : 0.989677 Centerline is valid? [True, True] Translation: X:291.23, Y:-0.77, Z:-2.08 [[ 9.99904449e-01 -1.02505780e-02 9.27462395e-03 2.91226754e+02] [ 1.02517338e-02 9.99947447e-01 -7.70876351e-05 -7.72610379e-01] [-9.27334635e-03 1.72161246e-04 9.99956987e-01 -2.07702207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.60591999999997 meters Centerline goodness : 0.996280 Centerline is valid? [True, True] Translation: X:291.23, Y:-0.78, Z:-2.09 [[ 9.99934943e-01 -6.66986614e-03 9.25325761e-03 2.91230127e+02] [ 6.68229941e-03 9.99976811e-01 -1.31339807e-03 -7.80131646e-01] [-9.24428284e-03 1.37514566e-03 9.99956325e-01 -2.08522897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.63592 meters Centerline goodness : 0.993731 Centerline is valid? [True, True] Translation: X:291.26, Y:-0.78, Z:-2.07 [[ 9.99957015e-01 2.65139256e-04 9.26808207e-03 2.91260472e+02] [-2.64088899e-04 9.99999959e-01 -1.14554151e-04 -7.84749481e-01] [-9.26811206e-03 1.12101630e-04 9.99957044e-01 -2.07022465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.66591999999997 meters Centerline goodness : 0.975986 Centerline is valid? [True, True] Translation: X:291.33, Y:-0.77, Z:-2.09 [[ 9.99955974e-01 1.46509358e-03 9.26841625e-03 2.91331039e+02] [-1.46434776e-03 9.99998924e-01 -8.72548269e-05 -7.68296172e-01] [-9.26853411e-03 7.36788008e-05 9.99957044e-01 -2.09152754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.69592 meters Centerline goodness : 0.823795 Centerline is valid? [True, False] Translation: X:291.31, Y:-0.78, Z:-2.09 [[ 9.99963413e-01 2.76733489e-03 8.09409756e-03 2.91312092e+02] [-2.88714915e-03 9.99885881e-01 1.48286368e-02 -7.81701486e-01] [-8.05213807e-03 -1.48514632e-02 9.99857288e-01 -2.09203713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.72592 meters Centerline goodness : 0.882318 Centerline is valid? [False, False] Translation: X:291.31, Y:-0.78, Z:-2.09 [[ 9.99960974e-01 4.79784155e-04 8.82161412e-03 2.91307342e+02] [-5.91106625e-04 9.99920177e-01 1.26210121e-02 -7.82163693e-01] [-8.81485459e-03 -1.26257341e-02 9.99881438e-01 -2.08778175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.75591999999995 meters Centerline goodness : 0.885215 Centerline is valid? [False, False] Translation: X:291.31, Y:-0.78, Z:-2.09 [[ 9.99961184e-01 4.70909274e-04 8.79822902e-03 2.91307367e+02] [-5.86282729e-04 9.99913819e-01 1.31152850e-02 -7.84231224e-01] [-8.79129468e-03 -1.31199342e-02 9.99875282e-01 -2.08772975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.78592 meters Centerline goodness : 0.994836 Centerline is valid? [False, True] Translation: X:291.31, Y:-0.79, Z:-2.09 [[ 9.99949638e-01 4.66110755e-03 8.88799933e-03 2.91307136e+02] [-4.81914573e-03 9.99829181e-01 1.78433496e-02 -7.85732711e-01] [-8.80331131e-03 -1.78852835e-02 9.99801289e-01 -2.08774316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.81591999999995 meters Centerline goodness : 0.994426 Centerline is valid? [True, True] Translation: X:291.34, Y:-0.77, Z:-2.09 [[ 9.99940137e-01 6.45351195e-03 8.83597837e-03 2.91339900e+02] [-6.45273078e-03 9.99979174e-01 -1.16914074e-04 -7.67605937e-01] [-8.83654886e-03 5.98908854e-05 9.99960955e-01 -2.09019254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.84592 meters Centerline goodness : 0.941144 Centerline is valid? [True, False] Translation: X:291.34, Y:-0.79, Z:-2.09 [[ 9.99990098e-01 4.27892348e-03 1.22219612e-03 2.91343941e+02] [-4.30175921e-03 9.99803782e-01 1.93362937e-02 -7.86196499e-01] [-1.13921778e-03 -1.93413599e-02 9.99812289e-01 -2.08844347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.87591999999995 meters Centerline goodness : 0.994682 Centerline is valid? [False, True] Translation: X:291.34, Y:-0.78, Z:-2.09 [[ 9.99991333e-01 -3.96907033e-03 1.25707728e-03 2.91343848e+02] [ 3.95688812e-03 9.99946574e-01 9.54949261e-03 -7.79940699e-01] [-1.29491273e-03 -9.54443573e-03 9.99953612e-01 -2.08905085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.90592 meters Centerline goodness : 0.726758 Centerline is valid? [True, False] Translation: X:291.37, Y:-0.79, Z:-2.09 [[ 9.99985801e-01 2.41641874e-03 -4.74950924e-03 2.91366081e+02] [-2.29134088e-03 9.99654980e-01 2.61662149e-02 -7.91857365e-01] [ 4.81109910e-03 -2.61549606e-02 9.99646323e-01 -2.08550905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.93591999999995 meters Centerline goodness : 0.992538 Centerline is valid? [False, True] Translation: X:291.37, Y:-0.79, Z:-2.09 [[ 9.99987133e-01 -1.59905784e-03 -4.81420708e-03 2.91366176e+02] [ 1.69992253e-03 9.99777594e-01 2.10207942e-02 -7.86768820e-01] [ 4.77952291e-03 -2.10287075e-02 9.99767448e-01 -2.08597950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.96592 meters Centerline goodness : 0.992492 Centerline is valid? [True, True] Translation: X:291.39, Y:-0.77, Z:-2.09 [[ 9.99988780e-01 -7.91479587e-04 -4.67038179e-03 2.91394589e+02] [ 7.90415846e-04 9.99999661e-01 -2.29604615e-04 -7.68142457e-01] [ 4.67056193e-03 2.25910495e-04 9.99989067e-01 -2.08666223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.99591999999996 meters Centerline goodness : 0.994884 Centerline is valid? [True, True] Translation: X:291.42, Y:-0.77, Z:-2.10 [[ 9.99986320e-01 -2.35184390e-03 -4.67214624e-03 2.91422173e+02] [ 2.35197074e-03 9.99997234e-01 2.16553785e-05 -7.70382604e-01] [ 4.67208239e-03 -3.26438335e-05 9.99989085e-01 -2.09686175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.02592 meters Centerline goodness : 0.770880 Centerline is valid? [True, False] Translation: X:291.42, Y:-0.77, Z:-2.10 [[ 9.99987385e-01 1.81494592e-03 -4.68358836e-03 2.91422160e+02] [-1.79167029e-03 9.99986049e-01 4.96903435e-03 -7.73650838e-01] [ 4.69254155e-03 -4.96058022e-03 9.99976686e-01 -2.09649883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.05591999999996 meters Centerline goodness : 0.995087 Centerline is valid? [False, True] Translation: X:291.45, Y:-0.78, Z:-2.09 [[ 9.99959634e-01 2.06291215e-03 -8.74493206e-03 2.91445677e+02] [-1.91917109e-03 9.99863444e-01 1.64137148e-02 -7.82876861e-01] [ 8.77759794e-03 -1.63962693e-02 9.99827043e-01 -2.09384847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.08592 meters Centerline goodness : 0.995348 Centerline is valid? [True, True] Translation: X:291.47, Y:-0.77, Z:-2.10 [[ 9.99958851e-01 2.64278455e-03 -8.67827527e-03 2.91474558e+02] [-2.64363625e-03 9.99996502e-01 -8.66722233e-05 -7.69449928e-01] [ 8.67801585e-03 1.09610860e-04 9.99962339e-01 -2.09654511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.11591999999996 meters Centerline goodness : 0.995378 Centerline is valid? [True, True] Translation: X:291.50, Y:-0.77, Z:-2.10 [[ 9.99959871e-01 2.22162548e-03 -8.67877797e-03 2.91503201e+02] [-2.22144303e-03 9.99997532e-01 3.06625771e-05 -7.70451967e-01] [ 8.67882468e-03 -1.13819358e-05 9.99962338e-01 -2.09680740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.14592 meters Centerline goodness : 0.995228 Centerline is valid? [True, True] Translation: X:291.53, Y:-0.77, Z:-2.10 [[ 9.99956859e-01 3.31044726e-03 -8.67873253e-03 2.91530474e+02] [-3.31038727e-03 9.99994520e-01 2.12767671e-05 -7.70173044e-01] [ 8.67875541e-03 7.45411647e-06 9.99962339e-01 -2.09545762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.17591999999996 meters Centerline goodness : 0.777562 Centerline is valid? [True, False] Translation: X:291.55, Y:-0.78, Z:-2.09 [[ 9.99872385e-01 5.65479875e-03 -1.49410970e-02 2.91553185e+02] [-5.47729689e-03 9.99914257e-01 1.18944406e-02 -7.80121746e-01] [ 1.50070765e-02 -1.18110859e-02 9.99817626e-01 -2.09213108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.20592 meters Centerline goodness : 0.854292 Centerline is valid? [False, False] Translation: X:291.58, Y:-0.79, Z:-2.09 [[ 9.99796303e-01 6.37953778e-03 -1.91482296e-02 2.91576028e+02] [-5.92189154e-03 9.99697711e-01 2.38624700e-02 -7.90202708e-01] [ 1.92946728e-02 -2.37442156e-02 9.99531854e-01 -2.08812586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.23591999999996 meters Centerline goodness : 0.782673 Centerline is valid? [False, False] Translation: X:291.57, Y:-0.79, Z:-2.09 [[ 9.99988463e-01 2.84547632e-03 -3.87013321e-03 2.91568667e+02] [-2.76282882e-03 9.99771533e-01 2.11954686e-02 -7.89308556e-01] [ 3.92956022e-03 -2.11845315e-02 9.99767860e-01 -2.08957354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.26592 meters Centerline goodness : 0.995225 Centerline is valid? [False, True] Translation: X:291.59, Y:-0.80, Z:-2.09 [[ 9.99955238e-01 9.32732553e-04 -9.41554390e-03 2.91590095e+02] [-6.65256834e-04 9.99597236e-01 2.83711519e-02 -7.95291749e-01] [ 9.43821436e-03 -2.83636182e-02 9.99553113e-01 -2.08541843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.29591999999997 meters Centerline goodness : 0.996574 Centerline is valid? [True, True] Translation: X:291.62, Y:-0.77, Z:-2.09 [[ 9.99956240e-01 5.72953866e-04 -9.33756116e-03 2.91618901e+02] [-5.76040416e-04 9.99999780e-01 -3.27865854e-04 -7.68823565e-01] [ 9.33737126e-03 3.33230319e-04 9.99956350e-01 -2.09005395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.32592 meters Centerline goodness : 0.998262 Centerline is valid? [True, True] Translation: X:291.66, Y:-0.77, Z:-2.13 [[ 9.99249532e-01 -3.75920174e-02 -9.33881650e-03 2.91658320e+02] [ 3.75944423e-02 9.99293076e-01 8.41848462e-05 -7.65763062e-01] [ 9.32904999e-03 -4.35209266e-04 9.99956389e-01 -2.13098700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.35591999999997 meters Centerline goodness : 0.996723 Centerline is valid? [True, True] Translation: X:291.68, Y:-0.77, Z:-2.09 [[ 9.99955517e-01 -1.31353799e-03 -9.34011679e-03 2.91678235e+02] [ 1.31956736e-03 9.99998925e-01 6.39402084e-04 -7.71884033e-01] [ 9.33926687e-03 -6.51698555e-04 9.99956176e-01 -2.08821811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.38592 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:291.71, Y:-0.77, Z:-2.10 [[ 9.99953086e-01 -2.57606161e-03 -9.33754422e-03 2.91705774e+02] [ 2.57712444e-03 9.99996674e-01 1.01793044e-04 -7.73237787e-01] [ 9.33725094e-03 -1.25852282e-04 9.99956399e-01 -2.09580931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.41591999999997 meters Centerline goodness : 0.997218 Centerline is valid? [True, True] Translation: X:291.73, Y:-0.77, Z:-2.09 [[ 9.99931745e-01 7.02225908e-03 -9.33773300e-03 2.91729336e+02] [-7.02128000e-03 9.99975341e-01 1.37629442e-04 -7.71260751e-01] [ 9.33846921e-03 -7.20572097e-05 9.99956393e-01 -2.09112679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.44592 meters Centerline goodness : 0.998508 Centerline is valid? [True, True] Translation: X:291.75, Y:-0.77, Z:-2.12 [[ 9.99402300e-01 3.32847074e-02 -9.33655024e-03 2.91750160e+02] [-3.32866882e-02 9.99445843e-01 -5.68035413e-05 -7.72169025e-01] [ 9.32948564e-03 3.67552427e-04 9.99956412e-01 -2.11988589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.47592 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:291.79, Y:-0.78, Z:-2.13 [[ 9.99767357e-01 1.94472065e-02 -9.32944921e-03 2.91786823e+02] [-1.94525261e-02 9.99810667e-01 -4.79777736e-04 -7.75723539e-01] [ 9.31835250e-03 6.61147473e-04 9.99956365e-01 -2.12771712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.50591999999995 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:291.82, Y:-0.77, Z:-2.11 [[ 9.99801876e-01 1.75804829e-02 -9.33465690e-03 2.91816361e+02] [-1.75826052e-02 9.99845403e-01 -1.45339881e-04 -7.74125907e-01] [ 9.33065865e-03 3.09438673e-04 9.99956421e-01 -2.11458684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.53592 meters Centerline goodness : 0.999004 Centerline is valid? [True, True] Translation: X:291.85, Y:-0.78, Z:-2.09 [[ 9.99954593e-01 -1.91735466e-03 -9.33464782e-03 2.91848909e+02] [ 1.91607600e-03 9.99998154e-01 -1.45921178e-04 -7.76531287e-01] [ 9.33491036e-03 1.28028658e-04 9.99956421e-01 -2.08855349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.56591999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.87, Y:-0.78, Z:-2.11 [[ 9.99954667e-01 1.86561929e-03 -9.33720715e-03 2.91874596e+02] [-1.86549555e-03 9.99998260e-01 2.19618981e-05 -7.75344190e-01] [ 9.33723187e-03 -4.54238406e-06 9.99956407e-01 -2.11339157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.59592 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:291.91, Y:-0.78, Z:-2.09 [[ 9.99950773e-01 3.36428601e-03 -9.33448916e-03 2.91906101e+02] [-3.36582049e-03 9.99994325e-01 -1.48684093e-04 -7.76829163e-01] [ 9.33393596e-03 1.80094988e-04 9.99956422e-01 -2.08655385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.62591999999995 meters Centerline goodness : 0.917869 Centerline is valid? [True, False] Translation: X:291.93, Y:-0.78, Z:-2.08 [[ 9.99927482e-01 -4.87907206e-04 -1.20329792e-02 2.91927572e+02] [ 5.67430080e-04 9.99978018e-01 6.60621525e-03 -7.82928269e-01] [ 1.20294915e-02 -6.61256406e-03 9.99905778e-01 -2.08310580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.65592 meters Centerline goodness : 0.999106 Centerline is valid? [False, True] Translation: X:291.93, Y:-0.78, Z:-2.09 [[ 9.99914660e-01 1.60959317e-03 -1.29646455e-02 2.91932968e+02] [-1.49413994e-03 9.99959189e-01 8.91000458e-03 -7.84056104e-01] [ 1.29784578e-02 -8.88987321e-03 9.99876257e-01 -2.08753947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.68591999999995 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:291.96, Y:-0.77, Z:-2.09 [[ 9.99893014e-01 7.14377046e-03 -1.27643265e-02 2.91961340e+02] [-7.14751757e-03 9.99974425e-01 -2.47965523e-04 -7.70359225e-01] [ 1.27622287e-02 3.39172242e-04 9.99918502e-01 -2.08920310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.71592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:291.99, Y:-0.77, Z:-2.09 [[ 9.99863704e-01 1.04697194e-02 -1.27655145e-02 2.91989955e+02] [-1.04730701e-02 9.99945137e-01 -1.95658528e-04 -7.67252895e-01] [ 1.27627657e-02 3.29325989e-04 9.99918498e-01 -2.08739304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.74591999999996 meters Centerline goodness : 0.955116 Centerline is valid? [True, True] Translation: X:291.97, Y:-0.78, Z:-2.12 [[ 9.99862721e-01 1.05623574e-02 -1.27661900e-02 2.91974648e+02] [-1.05653493e-02 9.99944171e-01 -1.66939091e-04 -7.82590697e-01] [ 1.27637140e-02 3.01795431e-04 9.99918495e-01 -2.11561210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.77592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:292.04, Y:-0.76, Z:-2.09 [[ 9.99647327e-01 2.33155828e-02 -1.27124030e-02 2.92039599e+02] [-2.33455687e-02 9.99725000e-01 -2.21549917e-03 -7.55362538e-01] [ 1.26572514e-02 2.51149610e-03 9.99916740e-01 -2.09184911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.80591999999996 meters Centerline goodness : 0.997961 Centerline is valid? [True, True] Translation: X:292.04, Y:-0.76, Z:-2.10 [[ 9.99692165e-01 2.12834369e-02 -1.27510692e-02 2.92037461e+02] [-2.12874392e-02 9.99773381e-01 -1.78223630e-04 -7.57164714e-01] [ 1.27443863e-02 4.49606376e-04 9.99918686e-01 -2.09958785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.83592 meters Centerline goodness : 0.867563 Centerline is valid? [True, False] Translation: X:292.03, Y:-0.76, Z:-2.10 [[ 9.99948819e-01 8.30609345e-03 -5.77659134e-03 2.92032343e+02] [-8.27974974e-03 9.99955282e-01 4.56948375e-03 -7.55400008e-01] [ 5.81428758e-03 -4.52142115e-03 9.99972875e-01 -2.10009064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.86591999999996 meters Centerline goodness : 0.999801 Centerline is valid? [False, True] Translation: X:292.05, Y:-0.75, Z:-2.10 [[ 9.99969783e-01 3.19025637e-04 -7.76731936e-03 2.92052805e+02] [-2.76201376e-04 9.99984761e-01 5.51383857e-03 -7.52897354e-01] [ 7.76896005e-03 -5.51152662e-03 9.99954632e-01 -2.09668635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.89592 meters Centerline goodness : 0.999303 Centerline is valid? [True, True] Translation: X:292.08, Y:-0.74, Z:-2.09 [[ 9.99960822e-01 -4.73401994e-03 -7.47952521e-03 2.92079719e+02] [ 4.73146462e-03 9.99988742e-01 -3.59299915e-04 -7.38002969e-01] [ 7.48114194e-03 3.23896730e-04 9.99971963e-01 -2.08942631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.92591999999996 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:292.11, Y:-0.73, Z:-2.09 [[ 9.99966641e-01 -3.28532650e-03 -7.47822349e-03 2.92108535e+02] [ 3.28253212e-03 9.99994538e-01 -3.85912065e-04 -7.30861487e-01] [ 7.47945049e-03 3.61351682e-04 9.99971963e-01 -2.08920884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.95592 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:292.14, Y:-0.72, Z:-2.09 [[ 9.99971275e-01 -1.22801466e-03 -7.47932167e-03 2.92135292e+02] [ 1.22533028e-03 9.99999183e-01 -3.63478815e-04 -7.18666206e-01] [ 7.47976192e-03 3.54303735e-04 9.99971963e-01 -2.08832680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.98591999999996 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:292.16, Y:-0.71, Z:-2.09 [[ 9.99968090e-01 -2.81002368e-03 -7.47811369e-03 2.92164504e+02] [ 2.80720064e-03 9.99995985e-01 -3.87976512e-04 -7.12413637e-01] [ 7.47917388e-03 3.66971566e-04 9.99971963e-01 -2.08889631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.01592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:292.19, Y:-0.71, Z:-2.10 [[ 9.99971615e-01 -9.19875158e-04 -7.47815380e-03 2.92193443e+02] [ 9.17005449e-04 9.99999505e-01 -3.87165396e-04 -7.07319207e-01] [ 7.47850623e-03 3.80296898e-04 9.99971963e-01 -2.10149532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.04591999999997 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:292.22, Y:-0.70, Z:-2.10 [[ 9.99963087e-01 -4.22950125e-03 -7.47903298e-03 2.92221554e+02] [ 4.22685672e-03 9.99990999e-01 -3.69363242e-04 -6.95005984e-01] [ 7.48052788e-03 3.37736807e-04 9.99971963e-01 -2.10062715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.07592 meters Centerline goodness : 0.913615 Centerline is valid? [True, False] Translation: X:292.22, Y:-0.69, Z:-2.10 [[ 9.99963023e-01 -4.15927245e-03 -7.52678727e-03 2.92221671e+02] [ 4.14726582e-03 9.99990104e-01 -1.61009236e-03 -6.89287333e-01] [ 7.53340960e-03 1.57881724e-03 9.99970377e-01 -2.10044064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.10591999999997 meters Centerline goodness : 0.999056 Centerline is valid? [False, True] Translation: X:292.19, Y:-0.67, Z:-2.10 [[ 9.99994322e-01 -1.56601358e-03 -2.98404811e-03 2.92192785e+02] [ 1.52794766e-03 9.99917977e-01 -1.27163301e-02 -6.72142292e-01] [ 3.00371729e-03 1.27116984e-02 9.99914692e-01 -2.09862637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.13592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:292.22, Y:-0.68, Z:-2.11 [[ 9.99992105e-01 -1.97515061e-03 -3.44800791e-03 2.92222296e+02] [ 1.97459862e-03 9.99998037e-01 -1.63483956e-04 -6.79217875e-01] [ 3.44832404e-03 1.56674234e-04 9.99994042e-01 -2.11358694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.16591999999997 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:292.25, Y:-0.67, Z:-2.11 [[ 9.99986254e-01 -3.94886952e-03 -3.44934965e-03 2.92250829e+02] [ 3.94845471e-03 9.99992197e-01 -1.27058763e-04 -6.74685313e-01] [ 3.44982447e-03 1.13437416e-04 9.99994043e-01 -2.11415826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.19592 meters Centerline goodness : 0.999254 Centerline is valid? [True, True] Translation: X:292.28, Y:-0.67, Z:-2.10 [[ 9.99954171e-01 -8.93075696e-03 -3.44933357e-03 2.92280373e+02] [ 8.93037026e-03 9.99960115e-01 -1.27493875e-04 -6.67681407e-01] [ 3.45033461e-03 9.66842063e-05 9.99994043e-01 -2.09933811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.22592 meters Centerline goodness : 0.999254 Centerline is valid? [True, True] Translation: X:292.31, Y:-0.67, Z:-2.10 [[ 9.99953485e-01 -9.00740579e-03 -3.44893836e-03 2.92308680e+02] [ 9.00698289e-03 9.99959427e-01 -1.38131841e-04 -6.66637345e-01] [ 3.45004264e-03 1.07060887e-04 9.99994043e-01 -2.09924003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.25591999999995 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:292.34, Y:-0.66, Z:-2.12 [[ 9.99955402e-01 -8.79198175e-03 -3.44892768e-03 2.92339548e+02] [ 8.79155658e-03 9.99961344e-01 -1.38418677e-04 -6.63395220e-01] [ 3.45001134e-03 1.08091061e-04 9.99994043e-01 -2.11520506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.28592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:292.37, Y:-0.66, Z:-2.11 [[ 9.99896914e-01 -1.39378526e-02 -3.44931149e-03 2.92368244e+02] [ 1.39374936e-02 9.99902860e-01 -1.28082564e-04 -6.58820022e-01] [ 3.45076162e-03 7.99946038e-05 9.99994043e-01 -2.11411385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.31591999999995 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:292.40, Y:-0.66, Z:-2.10 [[ 9.99849240e-01 -1.70176001e-02 -3.44929480e-03 2.92397565e+02] [ 1.70172579e-02 9.99855188e-01 -1.28530626e-04 -6.56688885e-01] [ 3.45098258e-03 6.98137093e-05 9.99994043e-01 -2.09954285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.34592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:292.43, Y:-0.66, Z:-2.10 [[ 9.99780189e-01 -2.06802630e-02 -3.44961303e-03 2.92426157e+02] [ 2.06799721e-02 9.99786139e-01 -1.19997507e-04 -6.55497922e-01] [ 3.45135688e-03 4.86332291e-05 9.99994043e-01 -2.10096292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.37591999999995 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:292.46, Y:-0.66, Z:-2.10 [[ 9.99680245e-01 -2.50502386e-02 -3.44875394e-03 2.92456097e+02] [ 2.50498943e-02 9.99686192e-01 -1.43012185e-04 -6.55962314e-01] [ 3.45125418e-03 5.65755347e-05 9.99994043e-01 -2.09915256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.40592 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:292.49, Y:-0.66, Z:-2.10 [[ 9.99493456e-01 -3.16375462e-02 -3.44934557e-03 2.92485570e+02] [ 3.16372960e-02 9.99499407e-01 -1.27082965e-04 -6.57516503e-01] [ 3.45163945e-03 1.78906251e-05 9.99994043e-01 -2.10074365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.43591999999995 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:292.51, Y:-0.66, Z:-2.10 [[ 9.99415293e-01 -3.40172929e-02 -3.44918529e-03 2.92514843e+02] [ 3.40170419e-02 9.99421244e-01 -1.31412885e-04 -6.58452563e-01] [ 3.45165937e-03 1.40049662e-05 9.99994043e-01 -2.09945346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.46592 meters Centerline goodness : 0.998758 Centerline is valid? [True, True] Translation: X:292.54, Y:-0.66, Z:-2.10 [[ 9.99441011e-01 -3.32530742e-02 -3.44940960e-03 2.92543461e+02] [ 3.32528397e-02 9.99446964e-01 -1.25343290e-04 -6.57864135e-01] [ 3.45167001e-03 1.05705597e-05 9.99994043e-01 -2.09827053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.49591999999996 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:292.57, Y:-0.66, Z:-2.10 [[ 9.99465474e-01 -3.25095265e-02 -3.44931174e-03 2.92572686e+02] [ 3.25092784e-02 9.99471426e-01 -1.27986323e-04 -6.56426921e-01] [ 3.45164930e-03 1.57832756e-05 9.99994043e-01 -2.09761543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.52592 meters Centerline goodness : 0.821911 Centerline is valid? [True, False] Translation: X:292.57, Y:-0.65, Z:-2.10 [[ 9.99797460e-01 -2.00957338e-02 1.09556723e-03 2.92568594e+02] [ 2.01037493e-02 9.99766879e-01 -7.87574598e-03 -6.48644517e-01] [-9.37042932e-04 7.89617583e-03 9.99968386e-01 -2.09667350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.55591999999996 meters Centerline goodness : 0.831257 Centerline is valid? [False, False] Translation: X:292.57, Y:-0.64, Z:-2.10 [[ 9.99984360e-01 -5.47415814e-03 1.14572791e-03 2.92569595e+02] [ 5.48896579e-03 9.99895861e-01 -1.33468733e-02 -6.42370943e-01] [-1.07254570e-03 1.33529534e-02 9.99910270e-01 -2.09739617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.58592 meters Centerline goodness : 0.999901 Centerline is valid? [False, True] Translation: X:292.57, Y:-0.65, Z:-2.10 [[ 9.99993696e-01 -3.54862264e-03 1.23015916e-04 2.92574945e+02] [ 3.54972955e-03 9.99937233e-01 -1.06267951e-02 -6.46304086e-01] [-8.52977091e-05 1.06271648e-02 9.99943526e-01 -2.10185087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.61591999999996 meters Centerline goodness : 0.998361 Centerline is valid? [True, True] Translation: X:292.61, Y:-0.66, Z:-2.09 [[ 9.99995753e-01 -2.91428598e-03 -4.70953464e-06 2.92605698e+02] [ 2.91428598e-03 9.99995753e-01 -5.66049682e-08 -6.56393547e-01] [ 4.70967960e-06 4.28797962e-08 1.00000000e+00 -2.08974296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.64592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:292.64, Y:-0.66, Z:-2.10 [[ 9.99996467e-01 -2.65831741e-03 -4.70962141e-06 2.92635918e+02] [ 2.65831741e-03 9.99996467e-01 -4.95055705e-08 -6.56618563e-01] [ 4.70973637e-06 3.69857261e-08 1.00000000e+00 -2.10190304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.67591999999996 meters Centerline goodness : 0.997615 Centerline is valid? [True, True] Translation: X:292.67, Y:-0.66, Z:-2.09 [[ 9.99999820e-01 -6.00117030e-04 -4.70953383e-06 2.92665841e+02] [ 6.00117030e-04 9.99999820e-01 -5.67708433e-08 -6.55226892e-01] [ 4.70956705e-06 5.39445608e-08 1.00000000e+00 -2.08684096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.70592 meters Centerline goodness : 0.997269 Centerline is valid? [True, True] Translation: X:292.70, Y:-0.65, Z:-2.09 [[ 9.99999909e-01 4.25695932e-04 -4.70966462e-06 2.92696020e+02] [-4.25695932e-04 9.99999909e-01 -4.62057943e-08 -6.54334961e-01] [ 4.70964452e-06 4.82106744e-08 1.00000000e+00 -2.08778442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.73591999999996 meters Centerline goodness : 0.996622 Centerline is valid? [True, True] Translation: X:292.73, Y:-0.65, Z:-2.09 [[ 9.99983156e-01 5.80416474e-03 -4.70941117e-06 2.92726770e+02] [-5.80416474e-03 9.99983156e-01 -6.62266250e-08 -6.51113358e-01] [ 4.70894745e-06 9.35597068e-08 1.00000000e+00 -2.08860823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.76592 meters Centerline goodness : 0.993393 Centerline is valid? [True, True] Translation: X:292.74, Y:-0.68, Z:-2.11 [[ 9.97790772e-01 -6.64347409e-02 -4.70963485e-06 2.92735823e+02] [ 6.64347409e-02 9.97790772e-01 -4.87493350e-08 -6.80911091e-01] [ 4.70246884e-06 -2.64241735e-07 1.00000000e+00 -2.10724338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.79591999999997 meters Centerline goodness : 0.997169 Centerline is valid? [True, True] Translation: X:292.79, Y:-0.65, Z:-2.09 [[ 9.99920098e-01 1.26411052e-02 -4.70229945e-06 2.92785079e+02] [-1.26411052e-02 9.99920098e-01 -5.22996713e-07 -6.46724639e-01] [ 4.69531247e-06 5.82397186e-07 1.00000000e+00 -2.08864886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.82592 meters Centerline goodness : 0.997516 Centerline is valid? [True, True] Translation: X:292.82, Y:-0.64, Z:-2.09 [[ 9.99880927e-01 1.54314891e-02 -4.70783467e-06 2.92815293e+02] [-1.54314891e-02 9.99880927e-01 -3.68297872e-08 -6.42523907e-01] [ 4.70670576e-06 1.09474300e-07 1.00000000e+00 -2.08809154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.85591999999997 meters Centerline goodness : 0.998161 Centerline is valid? [True, True] Translation: X:292.84, Y:-0.64, Z:-2.09 [[ 9.99885650e-01 1.51223989e-02 -4.70775631e-06 2.92844795e+02] [-1.51223989e-02 9.99885650e-01 -4.34999563e-08 -6.36656512e-01] [ 4.70656015e-06 1.14687550e-07 1.00000000e+00 -2.09062911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.88592 meters Centerline goodness : 0.997514 Centerline is valid? [True, True] Translation: X:292.87, Y:-0.63, Z:-2.09 [[ 9.99899815e-01 1.41548329e-02 -4.70767700e-06 2.92874389e+02] [-1.41548329e-02 9.99899815e-01 -5.00655367e-08 -6.33071296e-01] [ 4.70649669e-06 1.16696902e-07 1.00000000e+00 -2.08978430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.91591999999997 meters Centerline goodness : 0.997208 Centerline is valid? [True, True] Translation: X:292.90, Y:-0.63, Z:-2.09 [[ 9.99894539e-01 1.45227421e-02 -4.70759989e-06 2.92904964e+02] [-1.45227421e-02 9.99894539e-01 -5.62682728e-08 -6.28019145e-01] [ 4.70628626e-06 1.24629597e-07 1.00000000e+00 -2.08811982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.94592 meters Centerline goodness : 0.997517 Centerline is valid? [True, True] Translation: X:292.93, Y:-0.62, Z:-2.09 [[ 9.99919987e-01 1.26499040e-02 -4.70775955e-06 2.92934208e+02] [-1.26499040e-02 9.99919987e-01 -4.34204144e-08 -6.24305106e-01] [ 4.70683360e-06 1.02969646e-07 1.00000000e+00 -2.08665048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.97592 meters Centerline goodness : 0.997864 Centerline is valid? [True, True] Translation: X:292.96, Y:-0.62, Z:-2.09 [[ 9.99949537e-01 1.00460564e-02 -4.70763785e-06 2.92964165e+02] [-1.00460564e-02 9.99949537e-01 -5.29777589e-08 -6.17467841e-01] [ 4.70686807e-06 1.00268280e-07 1.00000000e+00 -2.08664909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.00591999999995 meters Centerline goodness : 0.996920 Centerline is valid? [True, True] Translation: X:292.99, Y:-0.61, Z:-2.09 [[ 9.99970083e-01 7.73520104e-03 -4.70755912e-06 2.92993955e+02] [-7.73520104e-03 9.99970083e-01 -5.90101933e-08 -6.14856549e-01] [ 4.70696182e-06 9.54223432e-08 1.00000000e+00 -2.08585061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.03592 meters Centerline goodness : 0.997120 Centerline is valid? [True, True] Translation: X:293.02, Y:-0.61, Z:-2.09 [[ 9.99999863e-01 5.23470743e-04 -4.70743756e-06 2.93022584e+02] [-5.23470743e-04 9.99999863e-01 -6.81799899e-08 -6.11588838e-01] [ 4.70740122e-06 7.06441856e-08 1.00000000e+00 -2.08572456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.06591999999995 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:293.06, Y:-0.61, Z:-2.10 [[ 9.99999727e-01 7.39187890e-04 -4.70708045e-06 2.93055302e+02] [-7.39187891e-04 9.99999727e-01 -9.53586320e-08 -6.09720463e-01] [ 4.70700867e-06 9.88380219e-08 1.00000000e+00 -2.10323850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.09592 meters Centerline goodness : 0.997464 Centerline is valid? [True, True] Translation: X:293.08, Y:-0.61, Z:-2.09 [[ 9.99993220e-01 -3.68233100e-03 -4.70752916e-06 2.93083453e+02] [ 3.68233100e-03 9.99993220e-01 -6.03665362e-08 -6.08018242e-01] [ 4.70771954e-06 4.30314455e-08 1.00000000e+00 -2.08768709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.12591999999995 meters Centerline goodness : 0.997122 Centerline is valid? [True, True] Translation: X:293.11, Y:-0.60, Z:-2.09 [[ 9.99980719e-01 -6.20972709e-03 -4.70707200e-06 2.93113945e+02] [ 6.20972709e-03 9.99980719e-01 -9.71303597e-08 -6.03425946e-01] [ 4.70758440e-06 6.78988536e-08 1.00000000e+00 -2.08518882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.15592 meters Centerline goodness : 0.997361 Centerline is valid? [True, True] Translation: X:293.15, Y:-0.60, Z:-2.08 [[ 9.99977209e-01 -6.75139971e-03 -4.70714876e-06 2.93145822e+02] [ 6.75139971e-03 9.99977209e-01 -9.07542651e-08 -6.00456458e-01] [ 4.70765419e-06 5.89723531e-08 1.00000000e+00 -2.08473221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.18591999999995 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:293.18, Y:-0.60, Z:-2.10 [[ 9.99987300e-01 -5.03977597e-03 -4.70722664e-06 2.93178019e+02] [ 5.03977596e-03 9.99987300e-01 -8.39792347e-08 -5.96534361e-01] [ 4.70759010e-06 6.02547997e-08 1.00000000e+00 -2.10306034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.21592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:293.21, Y:-0.59, Z:-2.10 [[ 9.99987661e-01 -4.96759856e-03 -4.70757663e-06 2.93208040e+02] [ 4.96759856e-03 9.99987661e-01 -5.27379867e-08 -5.94300557e-01] [ 4.70778053e-06 2.93519842e-08 1.00000000e+00 -2.10442035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.24591999999996 meters Centerline goodness : 0.998558 Centerline is valid? [True, True] Translation: X:293.24, Y:-0.59, Z:-2.09 [[ 9.99984298e-01 -5.60396733e-03 -4.70757663e-06 2.93236716e+02] [ 5.60396733e-03 9.99984298e-01 -5.27379872e-08 -5.92365915e-01] [ 4.70779825e-06 2.63560526e-08 1.00000000e+00 -2.08952343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.27592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:293.27, Y:-0.59, Z:-2.11 [[ 9.99991670e-01 -4.08177695e-03 -4.70729296e-06 2.93268630e+02] [ 4.08177695e-03 9.99991670e-01 -7.75792930e-08 -5.88784459e-01] [ 4.70757041e-06 5.83645260e-08 1.00000000e+00 -2.10523490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.30591999999996 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:293.30, Y:-0.59, Z:-2.10 [[ 9.99981760e-01 -6.03980466e-03 -4.70757147e-06 2.93299238e+02] [ 6.03980466e-03 9.99981760e-01 -5.27002303e-08 -5.86763991e-01] [ 4.70780391e-06 2.42664561e-08 1.00000000e+00 -2.10175206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.33592 meters Centerline goodness : 0.997518 Centerline is valid? [True, True] Translation: X:293.33, Y:-0.59, Z:-2.09 [[ 9.99970424e-01 -7.69098032e-03 -4.70720085e-06 2.93329297e+02] [ 7.69098032e-03 9.99970424e-01 -8.63803165e-08 -5.85112827e-01] [ 4.70772598e-06 5.01747718e-08 1.00000000e+00 -2.08762372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.36591999999996 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:293.36, Y:-0.58, Z:-2.11 [[ 9.99966158e-01 -8.22690711e-03 -4.70714002e-06 2.93361936e+02] [ 8.22690711e-03 9.99966158e-01 -9.20872420e-08 -5.82439176e-01] [ 4.70773831e-06 5.33589211e-08 1.00000000e+00 -2.10514533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.39592 meters Centerline goodness : 0.997712 Centerline is valid? [True, True] Translation: X:293.39, Y:-0.58, Z:-2.09 [[ 9.99968706e-01 -7.91115816e-03 -4.70758899e-06 2.93390687e+02] [ 7.91115816e-03 9.99968706e-01 -4.85774144e-08 -5.79276916e-01] [ 4.70782598e-06 1.13334124e-08 1.00000000e+00 -2.08832051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.42591999999996 meters Centerline goodness : 0.997268 Centerline is valid? [True, True] Translation: X:293.42, Y:-0.57, Z:-2.09 [[ 9.99985869e-01 -5.31608769e-03 -4.70726347e-06 2.93421927e+02] [ 5.31608769e-03 9.99985870e-01 -8.01164009e-08 -5.74727612e-01] [ 4.70762286e-06 5.50910426e-08 1.00000000e+00 -2.08643332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.45592 meters Centerline goodness : 0.996823 Centerline is valid? [True, True] Translation: X:293.45, Y:-0.57, Z:-2.09 [[ 9.99996579e-01 -2.61552638e-03 -4.70732654e-06 2.93453065e+02] [ 2.61552638e-03 9.99996580e-01 -7.39233098e-08 -5.71832820e-01] [ 4.70750379e-06 6.16109193e-08 1.00000000e+00 -2.08599519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.48591999999996 meters Centerline goodness : 0.997371 Centerline is valid? [True, True] Translation: X:293.48, Y:-0.57, Z:-2.09 [[ 9.99999911e-01 4.22522878e-04 -4.70731800e-06 2.93483925e+02] [-4.22522878e-04 9.99999911e-01 -7.48018609e-08 -5.68670065e-01] [ 4.70728597e-06 7.67908029e-08 1.00000000e+00 -2.08692976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.51592 meters Centerline goodness : 0.997817 Centerline is valid? [True, True] Translation: X:293.51, Y:-0.56, Z:-2.09 [[ 9.99979269e-01 6.43914134e-03 -4.70741657e-06 2.93514133e+02] [-6.43914134e-03 9.99979269e-01 -6.47086323e-08 -5.62089675e-01] [ 4.70690231e-06 9.50190107e-08 1.00000000e+00 -2.08682401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.54591999999997 meters Centerline goodness : 0.997519 Centerline is valid? [True, True] Translation: X:293.55, Y:-0.56, Z:-2.09 [[ 9.99962766e-01 8.62945718e-03 -4.70749379e-06 2.93545207e+02] [-8.62945718e-03 9.99962766e-01 -5.68777730e-08 -5.58472040e-01] [ 4.70682768e-06 9.74987704e-08 1.00000000e+00 -2.08527326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.57592 meters Centerline goodness : 0.997915 Centerline is valid? [True, True] Translation: X:293.58, Y:-0.55, Z:-2.09 [[ 9.99932379e-01 1.16291762e-02 -4.70759665e-06 2.93576243e+02] [-1.16291762e-02 9.99932379e-01 -4.63974458e-08 -5.54715057e-01] [ 4.70673875e-06 1.01139779e-07 1.00000000e+00 -2.08772157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.60591999999997 meters Centerline goodness : 0.997222 Centerline is valid? [True, True] Translation: X:293.61, Y:-0.55, Z:-2.09 [[ 9.99921464e-01 1.25325607e-02 -4.70771047e-06 2.93606059e+02] [-1.25325607e-02 9.99921464e-01 -3.50990316e-08 -5.47306861e-01] [ 4.70690086e-06 9.40959413e-08 1.00000000e+00 -2.08771667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.63592 meters Centerline goodness : 0.998311 Centerline is valid? [True, True] Translation: X:293.64, Y:-0.54, Z:-2.09 [[ 9.99927164e-01 1.20692288e-02 -4.70765616e-06 2.93635964e+02] [-1.20692288e-02 9.99927164e-01 -4.02967130e-08 -5.43881230e-01] [ 4.70682693e-06 9.71115563e-08 1.00000000e+00 -2.08956081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.66591999999997 meters Centerline goodness : 0.920077 Centerline is valid? [True, False] Translation: X:293.66, Y:-0.54, Z:-2.09 [[ 9.99988956e-01 1.31188923e-03 -4.51287363e-03 2.93664349e+02] [-1.31124477e-03 9.99999130e-01 1.45760381e-04 -5.39785001e-01] [ 4.51306092e-03 -1.39841289e-04 9.99989806e-01 -2.08712550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.69592 meters Centerline goodness : 0.998260 Centerline is valid? [False, True] Translation: X:293.67, Y:-0.52, Z:-2.08 [[ 9.99912811e-01 1.79903172e-03 -1.30817946e-02 2.93666553e+02] [-2.05638759e-03 9.99804096e-01 -1.96860614e-02 -5.21088831e-01] [ 1.30438160e-02 1.97112462e-02 9.99720624e-01 -2.08308998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.72592 meters Centerline goodness : 0.997865 Centerline is valid? [True, True] Translation: X:293.70, Y:-0.54, Z:-2.08 [[ 9.99900325e-01 -4.58660621e-03 -1.33529820e-02 2.93695894e+02] [ 4.58632916e-03 9.99989481e-01 -5.13700869e-05 -5.37674451e-01] [ 1.33530771e-02 -9.87620391e-06 9.99910844e-01 -2.08489005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.75591999999995 meters Centerline goodness : 0.997669 Centerline is valid? [True, True] Translation: X:293.72, Y:-0.54, Z:-2.08 [[ 9.99862421e-01 -9.84229212e-03 -1.33517345e-02 2.93723624e+02] [ 9.84132125e-03 9.99951563e-01 -1.38416551e-04 -5.37503357e-01] [ 1.33524501e-02 6.99880008e-06 9.99910852e-01 -2.08473224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.78592 meters Centerline goodness : 0.997867 Centerline is valid? [True, True] Translation: X:293.75, Y:-0.54, Z:-2.08 [[ 9.99816916e-01 -1.37070398e-02 -1.33511035e-02 2.93753538e+02] [ 1.37058399e-02 9.99906054e-01 -1.81367231e-04 -5.37923023e-01] [ 1.33523352e-02 -1.65406136e-06 9.99910854e-01 -2.08190011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.81591999999995 meters Centerline goodness : 0.997370 Centerline is valid? [True, True] Translation: X:293.78, Y:-0.54, Z:-2.08 [[ 9.99653841e-01 -2.26701544e-02 -1.33514743e-02 2.93781579e+02] [ 2.26700878e-02 9.99742988e-01 -1.56355885e-04 -5.39094317e-01] [ 1.33515874e-02 -1.46377333e-04 9.99910853e-01 -2.08216209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.84592 meters Centerline goodness : 0.997469 Centerline is valid? [True, True] Translation: X:293.81, Y:-0.54, Z:-2.08 [[ 9.99574511e-01 -2.59338507e-02 -1.33503614e-02 2.93810502e+02] [ 2.59330826e-02 9.99663654e-01 -2.30678472e-04 -5.39463379e-01] [ 1.33518534e-02 -1.15635703e-04 9.99910853e-01 -2.08316931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.87591999999995 meters Centerline goodness : 0.998460 Centerline is valid? [True, True] Translation: X:293.84, Y:-0.54, Z:-2.08 [[ 9.99418262e-01 -3.13831539e-02 -1.33505116e-02 2.93838662e+02] [ 3.13830042e-02 9.99507408e-01 -2.20763348e-04 -5.43345020e-01] [ 1.33508635e-02 -1.98344241e-04 9.99910854e-01 -2.08198209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.90592 meters Centerline goodness : 0.997667 Centerline is valid? [True, True] Translation: X:293.87, Y:-0.55, Z:-2.08 [[ 9.99368989e-01 -3.29151877e-02 -1.33497059e-02 2.93867649e+02] [ 3.29144646e-02 9.99458135e-01 -2.73929915e-04 -5.45847016e-01] [ 1.33514886e-02 -1.65641361e-04 9.99910851e-01 -2.07942157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.93591999999995 meters Centerline goodness : 0.879631 Centerline is valid? [True, False] Translation: X:293.86, Y:-0.54, Z:-2.08 [[ 9.99754406e-01 -2.04754786e-02 -8.47836931e-03 2.93864701e+02] [ 2.04203539e-02 9.99770105e-01 -6.53811811e-03 -5.43156507e-01] [ 8.61029127e-03 6.36338109e-03 9.99942683e-01 -2.08009137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.96592 meters Centerline goodness : 0.998611 Centerline is valid? [False, True] Translation: X:293.86, Y:-0.54, Z:-2.08 [[ 9.99963484e-01 -8.45090685e-03 -1.26979954e-03 2.93860610e+02] [ 8.43366547e-03 9.99879673e-01 -1.30197436e-02 -5.37683519e-01] [ 1.37967539e-03 1.30085591e-02 9.99914433e-01 -2.08055074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.99591999999996 meters Centerline goodness : 0.998760 Centerline is valid? [True, True] Translation: X:293.89, Y:-0.55, Z:-2.08 [[ 9.99961472e-01 -8.70714449e-03 -1.11343675e-03 2.93891103e+02] [ 8.70710163e-03 9.99962092e-01 -4.33383418e-05 -5.52925864e-01] [ 1.11377189e-03 3.36418651e-05 9.99999379e-01 -2.07967985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.02592 meters Centerline goodness : 0.997667 Centerline is valid? [True, True] Translation: X:293.92, Y:-0.56, Z:-2.07 [[ 9.99964891e-01 -8.30532600e-03 -1.11280993e-03 2.93921584e+02] [ 8.30534009e-03 9.99965510e-01 8.03835051e-06 -5.59653236e-01] [ 1.11270479e-03 -1.72803332e-05 9.99999381e-01 -2.07319556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.05591999999996 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:293.95, Y:-0.56, Z:-2.09 [[ 9.99967361e-01 -8.00240540e-03 -1.11282710e-03 2.93951953e+02] [ 8.00241776e-03 9.99967980e-01 6.65866059e-06 -5.62076375e-01] [ 1.11273818e-03 -1.55637506e-05 9.99999381e-01 -2.08947701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.08592 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:293.98, Y:-0.57, Z:-2.09 [[ 9.99980567e-01 -6.13413208e-03 -1.11273272e-03 2.93982281e+02] [ 6.13415157e-03 9.99981186e-01 1.41046955e-05 -5.66987395e-01] [ 1.11262526e-03 -2.09300926e-05 9.99999381e-01 -2.09001227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.11591999999996 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:294.01, Y:-0.57, Z:-2.09 [[ 9.99980567e-01 -6.13413208e-03 -1.11273272e-03 2.94013276e+02] [ 6.13415157e-03 9.99981186e-01 1.41046955e-05 -5.67380276e-01] [ 1.11262526e-03 -2.09300926e-05 9.99999381e-01 -2.08997777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.14592 meters Centerline goodness : 0.997468 Centerline is valid? [True, True] Translation: X:294.04, Y:-0.57, Z:-2.08 [[ 9.99993710e-01 -3.36783806e-03 -1.11273272e-03 2.94043039e+02] [ 3.36785584e-03 9.99994329e-01 1.41046955e-05 -5.70591733e-01] [ 1.11267891e-03 -1.78521302e-05 9.99999381e-01 -2.07642669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.17591999999996 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:294.07, Y:-0.58, Z:-2.09 [[ 9.99996359e-01 -2.45838528e-03 -1.11273855e-03 2.94073471e+02] [ 2.45840198e-03 9.99996978e-01 1.36448853e-05 -5.75820804e-01] [ 1.11270164e-03 -1.63803943e-05 9.99999381e-01 -2.08943020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.20592 meters Centerline goodness : 0.998958 Centerline is valid? [True, True] Translation: X:294.10, Y:-0.58, Z:-2.09 [[ 9.99998103e-01 -1.59874436e-03 -1.11272835e-03 2.94103278e+02] [ 1.59876141e-03 9.99998722e-01 1.44311434e-05 -5.78952094e-01] [ 1.11270386e-03 -1.62101032e-05 9.99999381e-01 -2.08916872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.23591999999996 meters Centerline goodness : 0.997866 Centerline is valid? [True, True] Translation: X:294.13, Y:-0.58, Z:-2.08 [[ 9.99998741e-01 1.13152146e-03 -1.11272926e-03 2.94132887e+02] [-1.13150618e-03 9.99999360e-01 1.43608501e-05 -5.81879065e-01] [ 1.11274480e-03 -1.31017720e-05 9.99999381e-01 -2.07509430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.26592 meters Centerline goodness : 0.998164 Centerline is valid? [True, True] Translation: X:294.16, Y:-0.59, Z:-2.08 [[ 9.99991274e-01 4.02652883e-03 -1.11275232e-03 2.94162923e+02] [-4.02651734e-03 9.99991893e-01 1.25594744e-05 -5.88667862e-01] [ 1.11279387e-03 -8.07884824e-06 9.99999381e-01 -2.07660754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.29591999999997 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:294.19, Y:-0.59, Z:-2.09 [[ 9.99988478e-01 4.66963252e-03 -1.11269065e-03 2.94192496e+02] [-4.66961603e-03 9.99989097e-01 1.74162759e-05 -5.91131944e-01] [ 1.11275985e-03 -1.22202372e-05 9.99999381e-01 -2.09010896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.32592 meters Centerline goodness : 0.902823 Centerline is valid? [True, False] Translation: X:294.19, Y:-0.59, Z:-2.09 [[ 9.99999125e-01 5.60210151e-04 -1.19856916e-03 2.94192678e+02] [-5.65459035e-04 9.99990233e-01 -4.38344403e-03 -5.90159066e-01] [ 1.19610181e-03 4.38411793e-03 9.99989674e-01 -2.08985115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.35591999999997 meters Centerline goodness : 0.840826 Centerline is valid? [False, False] Translation: X:294.19, Y:-0.59, Z:-2.09 [[ 9.99993169e-01 -3.44043751e-03 -1.35082760e-03 2.94193109e+02] [ 3.42794626e-03 9.99952326e-01 -9.14301938e-03 -5.87315133e-01] [ 1.38221919e-03 9.13832637e-03 9.99957289e-01 -2.08975434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.38592 meters Centerline goodness : 0.999056 Centerline is valid? [False, True] Translation: X:294.20, Y:-0.59, Z:-2.09 [[ 9.99982465e-01 -5.45044149e-03 -2.31558283e-03 2.94198503e+02] [ 5.42390688e-03 9.99921274e-01 -1.13149183e-02 -5.86171703e-01] [ 2.37707184e-03 1.13021604e-02 9.99933303e-01 -2.09425359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.41591999999997 meters Centerline goodness : 0.953122 Centerline is valid? [True, True] Translation: X:294.25, Y:-0.55, Z:-2.11 [[ 9.95721497e-01 9.23735185e-02 -2.41515709e-03 2.94245755e+02] [-9.23738023e-02 9.95724400e-01 -5.98835058e-06 -5.54321884e-01] [ 2.40427767e-03 2.29059973e-04 9.99997083e-01 -2.11259921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.44592 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:294.26, Y:-0.59, Z:-2.11 [[ 9.99997081e-01 6.65058093e-06 -2.41634450e-03 2.94257492e+02] [-6.17215781e-06 9.99999980e-01 1.98001988e-04 -5.94639911e-01] [ 2.41634577e-03 -1.97986496e-04 9.99997061e-01 -2.10644604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.47592 meters Centerline goodness : 0.999501 Centerline is valid? [True, True] Translation: X:294.29, Y:-0.59, Z:-2.10 [[ 9.99997009e-01 3.91044883e-04 -2.41432216e-03 2.94287662e+02] [-3.91099564e-04 9.99999923e-01 -2.21761439e-05 -5.91652305e-01] [ 2.41431331e-03 2.31203179e-05 9.99997085e-01 -2.09511122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.50591999999995 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:294.32, Y:-0.59, Z:-2.11 [[ 9.99997078e-01 1.18019687e-04 -2.41434771e-03 2.94317725e+02] [-1.18066829e-04 9.99999993e-01 -1.93835216e-05 -5.91014153e-01] [ 2.41434541e-03 1.96685194e-05 9.99997085e-01 -2.10811492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.53592 meters Centerline goodness : 0.982981 Centerline is valid? [True, True] Translation: X:294.40, Y:-0.61, Z:-2.12 [[ 9.99624067e-01 -2.73110800e-02 -2.41432432e-03 2.94396408e+02] [ 2.73111066e-02 9.99626982e-01 -2.19559713e-05 -6.08632127e-01] [ 2.41402337e-03 -4.39901515e-05 9.99997085e-01 -2.12154021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.56591999999995 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:294.37, Y:-0.60, Z:-2.10 [[ 9.99981605e-01 -5.56349241e-03 -2.41588449e-03 2.94366487e+02] [ 5.56497459e-03 9.99984331e-01 6.07224002e-04 -5.95541152e-01] [ 2.41246835e-03 -6.20657168e-04 9.99996897e-01 -2.09612030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.59592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.40, Y:-0.59, Z:-2.11 [[ 9.99965743e-01 -7.91934979e-03 -2.40782739e-03 2.94396203e+02] [ 7.91929944e-03 9.99968641e-01 -3.04444006e-05 -5.92174341e-01] [ 2.40799298e-03 1.13750515e-05 9.99997101e-01 -2.10797116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.62591999999995 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:294.43, Y:-0.59, Z:-2.10 [[ 9.99946270e-01 -1.00826212e-02 -2.40782655e-03 2.94425273e+02] [ 1.00825770e-02 9.99949169e-01 -3.05109292e-05 -5.90395213e-01] [ 2.40801179e-03 6.23219336e-06 9.99997101e-01 -2.09510246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.65592 meters Centerline goodness : 0.993744 Centerline is valid? [True, True] Translation: X:294.41, Y:-0.61, Z:-2.11 [[ 9.99874320e-01 -1.56699579e-02 -2.40778027e-03 2.94414507e+02] [ 1.56699210e-02 9.99877219e-01 -3.41840231e-05 -6.07934624e-01] [ 2.40802030e-03 -3.54999990e-06 9.99997101e-01 -2.11471581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.68591999999995 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:294.48, Y:-0.59, Z:-2.09 [[ 9.99990731e-01 -3.57188001e-03 -2.40422657e-03 2.94479470e+02] [ 3.57103873e-03 9.99993561e-01 -3.54118529e-04 -5.86878093e-01] [ 2.40547596e-03 3.45529660e-04 9.99997047e-01 -2.09451350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.71592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:294.51, Y:-0.59, Z:-2.09 [[ 9.99977572e-01 -6.25033096e-03 -2.40590135e-03 2.94509222e+02] [ 6.25031345e-03 9.99980466e-01 -1.47964660e-05 -5.86311586e-01] [ 2.40594684e-03 -2.41503433e-07 9.99997106e-01 -2.09204543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.74591999999996 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:294.54, Y:-0.59, Z:-2.09 [[ 9.99962123e-01 -8.36448842e-03 -2.40588876e-03 2.94539496e+02] [ 8.36447072e-03 9.99965017e-01 -1.74187447e-05 -5.85982283e-01] [ 2.40595029e-03 -2.70590112e-06 9.99997106e-01 -2.09454059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.77592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:294.57, Y:-0.59, Z:-2.09 [[ 9.99946433e-01 -1.00669426e-02 -2.40590445e-03 2.94568490e+02] [ 1.00669382e-02 9.99949327e-01 -1.39458509e-05 -5.86252526e-01] [ 2.40592293e-03 -1.02749876e-05 9.99997106e-01 -2.09379784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.80591999999996 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:294.60, Y:-0.59, Z:-2.09 [[ 9.99863474e-01 -1.63476027e-02 -2.40589501e-03 2.94598079e+02] [ 1.63476114e-02 9.99866369e-01 -1.60493674e-05 -5.90174722e-01] [ 2.40583588e-03 -2.32834604e-05 9.99997106e-01 -2.09337483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.83592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:294.63, Y:-0.59, Z:-2.09 [[ 9.99796449e-01 -2.00317758e-02 -2.40585528e-03 2.94628133e+02] [ 2.00317731e-02 9.99799344e-01 -2.52144283e-05 -5.92175591e-01] [ 2.40587762e-03 -2.29842511e-05 9.99997106e-01 -2.09204837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.86591999999996 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:294.66, Y:-0.60, Z:-2.09 [[ 9.99732142e-01 -2.30185938e-02 -2.40582851e-03 2.94660421e+02] [ 2.30185841e-02 9.99735037e-01 -3.17494666e-05 -5.95202215e-01] [ 2.40592188e-03 -2.36378035e-05 9.99997105e-01 -2.09318715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.89592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:294.69, Y:-0.60, Z:-2.09 [[ 9.99636858e-01 -2.68395932e-02 -2.40594595e-03 2.94690320e+02] [ 2.68396708e-02 9.99639751e-01 -5.51357859e-08 -5.97298474e-01] [ 2.40508069e-03 -6.45196814e-05 9.99997106e-01 -2.09051347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.92591999999996 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:294.72, Y:-0.60, Z:-2.09 [[ 9.99618610e-01 -2.75108510e-02 -2.40585867e-03 2.94721445e+02] [ 2.75108720e-02 9.99621504e-01 -2.43843700e-05 -6.00531272e-01] [ 2.40561890e-03 -4.18122000e-05 9.99997106e-01 -2.08939761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.95592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.75, Y:-0.61, Z:-2.11 [[ 9.99593440e-01 -2.84106672e-02 -2.40587348e-03 2.94753295e+02] [ 2.84107018e-02 9.99596334e-01 -1.98083030e-05 -6.05765835e-01] [ 2.40546508e-03 -4.85523043e-05 9.99997106e-01 -2.10981031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.98591999999996 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:294.78, Y:-0.61, Z:-2.09 [[ 9.99619007e-01 -2.74964034e-02 -2.40591131e-03 2.94782428e+02] [ 2.74964656e-02 9.99621901e-01 -7.24237813e-06 -6.08629147e-01] [ 2.40520077e-03 -5.89144386e-05 9.99997106e-01 -2.08867292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.01592 meters Centerline goodness : 0.994889 Centerline is valid? [True, True] Translation: X:294.81, Y:-0.59, Z:-2.10 [[ 9.99687035e-01 2.49006876e-02 -2.40584882e-03 2.94811842e+02] [-2.49008304e-02 9.99689926e-01 -2.94270762e-05 -5.90831810e-01] [ 2.40437007e-03 8.93255001e-05 9.99997106e-01 -2.10482246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.04591999999997 meters Centerline goodness : 0.992839 Centerline is valid? [True, True] Translation: X:294.85, Y:-0.59, Z:-2.11 [[ 9.99202998e-01 3.98444659e-02 -2.40580941e-03 2.94849882e+02] [-3.98446832e-02 9.99205884e-01 -4.24354415e-05 -5.89966175e-01] [ 2.40220810e-03 1.38260334e-04 9.99997105e-01 -2.10699946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.07592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:294.87, Y:-0.63, Z:-2.09 [[ 9.99592379e-01 -2.84479675e-02 -2.40609869e-03 2.94872100e+02] [ 2.84481869e-02 9.99595267e-01 5.69958863e-05 -6.25609559e-01] [ 2.40350344e-03 -1.25421799e-04 9.99997104e-01 -2.09336810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.10591999999997 meters Centerline goodness : 0.931693 Centerline is valid? [True, False] Translation: X:294.87, Y:-0.63, Z:-2.09 [[ 9.99888864e-01 -1.43963337e-02 -3.87357448e-03 2.94873692e+02] [ 1.43777765e-02 9.99885225e-01 -4.77666531e-03 -6.25906740e-01] [ 3.94189636e-03 4.72044106e-03 9.99981089e-01 -2.09371558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.13592 meters Centerline goodness : 0.999702 Centerline is valid? [False, True] Translation: X:294.90, Y:-0.63, Z:-2.09 [[ 9.99957059e-01 -6.16269826e-03 -6.92114847e-03 2.94896145e+02] [ 6.12738764e-03 9.99968163e-01 -5.11151259e-03 -6.29434255e-01] [ 6.95242884e-03 5.06888454e-03 9.99962984e-01 -2.09131482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.16591999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.93, Y:-0.64, Z:-2.11 [[ 9.99974053e-01 -2.19003891e-03 -6.86273319e-03 2.94928361e+02] [ 2.18958297e-03 9.99997600e-01 -7.39503030e-05 -6.37473555e-01] [ 6.86287868e-03 5.89218605e-05 9.99976448e-01 -2.10846902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.19592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:294.96, Y:-0.64, Z:-2.09 [[ 9.99976090e-01 -8.64817112e-04 -6.86089089e-03 2.94955636e+02] [ 8.65395806e-04 9.99999622e-01 8.13784230e-05 -6.40680498e-01] [ 6.86081792e-03 -8.73138634e-05 9.99976460e-01 -2.09375070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.22592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:294.98, Y:-0.64, Z:-2.09 [[ 9.99975982e-01 9.77032525e-04 -6.86158943e-03 2.94983984e+02] [-9.76917692e-04 9.99999523e-01 2.00872618e-05 -6.42424556e-01] [ 6.86160578e-03 -1.33835713e-05 9.99976459e-01 -2.09445436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.25591999999995 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:295.01, Y:-0.64, Z:-2.10 [[ 9.99954448e-01 6.63471595e-03 -6.86159543e-03 2.95013450e+02] [-6.63473794e-03 9.99977990e-01 1.95577127e-05 -6.41220844e-01] [ 6.86157417e-03 2.59680657e-05 9.99976459e-01 -2.10372549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.28592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:295.04, Y:-0.64, Z:-2.09 [[ 9.99905208e-01 1.19370338e-02 -6.86171759e-03 2.95043098e+02] [-1.19372536e-02 9.99928748e-01 8.91127765e-06 -6.40095579e-01] [ 6.86133506e-03 7.29996304e-05 9.99976458e-01 -2.09422911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.31591999999995 meters Centerline goodness : 0.948950 Centerline is valid? [True, False] Translation: X:295.04, Y:-0.64, Z:-2.09 [[ 9.99946900e-01 7.79679085e-03 -6.73846752e-03 2.95042695e+02] [-7.83183017e-03 9.99955866e-01 -5.18924386e-03 -6.35932270e-01] [ 6.69771068e-03 5.24174285e-03 9.99963832e-01 -2.09445702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.34592 meters Centerline goodness : 0.999851 Centerline is valid? [False, True] Translation: X:295.05, Y:-0.63, Z:-2.10 [[ 9.99954036e-01 6.05538834e-03 -7.43362358e-03 2.95047048e+02] [-6.11170794e-03 9.99952616e-01 -7.57713966e-03 -6.32523966e-01] [ 7.38738882e-03 7.62222352e-03 9.99943663e-01 -2.09842259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.37591999999995 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:295.08, Y:-0.63, Z:-2.10 [[ 9.99921990e-01 1.00422089e-02 -7.42749211e-03 2.95077096e+02] [-1.00432848e-02 9.99949559e-01 -1.07573835e-04 -6.32195885e-01] [ 7.42603719e-03 1.82161862e-04 9.99972410e-01 -2.09885608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.40592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:295.10, Y:-0.63, Z:-2.10 [[ 9.99924343e-01 9.80521403e-03 -7.42743848e-03 2.95104924e+02] [-9.80577501e-03 9.99951921e-01 -3.91142946e-05 -6.30173672e-01] [ 7.42669786e-03 1.11943126e-04 9.99972415e-01 -2.09815164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.43591999999995 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:295.13, Y:-0.63, Z:-2.10 [[ 9.99939938e-01 8.05938197e-03 -7.42744772e-03 2.95134043e+02] [-8.05997715e-03 9.99967517e-01 -5.02016034e-05 -6.29060195e-01] [ 7.42680186e-03 1.10063647e-04 9.99972415e-01 -2.09680844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.46592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:295.16, Y:-0.63, Z:-2.10 [[ 9.99956083e-01 5.71532838e-03 -7.42743934e-03 2.95163350e+02] [-5.71572869e-03 9.99983665e-01 -3.26694332e-05 -6.27642970e-01] [ 7.42713129e-03 7.51212266e-05 9.99972416e-01 -2.09700193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.49591999999996 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:295.19, Y:-0.63, Z:-2.10 [[ 9.99972413e-01 8.47932613e-05 -7.42745200e-03 2.95191902e+02] [-8.52126653e-05 9.99999995e-01 -5.61503026e-05 -6.25099585e-01] [ 7.42744720e-03 5.67816665e-05 9.99972415e-01 -2.09527964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.52592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:295.22, Y:-0.63, Z:-2.10 [[ 9.99970096e-01 -2.15401891e-03 -7.42745401e-03 2.95221570e+02] [ 2.15364177e-03 9.99997679e-01 -5.87747722e-05 -6.25115150e-01] [ 7.42756337e-03 4.27769394e-05 9.99972414e-01 -2.10016514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.55591999999996 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:295.25, Y:-0.63, Z:-2.09 [[ 9.99949826e-01 -6.72149014e-03 -7.42745060e-03 2.95251203e+02] [ 6.72126700e-03 9.99977411e-01 -5.50045726e-05 -6.26487228e-01] [ 7.42765253e-03 5.07993420e-06 9.99972415e-01 -2.09393585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.58592 meters Centerline goodness : 0.969198 Centerline is valid? [True, True] Translation: X:295.32, Y:-0.65, Z:-2.11 [[ 9.97576011e-01 -6.91876780e-02 -7.42745177e-03 2.95318687e+02] [ 6.91891694e-02 9.97603556e-01 -5.62799846e-05 -6.52896048e-01] [ 7.41354618e-03 -4.57755656e-04 9.99972415e-01 -2.11249021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.61591999999996 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:295.30, Y:-0.63, Z:-2.10 [[ 9.99894399e-01 -1.24966484e-02 -7.41783610e-03 2.95303643e+02] [ 1.25076087e-02 9.99920750e-01 1.43301383e-03 -6.32500665e-01] [ 7.39934037e-03 -1.52564189e-03 9.99971461e-01 -2.10061944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.64592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:295.33, Y:-0.63, Z:-2.10 [[ 9.99855238e-01 -1.53133543e-02 -7.41646402e-03 2.95332591e+02] [ 1.53133205e-02 9.99882742e-01 -6.13536162e-05 -6.33527957e-01] [ 7.41653391e-03 -5.22259556e-05 9.99972496e-01 -2.10293581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.67591999999996 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:295.36, Y:-0.64, Z:-2.10 [[ 9.99812243e-01 -1.79018143e-02 -7.41647300e-03 2.95360599e+02] [ 1.79019269e-02 9.99839746e-01 -5.12074394e-05 -6.35624835e-01] [ 7.41620119e-03 -8.15713327e-05 9.99972496e-01 -2.10372017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.70592 meters Centerline goodness : 0.994445 Centerline is valid? [True, True] Translation: X:295.37, Y:-0.63, Z:-2.11 [[ 9.99940364e-01 8.01653273e-03 -7.41646140e-03 2.95370861e+02] [-8.01724428e-03 9.99967859e-01 -6.62162711e-05 -6.26982976e-01] [ 7.41569221e-03 1.25671905e-04 9.99972495e-01 -2.11156950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.73591999999996 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:295.42, Y:-0.64, Z:-2.09 [[ 9.99831720e-01 -1.67788724e-02 -7.41628073e-03 2.95420198e+02] [ 1.67738910e-02 9.99859039e-01 -7.33381691e-04 -6.41905750e-01] [ 7.42754065e-03 6.08858393e-04 9.99972230e-01 -2.09277922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.76592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.45, Y:-0.64, Z:-2.10 [[ 9.99838680e-01 -1.63599631e-02 -7.41393227e-03 2.95449853e+02] [ 1.63600513e-02 9.99866164e-01 -4.87601512e-05 -6.44641095e-01] [ 7.41373774e-03 -7.25400271e-05 9.99972515e-01 -2.10303758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.79591999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.48, Y:-0.65, Z:-2.11 [[ 9.99862415e-01 -1.48385804e-02 -7.41395459e-03 2.95482051e+02] [ 1.48385832e-02 9.99889901e-01 -5.46344794e-05 -6.49944452e-01] [ 7.41394902e-03 -5.53856193e-05 9.99972515e-01 -2.10579466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.82592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:295.51, Y:-0.65, Z:-2.09 [[ 9.99874278e-01 -1.40166261e-02 -7.41359927e-03 2.95512012e+02] [ 1.40172398e-02 9.99901753e-01 3.08259703e-05 -6.52269976e-01] [ 7.41243883e-03 -1.34740294e-04 9.99972518e-01 -2.09193475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.85591999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.54, Y:-0.65, Z:-2.10 [[ 9.99886022e-01 -1.31522219e-02 -7.41365291e-03 2.95542317e+02] [ 1.31527120e-02 9.99913499e-01 1.73489162e-05 -6.53882103e-01] [ 7.41278345e-03 -1.14856580e-04 9.99972518e-01 -2.10464257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.88592 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:295.57, Y:-0.66, Z:-2.09 [[ 9.99886376e-01 -1.31252744e-02 -7.41359815e-03 2.95570779e+02] [ 1.31258620e-02 9.99913852e-01 3.06115618e-05 -6.59597308e-01] [ 7.41255770e-03 -1.27917950e-04 9.99972518e-01 -2.09069444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.91591999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.60, Y:-0.66, Z:-2.10 [[ 9.99919560e-01 -1.02911515e-02 -7.41385191e-03 2.95603090e+02] [ 1.02911835e-02 9.99947044e-01 -3.38343746e-05 -6.61629102e-01] [ 7.41380750e-03 -4.24656576e-05 9.99972516e-01 -2.10413667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.94592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.63, Y:-0.67, Z:-2.10 [[ 9.99942509e-01 -7.74707428e-03 -7.41357548e-03 2.95632178e+02] [ 7.74752005e-03 9.99969987e-01 3.14118500e-05 -6.65870258e-01] [ 7.41310962e-03 -8.88468688e-05 9.99972519e-01 -2.10464380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.97592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:295.66, Y:-0.67, Z:-2.09 [[ 9.99960608e-01 -4.88066241e-03 -7.41357938e-03 2.95661897e+02] [ 4.88102237e-03 9.99988087e-01 3.04622191e-05 -6.68256985e-01] [ 7.41334239e-03 -6.66468659e-05 9.99972519e-01 -2.09098662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.00591999999995 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:295.69, Y:-0.67, Z:-2.09 [[ 9.99964981e-01 -3.88282505e-03 -7.41358089e-03 2.95690226e+02] [ 3.88315485e-03 9.99992460e-01 3.00925186e-05 -6.70297010e-01] [ 7.41340814e-03 -5.88795473e-05 9.99972519e-01 -2.09188603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.03592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:295.72, Y:-0.67, Z:-2.09 [[ 9.99964062e-01 -4.11270572e-03 -7.41359223e-03 2.95718542e+02] [ 4.11302066e-03 9.99991541e-01 2.72351500e-05 -6.70514214e-01] [ 7.41341751e-03 -5.77264292e-05 9.99972519e-01 -2.09167606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.06591999999995 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:295.75, Y:-0.67, Z:-2.11 [[ 9.99971679e-01 -1.29600153e-03 -7.41359868e-03 2.95749450e+02] [ 1.29622627e-03 9.99999160e-01 2.55097123e-05 -6.72298591e-01] [ 7.41355939e-03 -3.51186912e-05 9.99972519e-01 -2.10563322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.09592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.78, Y:-0.67, Z:-2.11 [[ 9.99972493e-01 -2.26778036e-04 -7.41359059e-03 2.95777388e+02] [ 2.26989450e-04 9.99999974e-01 2.76757933e-05 -6.73979343e-01] [ 7.41358412e-03 -2.93578389e-05 9.99972519e-01 -2.10621542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.12591999999995 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:295.81, Y:-0.68, Z:-2.09 [[ 9.99970597e-01 1.96063954e-03 -7.41360316e-03 2.95807819e+02] [-1.96051733e-03 9.99998078e-01 2.37526462e-05 -6.76657497e-01] [ 7.41363548e-03 -9.21745034e-06 9.99972519e-01 -2.09219644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.15592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.84, Y:-0.68, Z:-2.11 [[ 9.99972003e-01 1.01605616e-03 -7.41355221e-03 2.95837992e+02] [-1.01579028e-03 9.99999483e-01 3.96288641e-05 -6.78267394e-01] [ 7.41358865e-03 -3.20971403e-05 9.99972518e-01 -2.10699956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.18591999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.87, Y:-0.68, Z:-2.11 [[ 9.99972100e-01 9.15675116e-04 -7.41360429e-03 2.95866027e+02] [-9.15534445e-04 9.99999581e-01 2.23684008e-05 -6.79431532e-01] [ 7.41362166e-03 -1.55803666e-05 9.99972519e-01 -2.10655437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.21592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.89, Y:-0.68, Z:-2.11 [[ 9.99972388e-01 -5.10503379e-04 -7.41361404e-03 2.95894826e+02] [ 5.10654185e-04 9.99999869e-01 1.84488680e-05 -6.81434412e-01] [ 7.41360366e-03 -2.22341516e-05 9.99972519e-01 -2.10635396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.24591999999996 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:295.93, Y:-0.68, Z:-2.09 [[ 9.99972292e-01 -6.74002318e-04 -7.41361636e-03 2.95925219e+02] [ 6.74150340e-04 9.99999773e-01 1.74672722e-05 -6.82954898e-01] [ 7.41360290e-03 -2.24646802e-05 9.99972519e-01 -2.08902013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.27592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.96, Y:-0.69, Z:-2.11 [[ 9.99967350e-01 -3.21534932e-03 -7.41357618e-03 2.95955432e+02] [ 3.21569693e-03 9.99994829e-01 3.49674919e-05 -6.87008764e-01] [ 7.41342541e-03 -5.88061643e-05 9.99972518e-01 -2.10689885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.30591999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.98, Y:-0.69, Z:-2.11 [[ 9.99965355e-01 -3.78504418e-03 -7.41361712e-03 2.95984073e+02] [ 3.78526688e-03 9.99992836e-01 1.60076233e-05 -6.89470219e-01] [ 7.41350342e-03 -4.40695881e-05 9.99972519e-01 -2.10603248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.33592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.01, Y:-0.69, Z:-2.11 [[ 9.99957058e-01 -5.56055973e-03 -7.41361909e-03 2.96013035e+02] [ 5.56082401e-03 9.99984538e-01 1.50358570e-05 -6.93952168e-01] [ 7.41342086e-03 -5.62610424e-05 9.99972519e-01 -2.10605137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.36591999999996 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:296.04, Y:-0.70, Z:-2.09 [[ 9.99961453e-01 -4.70430956e-03 -7.41362092e-03 2.96043834e+02] [ 4.70454316e-03 9.99988933e-01 1.40711564e-05 -6.95496706e-01] [ 7.41347268e-03 -4.89483136e-05 9.99972519e-01 -2.09299698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.39592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.07, Y:-0.70, Z:-2.11 [[ 9.99953115e-01 -6.22944428e-03 -7.41357675e-03 2.96073449e+02] [ 6.22988597e-03 9.99980593e-01 3.64873010e-05 -6.97227865e-01] [ 7.41320558e-03 -8.26713281e-05 9.99972518e-01 -2.10557803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.42591999999996 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:296.10, Y:-0.70, Z:-2.09 [[ 9.99959815e-01 -5.04057170e-03 -7.41361865e-03 2.96103250e+02] [ 5.04081052e-03 9.99987295e-01 1.35282073e-05 -7.00286564e-01] [ 7.41345627e-03 -5.08983105e-05 9.99972519e-01 -2.08687736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.45592 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:296.13, Y:-0.70, Z:-2.09 [[ 9.99961146e-01 -4.76921427e-03 -7.41361082e-03 2.96134386e+02] [ 4.76947836e-03 9.99988626e-01 1.79433165e-05 -7.01641600e-01] [ 7.41344092e-03 -5.33016757e-05 9.99972519e-01 -2.08799934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.48591999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.16, Y:-0.71, Z:-2.10 [[ 9.99954719e-01 -5.96641968e-03 -7.41356811e-03 2.96164547e+02] [ 5.96689585e-03 9.99982197e-01 4.21126480e-05 -7.06239544e-01] [ 7.41318486e-03 -8.63467299e-05 9.99972518e-01 -2.10422857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.51592 meters Centerline goodness : 0.953977 Centerline is valid? [True, True] Translation: X:296.24, Y:-0.69, Z:-2.11 [[ 9.99970585e-01 -1.96653618e-03 -7.41361882e-03 2.96240763e+02] [ 1.96668546e-03 9.99998066e-01 1.28447021e-05 -6.88592820e-01] [ 7.41357922e-03 -2.74245806e-05 9.99972519e-01 -2.11352411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.54591999999997 meters Centerline goodness : 0.922939 Centerline is valid? [True, False] Translation: X:296.25, Y:-0.69, Z:-2.12 [[ 9.99966713e-01 -9.86284114e-05 -8.15867573e-03 2.96245502e+02] [ 1.20912373e-04 9.99996264e-01 2.73087278e-03 -6.92783038e-01] [ 8.15837591e-03 -2.73176836e-03 9.99962988e-01 -2.11789323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.57592 meters Centerline goodness : 0.999155 Centerline is valid? [False, True] Translation: X:296.25, Y:-0.70, Z:-2.12 [[ 9.99956681e-01 4.05082189e-03 -8.38017341e-03 2.96246029e+02] [-3.97823292e-03 9.99954583e-01 8.66059920e-03 -7.00072573e-01] [ 8.41487535e-03 -8.62688575e-03 9.99927381e-01 -2.11776825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.60591999999997 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:296.27, Y:-0.70, Z:-2.12 [[ 9.99954223e-01 4.49077062e-03 -8.44892673e-03 2.96274455e+02] [-4.49039122e-03 9.99989916e-01 6.38743289e-05 -6.95362613e-01] [ 8.44912838e-03 -2.59324186e-05 9.99964305e-01 -2.11818328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.63592 meters Centerline goodness : 0.918954 Centerline is valid? [True, False] Translation: X:296.27, Y:-0.72, Z:-2.12 [[ 9.99953615e-01 2.87770510e-03 -9.19162179e-03 2.96274417e+02] [-2.66974113e-03 9.99741970e-01 2.25580722e-02 -7.21359958e-01] [ 9.25416555e-03 -2.25324866e-02 9.99703280e-01 -2.11752496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.66591999999997 meters Centerline goodness : 0.902205 Centerline is valid? [False, False] Translation: X:296.27, Y:-0.72, Z:-2.11 [[ 9.99964848e-01 8.80578376e-04 -8.33830307e-03 2.96269534e+02] [-7.06971404e-04 9.99783396e-01 2.08005255e-02 -7.21358873e-01] [ 8.35481345e-03 -2.07938994e-02 9.99748874e-01 -2.11339981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.69592 meters Centerline goodness : 0.998660 Centerline is valid? [False, True] Translation: X:296.29, Y:-0.73, Z:-2.11 [[ 9.99908394e-01 1.98726657e-03 -1.33886256e-02 2.96292751e+02] [-1.54282296e-03 9.99450041e-01 3.31245377e-02 -7.33470850e-01] [ 1.34470897e-02 -3.31008470e-02 9.99361551e-01 -2.11009571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.72592 meters Centerline goodness : 0.998757 Centerline is valid? [True, True] Translation: X:296.32, Y:-0.71, Z:-2.11 [[ 9.99893128e-01 6.01507378e-03 -1.33248626e-02 2.96321200e+02] [-6.01778955e-03 9.99981880e-01 -1.63726894e-04 -7.07573351e-01] [ 1.33236364e-02 2.43895615e-04 9.99911207e-01 -2.11134017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.75591999999995 meters Centerline goodness : 0.950246 Centerline is valid? [True, True] Translation: X:296.33, Y:-0.76, Z:-2.13 [[ 9.95958546e-01 -8.88200793e-02 -1.33254398e-02 2.96331060e+02] [ 8.88285620e-02 9.96046929e-01 4.48985051e-05 -7.57144698e-01] [ 1.32687755e-02 -1.22839671e-03 9.99911211e-01 -2.12904372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.78592 meters Centerline goodness : 0.998858 Centerline is valid? [True, True] Translation: X:296.35, Y:-0.73, Z:-2.13 [[ 9.99491838e-01 -2.89581377e-02 -1.33225979e-02 2.96353128e+02] [ 2.89441226e-02 9.99580257e-01 -1.24363523e-03 -7.27533450e-01] [ 1.33530192e-02 8.57392356e-04 9.99910477e-01 -2.12544639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.81591999999995 meters Centerline goodness : 0.989909 Centerline is valid? [True, True] Translation: X:296.40, Y:-0.74, Z:-2.12 [[ 9.99071130e-01 -4.09794104e-02 -1.33253788e-02 2.96398499e+02] [ 4.09593096e-02 9.99159233e-01 -1.77800877e-03 -7.38496752e-01] [ 1.33870370e-02 1.23055892e-03 9.99909632e-01 -2.12285967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.84592 meters Centerline goodness : 0.997764 Centerline is valid? [True, True] Translation: X:296.44, Y:-0.70, Z:-2.11 [[ 9.99270468e-01 3.57948943e-02 -1.33137697e-02 2.96436289e+02] [-3.58050230e-02 9.99358658e-01 -5.23109056e-04 -7.03177646e-01] [ 1.32865064e-02 9.99427261e-04 9.99911231e-01 -2.11024283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.87591999999995 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:296.47, Y:-0.70, Z:-2.12 [[ 9.98951182e-01 4.38118341e-02 -1.33063309e-02 2.96465260e+02] [-4.38135418e-02 9.99039712e-01 1.63287799e-04 -7.02859557e-01] [ 1.33007069e-02 4.19880943e-04 9.99911454e-01 -2.12355729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.90592 meters Centerline goodness : 0.978166 Centerline is valid? [True, True] Translation: X:296.44, Y:-0.72, Z:-2.15 [[ 9.99882267e-01 -7.64125459e-03 -1.33065507e-02 2.96442480e+02] [ 7.64383138e-03 9.99970775e-01 1.42799152e-04 -7.22082892e-01] [ 1.33050707e-02 -2.44495369e-04 9.99911454e-01 -2.14747852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.93591999999995 meters Centerline goodness : 0.998657 Centerline is valid? [True, True] Translation: X:296.51, Y:-0.69, Z:-2.11 [[ 9.98172832e-01 5.89338285e-02 -1.33342470e-02 2.96513656e+02] [-5.89663719e-02 9.98257843e-01 -2.06039984e-03 -6.91936483e-01] [ 1.31895894e-02 2.84290732e-03 9.99908972e-01 -2.11040556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.96592 meters Centerline goodness : 0.997315 Centerline is valid? [True, True] Translation: X:296.55, Y:-0.69, Z:-2.11 [[ 9.97872255e-01 6.38313752e-02 -1.32860207e-02 2.96545059e+02] [-6.38336308e-02 9.97960522e-01 2.54656134e-04 -6.91874176e-01] [ 1.32751792e-02 5.93980651e-04 9.99911705e-01 -2.10759952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.99591999999996 meters Centerline goodness : 0.997021 Centerline is valid? [True, True] Translation: X:296.57, Y:-0.69, Z:-2.11 [[ 9.97579553e-01 6.82538753e-02 -1.32832038e-02 2.96574043e+02] [-6.82547107e-02 9.97667851e-01 3.90968352e-04 -6.85265979e-01] [ 1.32789105e-02 5.16619202e-04 9.99911698e-01 -2.10701199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.02592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:296.60, Y:-0.68, Z:-2.12 [[ 9.97375700e-01 7.11706420e-02 -1.32835715e-02 2.96602081e+02] [-7.11719788e-02 9.97463990e-01 3.72667770e-04 -6.81744305e-01] [ 1.32764072e-02 5.73728291e-04 9.99911700e-01 -2.12130140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.05591999999996 meters Centerline goodness : 0.997320 Centerline is valid? [True, True] Translation: X:296.64, Y:-0.67, Z:-2.11 [[ 9.97063806e-01 7.54139001e-02 -1.32857518e-02 2.96635137e+02] [-7.54170803e-02 9.97152042e-01 2.62194125e-04 -6.70991315e-01] [ 1.32676876e-02 7.40548336e-04 9.99911706e-01 -2.10593413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.08592 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:296.66, Y:-0.67, Z:-2.11 [[ 9.97196873e-01 7.36342312e-02 -1.32814014e-02 2.96660383e+02] [-7.36343181e-02 9.97285192e-01 4.83127559e-04 -6.68507490e-01] [ 1.32809197e-02 4.96193647e-04 9.99911682e-01 -2.10872174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.11591999999996 meters Centerline goodness : 0.998361 Centerline is valid? [True, True] Translation: X:296.69, Y:-0.67, Z:-2.11 [[ 9.97218562e-01 7.33391376e-02 -1.32857429e-02 2.96691655e+02] [-7.33422929e-02 9.97306796e-01 2.50232681e-04 -6.65036654e-01] [ 1.32683135e-02 7.24870170e-04 9.99911709e-01 -2.10641812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.14592 meters Centerline goodness : 0.999551 Centerline is valid? [True, True] Translation: X:296.72, Y:-0.66, Z:-2.12 [[ 9.97351066e-01 7.15149294e-02 -1.32840853e-02 2.96720334e+02] [-7.15167340e-02 9.97439342e-01 3.39756315e-04 -6.58179954e-01] [ 1.32743669e-02 6.11178069e-04 9.99911705e-01 -2.11730404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.17591999999996 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:296.75, Y:-0.65, Z:-2.12 [[ 9.97411619e-01 7.06650427e-02 -1.32858807e-02 2.96749131e+02] [-7.06680889e-02 9.97499856e-01 2.40630430e-04 -6.54285244e-01] [ 1.32696682e-02 6.98880210e-04 9.99911710e-01 -2.11639635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.20592 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:296.78, Y:-0.65, Z:-2.12 [[ 9.97528882e-01 6.89899405e-02 -1.32859811e-02 2.96778600e+02] [-6.89929139e-02 9.97617122e-01 2.34953149e-04 -6.46891141e-01] [ 1.32705316e-02 6.82265997e-04 9.99911710e-01 -2.11719415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.23591999999996 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:296.81, Y:-0.64, Z:-2.11 [[ 9.97381571e-01 7.10878486e-02 -1.32860357e-02 2.96810646e+02] [-7.10910492e-02 9.97469804e-01 2.31822523e-04 -6.42259714e-01] [ 1.32688992e-02 7.13302705e-04 9.99911710e-01 -2.10646845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.26592 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:296.84, Y:-0.63, Z:-2.11 [[ 9.97709477e-01 6.63274825e-02 -1.32839833e-02 2.96839247e+02] [-6.63286935e-02 9.97797766e-01 3.49876323e-04 -6.34958072e-01] [ 1.32779352e-02 5.32034331e-04 9.99911703e-01 -2.10637521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.29591999999997 meters Centerline goodness : 0.998709 Centerline is valid? [True, True] Translation: X:296.87, Y:-0.63, Z:-2.10 [[ 9.97996952e-01 6.18517691e-02 -1.32831352e-02 2.96866656e+02] [-6.18519175e-02 9.98085257e-01 4.00037272e-04 -6.31450774e-01] [ 1.32824444e-02 4.22351403e-04 9.99911695e-01 -2.10356908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.32592 meters Centerline goodness : 0.998558 Centerline is valid? [True, True] Translation: X:296.90, Y:-0.63, Z:-2.10 [[ 9.98270947e-01 5.72593492e-02 -1.32846737e-02 2.96897716e+02] [-5.72603539e-02 9.98359233e-01 3.05026692e-04 -6.28989361e-01] [ 1.32803423e-02 4.56185835e-04 9.99911708e-01 -2.10182797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.35591999999997 meters Centerline goodness : 0.998660 Centerline is valid? [True, True] Translation: X:296.93, Y:-0.63, Z:-2.10 [[ 9.98791710e-01 4.73144662e-02 -1.32838721e-02 2.96925270e+02] [-4.73139168e-02 9.98880006e-01 3.55800737e-04 -6.25626191e-01] [ 1.32858288e-02 2.73141193e-04 9.99911702e-01 -2.10456724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.38592 meters Centerline goodness : 0.998264 Centerline is valid? [True, True] Translation: X:296.95, Y:-0.62, Z:-2.10 [[ 9.99036958e-01 4.18170650e-02 -1.32849055e-02 2.96954125e+02] [-4.18169292e-02 9.99125248e-01 2.88126224e-04 -6.24540412e-01] [ 1.32853331e-02 2.67685208e-04 9.99911710e-01 -2.10040502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.41591999999997 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:296.98, Y:-0.62, Z:-2.10 [[ 9.99440971e-01 3.06798089e-02 -1.32851474e-02 2.96981213e+02] [-3.06789081e-02 9.99529255e-01 2.71639551e-04 -6.23796906e-01] [ 1.32872273e-02 1.36086120e-04 9.99911712e-01 -2.10125502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.44592 meters Centerline goodness : 0.998609 Centerline is valid? [True, True] Translation: X:297.01, Y:-0.62, Z:-2.10 [[ 9.99558184e-01 2.65876091e-02 -1.32867148e-02 2.97010242e+02] [-2.65878182e-02 9.99646469e-01 1.60937114e-04 -6.23523216e-01] [ 1.32862965e-02 1.92398750e-04 9.99911715e-01 -2.09802516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.47592 meters Centerline goodness : 0.998859 Centerline is valid? [True, True] Translation: X:297.04, Y:-0.62, Z:-2.10 [[ 9.99631532e-01 2.36699992e-02 -1.32864919e-02 2.97039275e+02] [-2.36697378e-02 9.99719817e-01 1.76945901e-04 -6.23641316e-01] [ 1.32869575e-02 1.37607076e-04 9.99911715e-01 -2.09896720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.50591999999995 meters Centerline goodness : 0.998760 Centerline is valid? [True, True] Translation: X:297.07, Y:-0.62, Z:-2.10 [[ 9.99734337e-01 1.88340959e-02 -1.32865552e-02 2.97067585e+02] [-1.88334700e-02 9.99822620e-01 1.72241175e-04 -6.23448793e-01] [ 1.32874424e-02 7.80365213e-05 9.99911715e-01 -2.09753128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.53592 meters Centerline goodness : 0.998759 Centerline is valid? [True, True] Translation: X:297.10, Y:-0.62, Z:-2.10 [[ 9.99764150e-01 1.71786232e-02 -1.32868016e-02 2.97097280e+02] [-1.71781002e-02 9.99852434e-01 1.53496085e-04 -6.24508167e-01] [ 1.32874778e-02 7.47821257e-05 9.99911715e-01 -2.09836202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.56591999999995 meters Centerline goodness : 0.843568 Centerline is valid? [True, False] Translation: X:297.09, Y:-0.63, Z:-2.10 [[ 9.99979641e-01 2.37923440e-03 -5.92083291e-03 2.97094223e+02] [-2.35655533e-03 9.99989872e-01 3.83441803e-03 -6.30630782e-01] [ 5.92989592e-03 -3.82038720e-03 9.99975120e-01 -2.09956601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.59592 meters Centerline goodness : 0.999553 Centerline is valid? [False, True] Translation: X:297.10, Y:-0.61, Z:-2.10 [[ 9.99903792e-01 4.65627936e-03 -1.30662403e-02 2.97096341e+02] [-4.85252674e-03 9.99875296e-01 -1.50281318e-02 -6.12846779e-01] [ 1.29946357e-02 1.50900903e-02 9.99801695e-01 -2.09639582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.62591999999995 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:297.13, Y:-0.63, Z:-2.11 [[ 9.99900674e-01 5.32847236e-03 -1.30479866e-02 2.97126974e+02] [-5.32848147e-03 9.99985803e-01 3.40664116e-05 -6.26389454e-01] [ 1.30479829e-02 3.54629271e-05 9.99914871e-01 -2.11339965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.65592 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:297.16, Y:-0.63, Z:-2.10 [[ 9.99903655e-01 4.73602146e-03 -1.30480077e-02 2.97155368e+02] [-4.73625267e-03 9.99988784e-01 1.31808408e-05 -6.26049398e-01] [ 1.30479238e-02 4.86190905e-05 9.99914871e-01 -2.09755388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.68591999999995 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:297.19, Y:-0.63, Z:-2.11 [[ 9.99901232e-01 5.22255416e-03 -1.30480655e-02 2.97186375e+02] [-5.22374190e-03 9.99986355e-01 -5.69479891e-05 -6.26575675e-01] [ 1.30475901e-02 1.25102091e-04 9.99914869e-01 -2.11332777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.71592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:297.22, Y:-0.63, Z:-2.10 [[ 9.99903400e-01 4.78963287e-03 -1.30480181e-02 2.97215443e+02] [-4.78991871e-03 9.99988528e-01 9.34414525e-06 -6.25618221e-01] [ 1.30479132e-02 5.31557035e-05 9.99914871e-01 -2.09761077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.74591999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.25, Y:-0.63, Z:-2.11 [[ 9.99897027e-01 5.97359157e-03 -1.30480392e-02 2.97247010e+02] [-5.97471167e-03 9.99982150e-01 -4.68654922e-05 -6.25174888e-01] [ 1.30475263e-02 1.24818938e-04 9.99914870e-01 -2.11222413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.77592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:297.28, Y:-0.63, Z:-2.10 [[ 9.99901509e-01 5.16937559e-03 -1.30480193e-02 2.97276482e+02] [-5.16975039e-03 9.99986637e-01 5.00465945e-06 -6.25427079e-01] [ 1.30478708e-02 6.24508364e-05 9.99914871e-01 -2.09773011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.80591999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.31, Y:-0.63, Z:-2.11 [[ 9.99903258e-01 4.81916233e-03 -1.30480204e-02 2.97306683e+02] [-4.81969042e-03 9.99988385e-01 -9.02808259e-06 -6.25380297e-01] [ 1.30478254e-02 7.19146282e-05 9.99914871e-01 -2.11050991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.83592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.34, Y:-0.63, Z:-2.11 [[ 9.99905289e-01 4.37743567e-03 -1.30480204e-02 2.97335038e+02] [-4.37780812e-03 9.99990417e-01 1.80988954e-08 -6.25178845e-01] [ 1.30478954e-02 5.71036324e-05 9.99914871e-01 -2.11018080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.86591999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.36, Y:-0.63, Z:-2.11 [[ 9.99912709e-01 2.07910658e-03 -1.30480176e-02 2.97362809e+02] [-2.07936284e-03 9.99997838e-01 -6.07350567e-06 -6.25578902e-01] [ 1.30479767e-02 3.32045383e-05 9.99914871e-01 -2.11091291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.89592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.39, Y:-0.63, Z:-2.11 [[ 9.99913864e-01 1.41894918e-03 -1.30480107e-02 2.97391071e+02] [-1.41923957e-03 9.99998993e-01 -1.29961707e-05 -6.26550864e-01] [ 1.30479791e-02 3.15133043e-05 9.99914871e-01 -2.11077868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.92591999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.42, Y:-0.63, Z:-2.11 [[ 9.99914474e-01 8.91798820e-04 -1.30480002e-02 2.97419519e+02] [-8.92134355e-04 9.99999602e-01 -1.98949671e-05 -6.26806091e-01] [ 1.30479772e-02 3.15338347e-05 9.99914871e-01 -2.11040715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.95592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:297.45, Y:-0.63, Z:-2.10 [[ 9.99914632e-01 6.92336402e-04 -1.30479860e-02 2.97449269e+02] [-6.92744710e-04 9.99999760e-01 -2.67732194e-05 -6.26011042e-01] [ 1.30479644e-02 3.58098571e-05 9.99914871e-01 -2.09523969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.98591999999996 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:297.48, Y:-0.62, Z:-2.09 [[ 9.99914870e-01 4.83544461e-05 -1.30480357e-02 2.97478105e+02] [-4.84249706e-05 9.99999999e-01 -5.08904492e-06 -6.24620068e-01] [ 1.30480354e-02 5.72046243e-06 9.99914871e-01 -2.09485022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.01592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.51, Y:-0.62, Z:-2.11 [[ 9.99913159e-01 -1.85016511e-03 -1.30480412e-02 2.97507376e+02] [ 1.85028476e-03 9.99998288e-01 -2.90229607e-06 -6.23642637e-01] [ 1.30480242e-02 -2.12405476e-05 9.99914871e-01 -2.10894326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.04591999999997 meters Centerline goodness : 0.775890 Centerline is valid? [True, False] Translation: X:297.51, Y:-0.62, Z:-2.11 [[ 9.99896060e-01 -6.04436541e-03 -1.30894893e-02 2.97507509e+02] [ 5.98222328e-03 9.99970675e-01 -4.78144449e-03 -6.21139001e-01] [ 1.31180063e-02 4.70264326e-03 9.99902897e-01 -2.10870326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.07592 meters Centerline goodness : 1.000000 Centerline is valid? [False, True] Translation: X:297.53, Y:-0.61, Z:-2.10 [[ 9.99884456e-01 -2.06282857e-03 -1.50605460e-02 2.97528054e+02] [ 1.88650245e-03 9.99929625e-01 -1.17126514e-02 -6.14948552e-01] [ 1.50836473e-02 1.16828863e-02 9.99817980e-01 -2.10452442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.10591999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.56, Y:-0.62, Z:-2.10 [[ 9.99868290e-01 -6.07475240e-03 -1.50499032e-02 2.97556364e+02] [ 6.07566603e-03 9.99981543e-01 1.49858468e-05 -6.23183766e-01] [ 1.50495344e-02 -1.06422059e-04 9.99886744e-01 -2.10395958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.13592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:297.58, Y:-0.62, Z:-2.10 [[ 9.99859631e-01 -7.36330475e-03 -1.50499070e-02 2.97584973e+02] [ 7.36424689e-03 9.99972884e-01 7.18235979e-06 -6.21903685e-01] [ 1.50494460e-02 -1.18012582e-04 9.99886744e-01 -2.10431150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.16591999999997 meters Centerline goodness : 0.830191 Centerline is valid? [True, False] Translation: X:297.58, Y:-0.61, Z:-2.10 [[ 9.99974550e-01 -1.90597740e-03 -6.87501125e-03 2.97579919e+02] [ 1.80866812e-03 9.99898494e-01 -1.41326085e-02 -6.07238991e-01] [ 6.90124983e-03 1.41198142e-02 9.99876494e-01 -2.10305332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.19592 meters Centerline goodness : 1.000000 Centerline is valid? [False, True] Translation: X:297.60, Y:-0.60, Z:-2.10 [[ 9.99968630e-01 3.33051182e-03 -7.18652661e-03 2.97601361e+02] [-3.47443027e-03 9.99791787e-01 -2.01074759e-02 -6.00642051e-01] [ 7.11806210e-03 2.01318142e-02 9.99771996e-01 -2.10196100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.22592 meters Centerline goodness : 0.800288 Centerline is valid? [True, False] Translation: X:297.62, Y:-0.61, Z:-2.10 [[ 9.99940398e-01 -9.91289092e-04 -1.08728020e-02 2.97624110e+02] [ 8.44707115e-04 9.99908813e-01 -1.34778442e-02 -6.06974518e-01] [ 1.08851710e-02 1.34678566e-02 9.99850054e-01 -2.09964941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.25591999999995 meters Centerline goodness : 0.999950 Centerline is valid? [False, True] Translation: X:297.62, Y:-0.61, Z:-2.10 [[ 9.99992844e-01 -3.58396874e-04 3.76619108e-03 2.97616804e+02] [ 4.07459140e-04 9.99914966e-01 -1.30343427e-02 -6.07914646e-01] [-3.76119935e-03 1.30357840e-02 9.99907957e-01 -2.10138284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.28592 meters Centerline goodness : 0.986347 Centerline is valid? [True, True] Translation: X:297.68, Y:-0.59, Z:-2.10 [[ 9.96597331e-01 8.23246000e-02 4.05228999e-03 2.97679232e+02] [-8.23249143e-02 9.96605539e-01 -8.94545011e-05 -5.86315847e-01] [-4.04589895e-03 -2.44454309e-04 9.99991785e-01 -2.10246861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.31591999999995 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:297.67, Y:-0.63, Z:-2.10 [[ 9.99935449e-01 -1.06206201e-02 4.03724746e-03 2.97673445e+02] [ 1.06235391e-02 9.99943322e-01 -7.02276499e-04 -6.25422528e-01] [-4.02956002e-03 7.45121023e-04 9.99991604e-01 -2.10194299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.34592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:297.71, Y:-0.63, Z:-2.10 [[ 9.99886238e-01 -1.45298730e-02 4.04890550e-03 2.97706184e+02] [ 1.45302968e-02 9.99894427e-01 -7.52778062e-05 -6.28701118e-01] [-4.04738427e-03 1.34101041e-04 9.99991800e-01 -2.10060681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.37591999999995 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:297.74, Y:-0.63, Z:-2.10 [[ 9.99883558e-01 -1.47131286e-02 4.04886808e-03 2.97738047e+02] [ 1.47135618e-02 9.99891747e-01 -7.72393937e-05 -6.31300603e-01] [-4.04729334e-03 1.36803671e-04 9.99991800e-01 -2.10168955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.40592 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:297.77, Y:-0.64, Z:-2.10 [[ 9.99866636e-01 -1.58214302e-02 4.04883474e-03 2.97770569e+02] [ 1.58218794e-02 9.99874823e-01 -7.89491739e-05 -6.35361241e-01] [-4.04707883e-03 1.42998820e-04 9.99991800e-01 -2.10164434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.43591999999995 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:297.80, Y:-0.64, Z:-2.10 [[ 9.99852258e-01 -1.67053554e-02 4.04879582e-03 2.97803470e+02] [ 1.67058197e-02 9.99860445e-01 -8.08972073e-05 -6.36751863e-01] [-4.04687937e-03 1.48523708e-04 9.99991800e-01 -2.10199912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.46592 meters Centerline goodness : 0.998858 Centerline is valid? [True, True] Translation: X:297.84, Y:-0.64, Z:-2.10 [[ 9.99845684e-01 -1.70943130e-02 4.04875565e-03 2.97835635e+02] [ 1.70947885e-02 9.99853870e-01 -8.28599626e-05 -6.38594929e-01] [-4.04674757e-03 1.52059797e-04 9.99991800e-01 -2.10180619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.49591999999996 meters Centerline goodness : 0.997616 Centerline is valid? [True, True] Translation: X:297.86, Y:-0.64, Z:-2.08 [[ 9.99794286e-01 -1.98744244e-02 4.04872014e-03 2.97863732e+02] [ 1.98749296e-02 9.99802471e-01 -8.45598886e-05 -6.44656437e-01] [-4.04623982e-03 1.65010521e-04 9.99991800e-01 -2.08474692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.52592 meters Centerline goodness : 0.999006 Centerline is valid? [True, True] Translation: X:297.90, Y:-0.65, Z:-2.10 [[ 9.99849391e-01 -1.68758694e-02 4.04978096e-03 2.97898070e+02] [ 1.68761477e-02 9.99857587e-01 -3.45661851e-05 -6.47553704e-01] [-4.04862088e-03 1.02905681e-04 9.99991799e-01 -2.10149497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.55591999999996 meters Centerline goodness : 0.998462 Centerline is valid? [True, True] Translation: X:297.93, Y:-0.65, Z:-2.10 [[ 9.99865151e-01 -1.59150575e-02 4.04861184e-03 2.97931319e+02] [ 1.59155450e-02 9.99873336e-01 -8.82197532e-05 -6.48095343e-01] [-4.04669501e-03 1.52643721e-04 9.99991800e-01 -2.10048872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.58592 meters Centerline goodness : 0.998361 Centerline is valid? [True, True] Translation: X:297.96, Y:-0.65, Z:-2.10 [[ 9.99886886e-01 -1.44853433e-02 4.04856864e-03 2.97963436e+02] [ 1.44858270e-02 9.99895071e-01 -9.01599624e-05 -6.49211477e-01] [-4.04683783e-03 1.48796629e-04 9.99991800e-01 -2.10105931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.61591999999996 meters Centerline goodness : 0.998212 Centerline is valid? [True, True] Translation: X:298.00, Y:-0.65, Z:-2.10 [[ 9.99912145e-01 -1.26218992e-02 4.04855491e-03 2.97996192e+02] [ 1.26223701e-02 9.99920331e-01 -9.07720077e-05 -6.51985021e-01] [-4.04708665e-03 1.41866391e-04 9.99991800e-01 -2.10116185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.64592 meters Centerline goodness : 0.970248 Centerline is valid? [True, True] Translation: X:298.04, Y:-0.61, Z:-2.10 [[ 9.96648494e-01 8.17030546e-02 4.04850941e-03 2.98041784e+02] [-8.17033495e-02 9.96656688e-01 -9.27582044e-05 -6.14001326e-01] [-4.04255261e-03 -2.38329454e-04 9.99991800e-01 -2.10220649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.67591999999996 meters Centerline goodness : 0.997713 Centerline is valid? [True, True] Translation: X:298.06, Y:-0.64, Z:-2.09 [[ 9.99283157e-01 3.76408845e-02 4.04177516e-03 2.98064990e+02] [-3.76396607e-02 9.99291305e-01 -3.78462043e-04 -6.37618878e-01] [-4.05315642e-03 2.26059699e-04 9.99991760e-01 -2.09430218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.70592 meters Centerline goodness : 0.910396 Centerline is valid? [True, False] Translation: X:298.07, Y:-0.64, Z:-2.09 [[ 9.99738663e-01 2.24352755e-02 4.38911880e-03 2.98065472e+02] [-2.24576514e-02 9.99734700e-01 5.11696711e-03 -6.44550634e-01] [-4.27315380e-03 -5.21419916e-03 9.99977276e-01 -2.09360656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.73591999999996 meters Centerline goodness : 0.998015 Centerline is valid? [False, True] Translation: X:298.06, Y:-0.65, Z:-2.09 [[ 9.99902861e-01 7.60504929e-03 1.16804326e-02 2.98062300e+02] [-7.70969650e-03 9.99930312e-01 8.94044565e-03 -6.51618625e-01] [-1.16116261e-02 -9.02962977e-03 9.99891812e-01 -2.09412383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.76592 meters Centerline goodness : 0.998213 Centerline is valid? [True, True] Translation: X:298.09, Y:-0.65, Z:-2.09 [[ 9.99895324e-01 8.96899832e-03 1.13532906e-02 2.98094483e+02] [-8.96505340e-03 9.99959734e-01 -3.98315467e-04 -6.45482825e-01] [-1.13564060e-02 2.96490916e-04 9.99935470e-01 -2.09478758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.79591999999997 meters Centerline goodness : 0.998560 Centerline is valid? [True, True] Translation: X:298.13, Y:-0.65, Z:-2.10 [[ 9.99872175e-01 1.12578830e-02 1.13531172e-02 2.98126619e+02] [-1.12540301e-02 9.99936590e-01 -4.03200090e-04 -6.46264428e-01] [-1.13569364e-02 2.75380229e-04 9.99935470e-01 -2.09515781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.82592 meters Centerline goodness : 0.998806 Centerline is valid? [True, True] Translation: X:298.21, Y:-0.65, Z:-2.11 [[ 9.99493479e-01 2.97303452e-02 1.13530670e-02 2.98212374e+02] [-2.97276672e-02 9.99557953e-01 -4.04607767e-04 -6.49599264e-01] [-1.13600775e-02 6.69026277e-05 9.99935470e-01 -2.11384502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.85591999999997 meters Centerline goodness : 0.996973 Centerline is valid? [True, True] Translation: X:298.18, Y:-0.65, Z:-2.08 [[ 9.99840426e-01 1.39037911e-02 1.12163848e-02 2.98175957e+02] [-1.38648207e-02 9.99897596e-01 -3.54472438e-03 -6.51542642e-01] [-1.12645213e-02 3.38864557e-03 9.99930811e-01 -2.07997261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.88592 meters Centerline goodness : 0.921023 Centerline is valid? [True, False] Translation: X:298.19, Y:-0.66, Z:-2.08 [[ 9.99996089e-01 -6.97707271e-04 2.70849267e-03 2.98189626e+02] [ 6.83776998e-04 9.99986553e-01 5.14070615e-03 -6.62822322e-01] [-2.71204296e-03 -5.13883404e-03 9.99983118e-01 -2.07970078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.91591999999997 meters Centerline goodness : 0.996923 Centerline is valid? [False, True] Translation: X:298.21, Y:-0.65, Z:-2.08 [[ 9.99993506e-01 -3.58584611e-03 3.59484536e-04 2.98213742e+02] [ 3.58930010e-03 9.99942368e-01 -1.01182216e-02 -6.52402617e-01] [-3.23181432e-04 1.01194462e-02 9.99948745e-01 -2.07860233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.94592 meters Centerline goodness : 0.998313 Centerline is valid? [True, True] Translation: X:298.24, Y:-0.66, Z:-2.09 [[ 9.99978285e-01 -6.57219651e-03 4.85966496e-04 2.98243807e+02] [ 6.57216449e-03 9.99978401e-01 6.74569688e-05 -6.61946827e-01] [-4.86399340e-04 -6.42616522e-05 9.99999880e-01 -2.09347119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.97592 meters Centerline goodness : 0.997714 Centerline is valid? [True, True] Translation: X:298.27, Y:-0.66, Z:-2.09 [[ 9.99967067e-01 -8.10119515e-03 4.85078637e-04 2.98274732e+02] [ 8.10119895e-03 9.99967185e-01 -5.87319248e-06 -6.63069232e-01] [-4.85015139e-04 9.80271760e-06 9.99999882e-01 -2.09408444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.00591999999995 meters Centerline goodness : 0.968092 Centerline is valid? [True, True] Translation: X:298.34, Y:-0.66, Z:-2.12 [[ 9.99130163e-01 -4.16975098e-02 4.85078269e-04 2.98341960e+02] [ 4.16975176e-02 9.99130280e-01 -5.90340189e-06 -6.60928956e-01] [-4.84410230e-04 2.61248265e-05 9.99999882e-01 -2.11534404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.03592 meters Centerline goodness : 0.997468 Centerline is valid? [True, True] Translation: X:298.33, Y:-0.67, Z:-2.10 [[ 9.99891389e-01 -1.47300836e-02 4.83889439e-04 2.98329234e+02] [ 1.47301308e-02 9.99891501e-01 -9.39897180e-05 -6.71081559e-01] [-4.82452462e-04 1.01107264e-04 9.99999879e-01 -2.09571670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.06591999999995 meters Centerline goodness : 0.998262 Centerline is valid? [True, True] Translation: X:298.39, Y:-0.66, Z:-2.12 [[ 9.99859571e-01 1.67512448e-02 4.84453087e-04 2.98394349e+02] [-1.67512453e-02 9.99859688e-01 -3.00103343e-06 -6.64126242e-01] [-4.84435384e-04 -5.11458051e-06 9.99999883e-01 -2.11614053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.09592 meters Centerline goodness : 0.771602 Centerline is valid? [True, False] Translation: X:298.39, Y:-0.67, Z:-2.12 [[ 9.99996118e-01 2.02530964e-03 1.91343243e-03 2.98393268e+02] [-2.03598377e-03 9.99982286e-01 5.59314422e-03 -6.70697315e-01] [-1.90207068e-03 -5.59701822e-03 9.99982528e-01 -2.11546523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.12591999999995 meters Centerline goodness : 0.715386 Centerline is valid? [False, False] Translation: X:298.42, Y:-0.66, Z:-2.11 [[ 9.99993338e-01 5.76955819e-04 -3.60424533e-03 2.98416486e+02] [-6.00827372e-04 9.99977870e-01 -6.62560839e-03 -6.61426325e-01] [ 3.60034288e-03 6.62772978e-03 9.99971555e-01 -2.11143283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.15592 meters Centerline goodness : 0.996074 Centerline is valid? [False, True] Translation: X:298.42, Y:-0.66, Z:-2.12 [[ 9.99988157e-01 -1.59616088e-03 -4.59771492e-03 2.98421987e+02] [ 1.55478660e-03 9.99958394e-01 -8.98843846e-03 -6.60757261e-01] [ 4.61187063e-03 8.98118354e-03 9.99949033e-01 -2.11589059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.18591999999995 meters Centerline goodness : 0.970042 Centerline is valid? [True, True] Translation: X:298.49, Y:-0.70, Z:-2.12 [[ 9.98061604e-01 -6.20773837e-02 -4.40827114e-03 2.98491232e+02] [ 6.20783916e-02 9.98071272e-01 9.20568128e-05 -6.98187935e-01] [ 4.39405414e-03 -3.65536752e-04 9.99990279e-01 -2.11844805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.21592 meters Centerline goodness : 0.766252 Centerline is valid? [True, False] Translation: X:298.49, Y:-0.69, Z:-2.12 [[ 9.98711641e-01 -5.04120554e-02 -5.80369626e-03 2.98493018e+02] [ 5.03612327e-02 9.98694098e-01 -8.59327972e-03 -6.90297928e-01] [ 6.22932209e-03 8.28992719e-03 9.99946235e-01 -2.11908748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.24591999999996 meters Centerline goodness : 0.993723 Centerline is valid? [False, True] Translation: X:298.49, Y:-0.68, Z:-2.12 [[ 9.99304442e-01 -3.68370680e-02 -5.80197087e-03 2.98493500e+02] [ 3.67469490e-02 9.99212911e-01 -1.49405473e-02 -6.83558485e-01] [ 6.34777016e-03 1.47169505e-02 9.99871550e-01 -2.11969079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.27592 meters Centerline goodness : 0.993444 Centerline is valid? [True, True] Translation: X:298.52, Y:-0.70, Z:-2.12 [[ 9.99263049e-01 -3.79161687e-02 -5.97688427e-03 2.98523002e+02] [ 3.79160314e-02 9.99280919e-01 -1.36322744e-04 -6.99731042e-01] [ 5.97775525e-03 -9.03974510e-05 9.99982129e-01 -2.12026225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.30591999999996 meters Centerline goodness : 0.993448 Centerline is valid? [True, True] Translation: X:298.55, Y:-0.70, Z:-2.12 [[ 9.99224019e-01 -3.89311085e-02 -5.97732259e-03 2.98552144e+02] [ 3.89312138e-02 9.99241888e-01 -9.87826420e-05 -7.00544108e-01] [ 5.97663682e-03 -1.33998435e-04 9.99982131e-01 -2.12055101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.33592 meters Centerline goodness : 0.991941 Centerline is valid? [True, True] Translation: X:298.59, Y:-0.71, Z:-2.12 [[ 9.98711341e-01 -5.03977103e-02 -5.97732331e-03 2.98592058e+02] [ 5.03980210e-02 9.98729207e-01 -9.87209034e-05 -7.08060422e-01] [ 5.97470267e-03 -2.02651580e-04 9.99982131e-01 -2.12342366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.36591999999996 meters Centerline goodness : 0.852424 Centerline is valid? [True, False] Translation: X:298.59, Y:-0.70, Z:-2.12 [[ 9.99243631e-01 -3.85542373e-02 -5.07309102e-03 2.98591557e+02] [ 3.85118539e-02 9.99224476e-01 -8.20266803e-03 -7.01882965e-01] [ 5.38540432e-03 8.00108965e-03 9.99953489e-01 -2.12382686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.39592 meters Centerline goodness : 0.992443 Centerline is valid? [False, True] Translation: X:298.59, Y:-0.70, Z:-2.12 [[ 9.99660806e-01 -2.57050790e-02 -4.18600695e-03 2.98590895e+02] [ 2.56387056e-02 9.99555637e-01 -1.52048106e-02 -6.96940445e-01] [ 4.57498770e-03 1.50923294e-02 9.99875638e-01 -2.12384901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.42591999999996 meters Centerline goodness : 0.987043 Centerline is valid? [True, True] Translation: X:298.66, Y:-0.73, Z:-2.14 [[ 9.98504809e-01 -5.45096199e-02 -4.10452820e-03 2.98656500e+02] [ 5.45099561e-02 9.98513227e-01 -2.99844811e-05 -7.29080481e-01] [ 4.10006014e-03 -1.93798003e-04 9.99991576e-01 -2.13967569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.45592 meters Centerline goodness : 0.971670 Centerline is valid? [True, True] Translation: X:298.69, Y:-0.74, Z:-2.17 [[ 9.97182177e-01 -7.49064345e-02 -4.09048272e-03 2.98685273e+02] [ 7.49098619e-02 9.97190070e-01 6.91000175e-04 -7.41896705e-01] [ 4.02722839e-03 -9.95470555e-04 9.99991395e-01 -2.16763244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.48591999999996 meters Centerline goodness : 0.875900 Centerline is valid? [True, False] Translation: X:298.69, Y:-0.74, Z:-2.17 [[ 9.98131057e-01 -6.08689351e-02 -5.41909405e-03 2.98688074e+02] [ 6.08491073e-02 9.98139926e-01 -3.75167340e-03 -7.44416452e-01] [ 5.63737450e-03 3.41491470e-03 9.99978279e-01 -2.16878134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.51592 meters Centerline goodness : 0.994579 Centerline is valid? [False, True] Translation: X:298.69, Y:-0.74, Z:-2.17 [[ 9.98892627e-01 -4.67855005e-02 -4.96355528e-03 2.98688870e+02] [ 4.67406341e-02 9.98868298e-01 -8.79983815e-03 -7.42294602e-01] [ 5.36964284e-03 8.55809373e-03 9.99948962e-01 -2.16974816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.54591999999997 meters Centerline goodness : 0.994144 Centerline is valid? [True, True] Translation: X:298.74, Y:-0.77, Z:-2.18 [[ 9.97874597e-01 -6.49627966e-02 -5.11107340e-03 2.98735218e+02] [ 6.49628813e-02 9.97887670e-01 -1.49609279e-04 -7.69683948e-01] [ 5.10999617e-03 -1.82738756e-04 9.99986927e-01 -2.17739622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.57592 meters Centerline goodness : 0.995929 Centerline is valid? [True, True] Translation: X:298.75, Y:-0.76, Z:-2.18 [[ 9.99261000e-01 -3.80953747e-02 -5.11816329e-03 2.98750086e+02] [ 3.80973871e-02 9.99273987e-01 2.96231703e-04 -7.61549779e-01] [ 5.10316238e-03 -4.91001436e-04 9.99986858e-01 -2.18126522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.60591999999997 meters Centerline goodness : 0.986566 Centerline is valid? [True, True] Translation: X:298.82, Y:-0.78, Z:-2.19 [[ 9.97047783e-01 -7.66132914e-02 -5.11088297e-03 2.98815171e+02] [ 7.66138071e-02 9.97060838e-01 -9.50901922e-05 -7.79711312e-01] [ 5.10314643e-03 -2.96754737e-04 9.99986935e-01 -2.19111984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.63592 meters Centerline goodness : 0.867428 Centerline is valid? [True, False] Translation: X:298.81, Y:-0.78, Z:-2.19 [[ 9.98210458e-01 -5.97675887e-02 -1.92775837e-03 2.98813847e+02] [ 5.97635075e-02 9.98210335e-01 -2.10946643e-03 -7.78905440e-01] [ 2.05038605e-03 1.99048185e-03 9.99995917e-01 -2.19101022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.66591999999997 meters Centerline goodness : 0.981766 Centerline is valid? [False, True] Translation: X:298.81, Y:-0.77, Z:-2.19 [[ 9.99004904e-01 -4.45540015e-02 2.03560101e-03 2.98812822e+02] [ 4.45659916e-02 9.98986684e-01 -6.28310671e-03 -7.73933237e-01] [-1.75360076e-03 6.36757299e-03 9.99978189e-01 -2.19200594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.69592 meters Centerline goodness : 0.977548 Centerline is valid? [True, True] Translation: X:298.84, Y:-0.75, Z:-2.19 [[ 9.99997577e-01 -3.22922483e-04 2.17765197e-03 2.98839470e+02] [ 3.23787108e-04 9.99999869e-01 -3.96703417e-04 -7.46556372e-01] [-2.17752358e-03 3.97407552e-04 9.99997550e-01 -2.18934093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.72592 meters Centerline goodness : 0.983924 Centerline is valid? [True, True] Translation: X:298.87, Y:-0.78, Z:-2.19 [[ 9.99122976e-01 -4.18155798e-02 2.17632897e-03 2.98874257e+02] [ 4.18166633e-02 9.99125197e-01 -4.54742957e-04 -7.75015645e-01] [-2.15540977e-03 5.45350953e-04 9.99997528e-01 -2.19317639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.75591999999995 meters Centerline goodness : 0.987619 Centerline is valid? [True, True] Translation: X:298.90, Y:-0.76, Z:-2.18 [[ 9.99621483e-01 -2.74254526e-02 2.17627131e-03 2.98897326e+02] [ 2.74265103e-02 9.99623718e-01 -4.57681876e-04 -7.61397492e-01] [-2.16290028e-03 5.17196163e-04 9.99997527e-01 -2.18165340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.78592 meters Centerline goodness : 0.963000 Centerline is valid? [True, True] Translation: X:298.94, Y:-0.75, Z:-2.19 [[ 9.99581267e-01 -2.88541436e-02 2.17471549e-03 2.98935347e+02] [ 2.88552833e-02 9.99583477e-01 -4.94533263e-04 -7.53773111e-01] [-2.15954033e-03 5.57078217e-04 9.99997513e-01 -2.19264388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.81591999999995 meters Centerline goodness : 0.942724 Centerline is valid? [True, False] Translation: X:298.93, Y:-0.74, Z:-2.19 [[ 9.99853506e-01 -1.44411186e-02 9.18801662e-03 2.98932423e+02] [ 1.44911395e-02 9.99880411e-01 -5.40106092e-03 -7.44712977e-01] [-9.10892047e-03 5.53341453e-03 9.99943203e-01 -2.19386431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.84592 meters Centerline goodness : 0.942724 Centerline is valid? [False, False] Translation: X:298.93, Y:-0.75, Z:-2.19 [[ 9.99902649e-01 -1.05953161e-02 9.07920923e-03 2.98932709e+02] [ 1.06030874e-02 9.99943459e-01 -8.08234970e-04 -7.47309008e-01] [-9.07013237e-03 9.04423936e-04 9.99958456e-01 -2.19417519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.87591999999995 meters Centerline goodness : 0.928759 Centerline is valid? [False, False] Translation: X:298.93, Y:-0.74, Z:-2.19 [[ 9.99938235e-01 -6.46842385e-03 9.03803093e-03 2.98932704e+02] [ 6.44303044e-03 9.99975222e-01 2.83591496e-03 -7.44865008e-01] [-9.05615089e-03 -2.77750749e-03 9.99955135e-01 -2.19414867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.90592 meters Centerline goodness : 0.999504 Centerline is valid? [False, True] Translation: X:298.93, Y:-0.74, Z:-2.19 [[ 9.99938986e-01 -6.41846923e-03 8.99045577e-03 2.98932874e+02] [ 6.39822058e-03 9.99976934e-01 2.27919383e-03 -7.42323598e-01] [-9.00487733e-03 -2.22153185e-03 9.99956988e-01 -2.19432599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.93591999999995 meters Centerline goodness : 0.909619 Centerline is valid? [True, False] Translation: X:298.93, Y:-0.74, Z:-2.19 [[ 9.99957191e-01 -2.27125184e-03 8.96979830e-03 2.98932925e+02] [ 2.21587383e-03 9.99978455e-01 6.17895069e-03 -7.40960283e-01] [-8.98363900e-03 -6.15881023e-03 9.99940680e-01 -2.19407624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.96592 meters Centerline goodness : 0.996177 Centerline is valid? [False, True] Translation: X:298.93, Y:-0.74, Z:-2.19 [[ 9.99940661e-01 -6.37489396e-03 8.83378276e-03 2.98933304e+02] [ 6.36877785e-03 9.99979460e-01 7.20312943e-04 -7.35578901e-01] [-8.83819323e-03 -6.64009800e-04 9.99960722e-01 -2.19407715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.99591999999996 meters Centerline goodness : 0.963272 Centerline is valid? [True, True] Translation: X:299.01, Y:-0.71, Z:-2.23 [[ 9.99413415e-01 3.30854064e-02 8.84202998e-03 2.99013744e+02] [-3.30877761e-02 9.99452442e-01 1.21819487e-04 -7.09850382e-01] [-8.83315801e-03 -4.14311138e-04 9.99960901e-01 -2.22740583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.02592 meters Centerline goodness : 0.887514 Centerline is valid? [True, False] Translation: X:299.02, Y:-0.72, Z:-2.23 [[ 9.99819340e-01 1.77191507e-02 6.87882095e-03 2.99015587e+02] [-1.77514689e-02 9.99831543e-01 4.66593835e-03 -7.15435071e-01] [-6.79498570e-03 -4.78720458e-03 9.99965455e-01 -2.22800674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.05591999999996 meters Centerline goodness : 0.848355 Centerline is valid? [False, False] Translation: X:299.02, Y:-0.72, Z:-2.23 [[ 9.99991424e-01 4.13388268e-03 2.50049771e-04 2.99019514e+02] [-4.13622518e-03 9.99939083e-01 1.02333954e-02 -7.21949656e-01] [-2.07730882e-04 -1.02343419e-02 9.99947606e-01 -2.22772960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.08592 meters Centerline goodness : 0.995181 Centerline is valid? [False, True] Translation: X:299.02, Y:-0.72, Z:-2.23 [[ 9.99999980e-01 -3.52098200e-05 1.98950172e-04 2.99019589e+02] [ 3.42156166e-05 9.99987524e-01 4.99504369e-03 -7.17429726e-01] [-1.99123564e-04 -4.99503678e-03 9.99987505e-01 -2.22802832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.11591999999996 meters Centerline goodness : 0.996526 Centerline is valid? [True, True] Translation: X:299.05, Y:-0.71, Z:-2.24 [[ 9.99984713e-01 -5.52656563e-03 1.75204226e-04 2.99049869e+02] [ 5.52656873e-03 9.99984728e-01 -1.71905538e-05 -7.12078229e-01] [-1.75106545e-04 1.81585692e-05 9.99999985e-01 -2.24253527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.14592 meters Centerline goodness : 0.997960 Centerline is valid? [True, True] Translation: X:299.08, Y:-0.72, Z:-2.26 [[ 9.99930826e-01 -1.17606698e-02 1.75286566e-04 2.99079627e+02] [ 1.17606701e-02 9.99930841e-01 -8.85184018e-07 -7.18205596e-01] [-1.75264033e-04 2.94661027e-06 9.99999985e-01 -2.25530030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.17591999999996 meters Centerline goodness : 0.924606 Centerline is valid? [True, False] Translation: X:299.08, Y:-0.71, Z:-2.25 [[ 9.99981618e-01 -3.42649803e-03 5.00234289e-03 2.99076318e+02] [ 3.48664344e-03 9.99921141e-01 -1.20646513e-02 -7.07227815e-01] [-4.96060891e-03 1.20818709e-02 9.99914707e-01 -2.25479241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.20592 meters Centerline goodness : 0.910270 Centerline is valid? [False, False] Translation: X:299.08, Y:-0.71, Z:-2.25 [[ 9.99987522e-01 6.56424213e-04 4.95224808e-03 2.99076497e+02] [-6.22063845e-04 9.99975747e-01 -6.93669014e-03 -7.11432719e-01] [-4.95668139e-03 6.93352297e-03 9.99963678e-01 -2.25490983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.23591999999996 meters Centerline goodness : 0.888140 Centerline is valid? [False, False] Translation: X:299.08, Y:-0.71, Z:-2.26 [[ 9.99982832e-01 -3.45453614e-03 4.73295897e-03 2.99077112e+02] [ 3.50871219e-03 9.99927872e-01 -1.14864686e-02 -7.09857290e-01] [-4.69293717e-03 1.15028780e-02 9.99922827e-01 -2.25508486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.26592 meters Centerline goodness : 0.949502 Centerline is valid? [False, False] Translation: X:299.08, Y:-0.72, Z:-2.26 [[ 9.99982966e-01 -3.59393165e-03 4.59907999e-03 2.99077452e+02] [ 3.64063176e-03 9.99941489e-01 -1.01864659e-02 -7.15806047e-01] [-4.56220143e-03 1.02030359e-02 9.99937540e-01 -2.25531489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.29591999999997 meters Centerline goodness : 0.870249 Centerline is valid? [False, False] Translation: X:299.08, Y:-0.72, Z:-2.26 [[ 9.99989917e-01 3.86217263e-04 4.47393884e-03 2.99077770e+02] [-3.65480454e-04 9.99989192e-01 -4.63491351e-03 -7.22194511e-01] [-4.47568057e-03 4.63323164e-03 9.99979251e-01 -2.25570884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.32592 meters Centerline goodness : 0.998160 Centerline is valid? [False, True] Translation: X:299.05, Y:-0.74, Z:-2.26 [[ 9.99979253e-01 2.56740037e-03 5.90779295e-03 2.99054982e+02] [-2.63518791e-03 9.99930455e-01 1.14952255e-02 -7.37745913e-01] [-5.87786925e-03 -1.15105552e-02 9.99916475e-01 -2.25627055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.35591999999997 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:299.09, Y:-0.73, Z:-2.26 [[ 9.99973250e-01 4.61554163e-03 5.67411967e-03 2.99087175e+02] [-4.61561530e-03 9.99989348e-01 -1.11417495e-07 -7.28912527e-01] [-5.67405974e-03 -2.60781391e-05 9.99983902e-01 -2.25748487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.38592 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:299.12, Y:-0.73, Z:-2.26 [[ 9.99958219e-01 7.16823150e-03 5.67247539e-03 2.99118938e+02] [-7.16789733e-03 9.99974307e-01 -7.92392487e-05 -7.30703397e-01] [-5.67289765e-03 3.85762168e-05 9.99983908e-01 -2.25538376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.41591999999997 meters Centerline goodness : 0.998958 Centerline is valid? [True, True] Translation: X:299.15, Y:-0.73, Z:-2.25 [[ 9.99920172e-01 1.12903909e-02 5.67236983e-03 2.99150414e+02] [-1.12900947e-02 9.99936261e-01 -8.42497880e-05 -7.33689386e-01] [-5.67295949e-03 2.02014702e-05 9.99983908e-01 -2.25288172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.44592 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:299.18, Y:-0.74, Z:-2.26 [[ 9.99884299e-01 1.41142518e-02 5.67238222e-03 2.99182135e+02] [-1.41140043e-02 9.99900389e-01 -8.36710851e-05 -7.35054618e-01] [-5.67299815e-03 3.60137734e-06 9.99983908e-01 -2.25529403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.47592 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:299.21, Y:-0.74, Z:-2.26 [[ 9.99829009e-01 1.76005270e-02 5.67228014e-03 2.99214507e+02] [-1.76003088e-02 9.99845099e-01 -8.83850384e-05 -7.37543265e-01] [-5.67295712e-03 -1.14639570e-05 9.99983909e-01 -2.25595214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.50591999999995 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:299.25, Y:-0.74, Z:-2.26 [[ 9.99757725e-01 2.12676553e-02 5.67249942e-03 2.99247162e+02] [-2.12675530e-02 9.99773817e-01 -7.83677492e-05 -7.38692959e-01] [-5.67288309e-03 -4.22914191e-05 9.99983908e-01 -2.25606006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.53592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.28, Y:-0.74, Z:-2.27 [[ 9.99584279e-01 2.82682848e-02 5.67214380e-03 2.99279556e+02] [-2.82682046e-02 9.99600370e-01 -9.43369729e-05 -7.37783091e-01] [-5.67254379e-03 -6.60435663e-05 9.99983909e-01 -2.27119885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.56591999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.31, Y:-0.74, Z:-2.25 [[ 9.99538008e-01 2.98597705e-02 5.67138036e-03 2.99310153e+02] [-2.98595241e-02 9.99554097e-01 -1.28129168e-04 -7.36378885e-01] [-5.67267739e-03 -4.12747452e-05 9.99983909e-01 -2.25343031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.59592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.34, Y:-0.73, Z:-2.27 [[ 9.99388391e-01 3.45061536e-02 5.67181203e-03 2.99341751e+02] [-3.45060898e-02 9.99404482e-01 -1.09141148e-04 -7.34825668e-01] [-5.67220040e-03 -8.66376592e-05 9.99983909e-01 -2.26829913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.62591999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.37, Y:-0.73, Z:-2.27 [[ 9.99124752e-01 4.14435009e-02 5.67150224e-03 2.99373135e+02] [-4.14434725e-02 9.99140843e-01 -1.22591727e-04 -7.29676290e-01] [-5.67171015e-03 -1.12562318e-04 9.99983909e-01 -2.26947405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.65592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:299.40, Y:-0.73, Z:-2.26 [[ 9.99113313e-01 4.17183381e-02 5.67162633e-03 2.99404192e+02] [-4.17183442e-02 9.99129404e-01 -1.17283278e-04 -7.26921808e-01] [-5.67158150e-03 -1.19431575e-04 9.99983909e-01 -2.25562506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.68591999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.44, Y:-0.72, Z:-2.27 [[ 9.98867423e-01 4.72408829e-02 5.67190137e-03 2.99435660e+02] [-4.72410449e-02 9.98883513e-01 -1.05485464e-04 -7.19943097e-01] [-5.67055199e-03 -1.62580554e-04 9.99983909e-01 -2.27145885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.71592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:299.47, Y:-0.72, Z:-2.26 [[ 9.98817720e-01 4.82804170e-02 5.67122492e-03 2.99467068e+02] [-4.82804334e-02 9.98833811e-01 -1.34094394e-04 -7.16565796e-01] [-5.67108534e-03 -1.39873340e-04 9.99983909e-01 -2.25504305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.74591999999996 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:299.50, Y:-0.71, Z:-2.25 [[ 9.98837459e-01 4.78703780e-02 5.67081117e-03 2.99497274e+02] [-4.78702888e-02 9.98853549e-01 -1.51534852e-04 -7.12706149e-01] [-5.67156390e-03 -1.20104682e-04 9.99983909e-01 -2.25286424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.77592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:299.53, Y:-0.70, Z:-2.25 [[ 9.98765172e-01 4.93554853e-02 5.67166691e-03 2.99530558e+02] [-4.93556240e-02 9.98781262e-01 -1.15590268e-04 -7.03271074e-01] [-5.67045965e-03 -1.64481126e-04 9.99983909e-01 -2.25495497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.80591999999996 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:299.56, Y:-0.70, Z:-2.26 [[ 9.98757132e-01 4.95180325e-02 5.67061629e-03 2.99562384e+02] [-4.95179246e-02 9.98773222e-01 -1.59510951e-04 -6.98371457e-01] [-5.67155838e-03 -1.21484451e-04 9.99983909e-01 -2.25876463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.83592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:299.59, Y:-0.69, Z:-2.26 [[ 9.98959061e-01 4.52618666e-02 5.67073719e-03 2.99593351e+02] [-4.52617187e-02 9.98975151e-01 -1.54471923e-04 -6.90883556e-01] [-5.67191723e-03 -1.02356184e-04 9.99983909e-01 -2.25624599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.86591999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.62, Y:-0.69, Z:-2.27 [[ 9.99108000e-01 4.18454761e-02 5.67097257e-03 2.99624674e+02] [-4.18453293e-02 9.99124090e-01 -1.44590876e-04 -6.88545295e-01] [-5.67205578e-03 -9.28418132e-05 9.99983909e-01 -2.27135930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.89592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.66, Y:-0.69, Z:-2.26 [[ 9.99260353e-01 3.80339999e-02 5.67119489e-03 2.99655942e+02] [-3.80338446e-02 9.99276442e-01 -1.35269888e-04 -6.86054003e-01] [-5.67223631e-03 -8.05275099e-05 9.99983909e-01 -2.26252365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.92591999999996 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:299.69, Y:-0.68, Z:-2.26 [[ 9.99454137e-01 3.25463957e-02 5.67099740e-03 2.99689652e+02] [-3.25461047e-02 9.99470225e-01 -1.43629457e-04 -6.80862951e-01] [-5.67266767e-03 -4.10178203e-05 9.99983909e-01 -2.25531667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.95592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:299.72, Y:-0.68, Z:-2.26 [[ 9.99609834e-01 2.73501911e-02 5.66985547e-03 2.99720387e+02] [-2.73495424e-02 9.99625913e-01 -1.91925912e-04 -6.79959371e-01] [-5.67298366e-03 3.67830762e-05 9.99983908e-01 -2.25760191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.98591999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.75, Y:-0.68, Z:-2.26 [[ 9.99786487e-01 1.98701925e-02 5.67056055e-03 2.99753967e+02] [-1.98695948e-02 9.99802567e-01 -1.61727681e-04 -6.78734589e-01] [-5.67265455e-03 4.90214101e-05 9.99983909e-01 -2.25902119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.01592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.78, Y:-0.68, Z:-2.28 [[ 9.99893868e-01 1.34203857e-02 5.66982457e-03 2.99783378e+02] [-1.34195058e-02 9.99909936e-01 -1.93211978e-04 -6.78531480e-01] [-5.67190690e-03 1.17105228e-04 9.99983908e-01 -2.27613488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.04591999999997 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:299.82, Y:-0.68, Z:-2.28 [[ 9.99943308e-01 9.01205610e-03 5.67124677e-03 2.99815610e+02] [-9.01145121e-03 9.99959387e-01 -1.32202524e-04 -6.78493030e-01] [-5.67220786e-03 8.10888657e-05 9.99983910e-01 -2.27626063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.07592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.85, Y:-0.68, Z:-2.28 [[ 9.99951464e-01 8.05649784e-03 5.67122972e-03 2.99847328e+02] [-8.05587347e-03 9.99967542e-01 -1.32929929e-04 -6.80326361e-01] [-5.67211660e-03 8.72367679e-05 9.99983910e-01 -2.27606416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.10591999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.88, Y:-0.68, Z:-2.28 [[ 9.99963710e-01 6.35732026e-03 5.67121295e-03 2.99879669e+02] [-6.35666454e-03 9.99979787e-01 -1.33641640e-04 -6.82353253e-01] [-5.67194792e-03 9.75867922e-05 9.99983910e-01 -2.27768310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.13592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:299.91, Y:-0.69, Z:-2.28 [[ 9.99978186e-01 3.38587097e-03 5.67119595e-03 2.99911696e+02] [-3.38516341e-03 9.99994261e-01 -1.34359033e-04 -6.86392005e-01] [-5.67161833e-03 1.15158178e-04 9.99983910e-01 -2.27783170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.16591999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.94, Y:-0.69, Z:-2.28 [[ 9.99982188e-01 1.86070543e-03 5.67117905e-03 2.99944885e+02] [-1.85996933e-03 9.99998261e-01 -1.35068897e-04 -6.89545638e-01] [-5.67142051e-03 1.24518272e-04 9.99983910e-01 -2.27885529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.19592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:299.97, Y:-0.70, Z:-2.26 [[ 9.99983884e-01 2.63905220e-04 5.67111062e-03 2.99974848e+02] [-2.63127497e-04 9.99999956e-01 -1.37883306e-04 -6.97418496e-01] [-5.67114676e-03 1.36388858e-04 9.99983910e-01 -2.26167221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.22592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:300.01, Y:-0.70, Z:-2.26 [[ 9.99982944e-01 1.39494435e-03 5.67149492e-03 3.00007181e+02] [-1.39427451e-03 9.99999021e-01 -1.22059995e-04 -7.01282414e-01] [-5.67165964e-03 1.14150292e-04 9.99983909e-01 -2.26251126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.25591999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.04, Y:-0.70, Z:-2.28 [[ 9.99983890e-01 -2.49240551e-04 5.67081328e-03 3.00037287e+02] [ 2.50093629e-04 9.99999958e-01 -1.49724576e-04 -7.03354277e-01] [-5.67077573e-03 1.51140398e-04 9.99983910e-01 -2.27840405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.28592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:300.07, Y:-0.71, Z:-2.28 [[ 9.99983050e-01 1.31837580e-03 5.67103704e-03 3.00069066e+02] [-1.31759902e-03 9.99999122e-01 -1.40706359e-04 -7.08363804e-01] [-5.67121756e-03 1.33231821e-04 9.99983910e-01 -2.27627107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.31591999999995 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:300.10, Y:-0.71, Z:-2.26 [[ 9.99977594e-01 3.55731872e-03 5.67069277e-03 3.00100078e+02] [-3.55649983e-03 9.99993664e-01 -1.54484830e-04 -7.11602289e-01] [-5.67120639e-03 1.34313551e-04 9.99983910e-01 -2.26283225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.34592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:300.13, Y:-0.72, Z:-2.26 [[ 9.99954708e-01 7.64358597e-03 5.67075854e-03 3.00131351e+02] [-7.64284770e-03 9.99970781e-01 -1.51848842e-04 -7.15731660e-01] [-5.67175352e-03 1.08501221e-04 9.99983910e-01 -2.26099682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.37591999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.16, Y:-0.72, Z:-2.28 [[ 9.99938290e-01 9.55268471e-03 5.67127561e-03 3.00163595e+02] [-9.55209391e-03 9.99954369e-01 -1.31252174e-04 -7.16484767e-01] [-5.67227064e-03 7.70715173e-05 9.99983910e-01 -2.27945009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.40592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:300.19, Y:-0.72, Z:-2.26 [[ 9.99899361e-01 1.30041907e-02 5.67095434e-03 3.00193242e+02] [-1.30035836e-02 9.99915439e-01 -1.43912066e-04 -7.18234527e-01] [-5.67234626e-03 7.01548543e-05 9.99983910e-01 -2.26020386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.43591999999995 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:300.22, Y:-0.72, Z:-2.26 [[ 9.99795248e-01 1.94241026e-02 5.67160111e-03 3.00224356e+02] [-1.94237446e-02 9.99811334e-01 -1.18203923e-04 -7.18443647e-01] [-5.67282708e-03 8.01598900e-06 9.99983909e-01 -2.26224231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.46592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:300.26, Y:-0.72, Z:-2.26 [[ 9.99732015e-01 2.24439758e-02 5.67144437e-03 3.00255701e+02] [-2.24436312e-02 9.99748102e-01 -1.24415251e-04 -7.17558677e-01] [-5.67280811e-03 -2.90589601e-06 9.99983909e-01 -2.26316376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.49591999999996 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:300.29, Y:-0.71, Z:-2.26 [[ 9.99589071e-01 2.80984010e-02 5.67169551e-03 3.00288453e+02] [-2.80982036e-02 9.99605161e-01 -1.14487314e-04 -7.14969193e-01] [-5.67267302e-03 -4.49241879e-05 9.99983909e-01 -2.26318528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.52592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.32, Y:-0.71, Z:-2.28 [[ 9.99502199e-01 3.10352713e-02 5.67157012e-03 3.00321252e+02] [-3.10350933e-02 9.99518288e-01 -1.19409992e-04 -7.14690281e-01] [-5.67254398e-03 -5.66671580e-05 9.99983909e-01 -2.28040490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.55591999999996 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:300.35, Y:-0.71, Z:-2.28 [[ 9.99402156e-01 3.41052931e-02 5.67091663e-03 3.00353172e+02] [-3.41050195e-02 9.99418244e-01 -1.44972877e-04 -7.13734779e-01] [-5.67256188e-03 -4.85205159e-05 9.99983910e-01 -2.27870194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.58592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.39, Y:-0.71, Z:-2.28 [[ 9.99260557e-01 3.80286756e-02 5.67089751e-03 3.00385114e+02] [-3.80284609e-02 9.99276646e-01 -1.45717050e-04 -7.09875090e-01] [-5.67233687e-03 -7.00462038e-05 9.99983910e-01 -2.27852913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.61591999999996 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:300.42, Y:-0.71, Z:-2.26 [[ 9.99227829e-01 3.88791299e-02 5.67087819e-03 3.00415634e+02] [-3.88789247e-02 9.99243918e-01 -1.46464968e-04 -7.08318205e-01] [-5.67228497e-03 -7.41257739e-05 9.99983910e-01 -2.26465899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.64592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:300.45, Y:-0.71, Z:-2.27 [[ 9.99106479e-01 4.18817044e-02 5.67160181e-03 3.00449106e+02] [-4.18817074e-02 9.99122569e-01 -1.18293888e-04 -7.05419290e-01] [-5.67157973e-03 -1.19348178e-04 9.99983909e-01 -2.26557818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.67591999999996 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:300.48, Y:-0.70, Z:-2.27 [[ 9.99114245e-01 4.16961143e-02 5.67087182e-03 3.00481132e+02] [-4.16959535e-02 9.99130335e-01 -1.46617818e-04 -7.03792908e-01] [-5.67205345e-03 -8.99644575e-05 9.99983910e-01 -2.26561823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.70592 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:300.49, Y:-0.71, Z:-2.26 [[ 9.99893473e-01 1.34492028e-02 5.67111126e-03 3.00489969e+02] [-1.34486402e-02 9.99909554e-01 -1.37339090e-04 -7.13597134e-01] [-5.67244543e-03 6.10557250e-05 9.99983910e-01 -2.26440751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.73591999999996 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:300.52, Y:-0.71, Z:-2.26 [[ 9.99837428e-01 1.71112573e-02 5.68531995e-03 3.00521766e+02] [-1.71137631e-02 9.99853472e-01 3.92381601e-04 -7.13535892e-01] [-5.67777275e-03 -4.89615030e-04 9.99983761e-01 -2.26459988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.76592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:300.57, Y:-0.70, Z:-2.26 [[ 9.98853717e-01 4.75279966e-02 5.68697865e-03 3.00571667e+02] [-4.75313139e-02 9.98869647e-01 4.49504820e-04 -6.98942364e-01] [-5.65918629e-03 -7.19299127e-04 9.99983728e-01 -2.26421286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.79591999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.60, Y:-0.70, Z:-2.27 [[ 9.98875257e-01 4.70755557e-02 5.66685216e-03 3.00604082e+02] [-4.70753983e-02 9.98891326e-01 -1.61236267e-04 -6.97381208e-01] [-5.66815976e-03 -1.05714405e-04 9.99983930e-01 -2.26522475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.82592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:300.64, Y:-0.69, Z:-2.27 [[ 9.98950112e-01 4.54594532e-02 5.66672476e-03 3.00636168e+02] [-4.54592480e-02 9.98966180e-01 -1.65071330e-04 -6.94229324e-01] [-5.66837044e-03 -9.27070232e-05 9.99983930e-01 -2.26598671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.85591999999997 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:300.67, Y:-0.69, Z:-2.27 [[ 9.98977684e-01 4.48494854e-02 5.66660198e-03 3.00668747e+02] [-4.48492496e-02 9.98993752e-01 -1.68740966e-04 -6.93132930e-01] [-5.66846792e-03 -8.55743873e-05 9.99983930e-01 -2.26535410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.88592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:300.70, Y:-0.69, Z:-2.26 [[ 9.99050247e-01 4.32029793e-02 5.66621104e-03 3.00700530e+02] [-4.32026507e-02 9.99066313e-01 -1.80433399e-04 -6.92116119e-01] [-5.66871584e-03 -6.45333046e-05 9.99983931e-01 -2.26490983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.91591999999997 meters Centerline goodness : 0.927640 Centerline is valid? [True, False] Translation: X:300.70, Y:-0.69, Z:-2.26 [[ 9.99633546e-01 2.63559774e-02 6.17547951e-03 3.00701297e+02] [-2.63722723e-02 9.99648882e-01 2.57223819e-03 -6.92984054e-01] [-6.10551734e-03 -2.73415701e-03 9.99977623e-01 -2.26491066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.94592 meters Centerline goodness : 0.851585 Centerline is valid? [False, False] Translation: X:300.71, Y:-0.70, Z:-2.27 [[ 9.99896243e-01 1.42769490e-02 1.91607987e-03 3.00706007e+02] [-1.42972056e-02 9.99837160e-01 1.10110348e-02 -7.00223767e-01] [-1.75856387e-03 -1.10372870e-02 9.99937541e-01 -2.26567543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.97592 meters Centerline goodness : 0.915445 Centerline is valid? [False, False] Translation: X:300.71, Y:-0.69, Z:-2.27 [[ 9.99981210e-01 5.90679259e-03 1.63972561e-03 3.00706670e+02] [-5.90699928e-03 9.99982546e-01 1.21234691e-04 -6.90226239e-01] [-1.63898088e-03 -1.30918271e-04 9.99998648e-01 -2.26657153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.00591999999995 meters Centerline goodness : 0.999602 Centerline is valid? [False, True] Translation: X:300.71, Y:-0.69, Z:-2.27 [[ 9.99981255e-01 5.93416710e-03 1.50864432e-03 3.00707054e+02] [-5.93350662e-03 9.99982299e-01 -4.41894037e-04 -6.87703219e-01] [-1.51123988e-03 4.32934203e-04 9.99998764e-01 -2.26674711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.03592 meters Centerline goodness : 0.796425 Centerline is valid? [True, False] Translation: X:300.71, Y:-0.69, Z:-2.27 [[ 9.99981412e-01 5.92727263e-03 1.42902609e-03 3.00707308e+02] [-5.92615931e-03 9.99982134e-01 -7.82053276e-04 -6.86218131e-01] [-1.43363601e-03 7.73570104e-04 9.99998673e-01 -2.26675201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.06591999999995 meters Centerline goodness : 0.777987 Centerline is valid? [False, False] Translation: X:300.71, Y:-0.68, Z:-2.27 [[ 9.99997415e-01 1.76954056e-03 1.42807270e-03 3.00707376e+02] [-1.76099879e-03 9.99980685e-01 -5.96058078e-03 -6.82128421e-01] [-1.43859260e-03 5.95805054e-03 9.99981216e-01 -2.26662042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.09592 meters Centerline goodness : 0.999553 Centerline is valid? [False, True] Translation: X:300.71, Y:-0.68, Z:-2.27 [[ 9.99996131e-01 -2.40097551e-03 1.40481783e-03 3.00707429e+02] [ 2.41592186e-03 9.99939447e-01 -1.07361878e-02 -6.79944536e-01] [-1.37895544e-03 1.07395402e-02 9.99941379e-01 -2.26634988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.12591999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.74, Y:-0.69, Z:-2.29 [[ 9.99980195e-01 -6.12674054e-03 1.43989813e-03 3.00738550e+02] [ 6.12678284e-03 9.99981231e-01 -2.49668145e-05 -6.90303796e-01] [-1.43971813e-03 3.37882631e-05 9.99998963e-01 -2.28533531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.15592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:300.77, Y:-0.69, Z:-2.27 [[ 9.99961113e-01 -8.70053752e-03 1.43996753e-03 3.00768057e+02] [ 8.70055375e-03 9.99962149e-01 -5.00747058e-06 -6.91374418e-01] [-1.43986946e-03 1.75357908e-05 9.99998963e-01 -2.26903145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.18591999999995 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:300.80, Y:-0.70, Z:-2.27 [[ 9.99925281e-01 -1.21391695e-02 1.43999618e-03 3.00799349e+02] [ 1.21391776e-02 9.99926317e-01 3.12947292e-06 -6.96567100e-01] [-1.43992806e-03 1.43511302e-05 9.99998963e-01 -2.27108501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.21592 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:300.83, Y:-0.70, Z:-2.27 [[ 9.99847758e-01 -1.73892964e-02 1.44000792e-03 3.00828060e+02] [ 1.73893057e-02 9.99848795e-01 6.03529466e-06 -6.99444090e-01] [-1.43989513e-03 1.90063621e-05 9.99998963e-01 -2.26868686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.24591999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.86, Y:-0.70, Z:-2.29 [[ 9.99885571e-01 -1.50589425e-02 1.44005774e-03 3.00862140e+02] [ 1.50589334e-02 9.99886608e-01 1.71857249e-05 -7.01077824e-01] [-1.44015325e-03 4.50197526e-06 9.99998963e-01 -2.28654056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.27592 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:300.89, Y:-0.71, Z:-2.27 [[ 9.99872557e-01 -1.58995770e-02 1.43993246e-03 3.00891671e+02] [ 1.58996040e-02 9.99873593e-01 -7.35217263e-06 -7.05405157e-01] [-1.43963354e-03 3.02455916e-05 9.99998963e-01 -2.26913378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.30591999999996 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:300.92, Y:-0.71, Z:-2.27 [[ 9.99896305e-01 -1.43284991e-02 1.43996981e-03 3.00924196e+02] [ 1.43285145e-02 9.99897342e-01 -3.94713675e-07 -7.08170463e-01] [-1.43981633e-03 2.10273010e-05 9.99998963e-01 -2.27168219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.33592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:300.96, Y:-0.71, Z:-2.29 [[ 9.99944393e-01 -1.04469104e-02 1.43997782e-03 3.00957356e+02] [ 1.04469198e-02 9.99945429e-01 9.87767732e-07 -7.11754908e-01] [-1.43990956e-03 1.40556200e-05 9.99998963e-01 -2.28823007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.36591999999996 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:300.99, Y:-0.71, Z:-2.27 [[ 9.99979974e-01 -6.16262373e-03 1.43991408e-03 3.00988135e+02] [ 6.16264322e-03 9.99981011e-01 -9.09923128e-06 -7.13284560e-01] [-1.43983066e-03 1.79727258e-05 9.99998963e-01 -2.27084448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.39592 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:301.02, Y:-0.71, Z:-2.27 [[ 9.99993339e-01 -3.35392292e-03 1.43993951e-03 3.01018962e+02] [ 3.35393373e-03 9.99994376e-01 -5.08707100e-06 -7.14408039e-01] [-1.43991435e-03 9.91649880e-06 9.99998963e-01 -2.26970601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.42591999999996 meters Centerline goodness : 0.998809 Centerline is valid? [True, True] Translation: X:301.05, Y:-0.72, Z:-2.27 [[ 9.99994234e-01 3.07545069e-03 1.43992424e-03 3.01049593e+02] [-3.07544305e-03 9.99995271e-01 -7.51687666e-06 -7.15838918e-01] [-1.43994055e-03 3.08842831e-06 9.99998963e-01 -2.26923087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.45592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:301.08, Y:-0.72, Z:-2.29 [[ 9.99989618e-01 4.32325560e-03 1.43991750e-03 3.01081045e+02] [-4.32324771e-03 9.99990655e-01 -8.59173939e-06 -7.16522213e-01] [-1.43994119e-03 2.36653014e-06 9.99998963e-01 -2.28884668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.48591999999996 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:301.11, Y:-0.72, Z:-2.27 [[ 9.99942264e-01 1.06487196e-02 1.43991424e-03 3.01112244e+02] [-1.06487175e-02 9.99943301e-01 -9.10728077e-06 -7.17016841e-01] [-1.43992958e-03 -6.22648507e-06 9.99998963e-01 -2.27068977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.51592 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:301.14, Y:-0.72, Z:-2.27 [[ 9.99929965e-01 1.17469696e-02 1.43990880e-03 3.01143400e+02] [-1.17469674e-02 9.99931002e-01 -9.97503937e-06 -7.17104193e-01] [-1.43992662e-03 -6.94022089e-06 9.99998963e-01 -2.27430567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.54591999999997 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:301.17, Y:-0.72, Z:-2.27 [[ 9.99907745e-01 1.35066044e-02 1.43992435e-03 3.01174214e+02] [-1.35066077e-02 9.99908782e-01 -7.45419704e-06 -7.16611076e-01] [-1.43989368e-03 -1.19949839e-05 9.99998963e-01 -2.27144551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.57592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:301.21, Y:-0.72, Z:-2.29 [[ 9.99851596e-01 1.71671796e-02 1.43991800e-03 3.01205695e+02] [-1.71671851e-02 9.99852633e-01 -8.48504894e-06 -7.15393678e-01] [-1.43985147e-03 -1.62355491e-05 9.99998963e-01 -2.28909028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.60591999999997 meters Centerline goodness : 0.999550 Centerline is valid? [True, True] Translation: X:301.24, Y:-0.71, Z:-2.27 [[ 9.99809792e-01 1.94500886e-02 1.43991526e-03 3.01236030e+02] [-1.94500960e-02 9.99810829e-01 -8.92659051e-06 -7.12707255e-01] [-1.43981649e-03 -1.90815974e-05 9.99998963e-01 -2.27485041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.63592 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:301.27, Y:-0.71, Z:-2.27 [[ 9.99760053e-01 2.18577899e-02 1.43994106e-03 3.01267581e+02] [-2.18578058e-02 9.99761090e-01 -4.69363779e-06 -7.10866107e-01] [-1.43969964e-03 -2.67814405e-05 9.99998963e-01 -2.27188207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.66591999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.30, Y:-0.71, Z:-2.29 [[ 9.99738065e-01 2.28413672e-02 1.43991115e-03 3.01298725e+02] [-2.28413772e-02 9.99739102e-01 -9.51391904e-06 -7.09860694e-01] [-1.43975279e-03 -2.33781266e-05 9.99998963e-01 -2.29040729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.69592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.33, Y:-0.71, Z:-2.29 [[ 9.99701544e-01 2.43874843e-02 1.43991407e-03 3.01329886e+02] [-2.43874965e-02 9.99702581e-01 -9.04945645e-06 -7.06553287e-01] [-1.43970650e-03 -2.60691437e-05 9.99998963e-01 -2.29048836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.72592 meters Centerline goodness : 0.998758 Centerline is valid? [True, True] Translation: X:301.36, Y:-0.70, Z:-2.27 [[ 9.99767768e-01 2.15020319e-02 1.43991347e-03 3.01358597e+02] [-2.15020411e-02 9.99768804e-01 -9.14314241e-06 -7.04946802e-01] [-1.43977717e-03 -2.18200595e-05 9.99998963e-01 -2.26995246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.75591999999995 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:301.39, Y:-0.70, Z:-2.27 [[ 9.99621208e-01 2.74839421e-02 1.44001365e-03 3.01391579e+02] [-2.74839809e-02 9.99622244e-01 7.12815857e-06 -6.98556477e-01] [-1.43927377e-03 -4.67027661e-05 9.99998963e-01 -2.27334383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.78592 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:301.42, Y:-0.70, Z:-2.27 [[ 9.99631523e-01 2.71061736e-02 1.43987211e-03 3.01421463e+02] [-2.71061803e-02 9.99632560e-01 -1.48142446e-05 -6.95700297e-01] [-1.43974460e-03 -2.42206473e-05 9.99998963e-01 -2.27491973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.81591999999995 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:301.45, Y:-0.69, Z:-2.28 [[ 9.99590448e-01 2.85808021e-02 1.43988770e-03 3.01451729e+02] [-2.85808140e-02 9.99591485e-01 -1.22796708e-05 -6.88755194e-01] [-1.43965045e-03 -2.88785210e-05 9.99998963e-01 -2.27755807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.84592 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:301.48, Y:-0.69, Z:-2.28 [[ 9.99613423e-01 2.77656336e-02 1.43988890e-03 3.01482345e+02] [-2.77656450e-02 9.99614460e-01 -1.20804033e-05 -6.85884065e-01] [-1.43966919e-03 -2.79037108e-05 9.99998963e-01 -2.27590635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.87591999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.51, Y:-0.68, Z:-2.29 [[ 9.99645354e-01 2.65912157e-02 1.43987921e-03 3.01512512e+02] [-2.65912235e-02 9.99646391e-01 -1.37426380e-05 -6.83543586e-01] [-1.43973548e-03 -2.45503856e-05 9.99998963e-01 -2.29178175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.90592 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:301.54, Y:-0.68, Z:-2.27 [[ 9.99759266e-01 2.18937798e-02 1.43991033e-03 3.01544114e+02] [-2.18937904e-02 9.99760302e-01 -8.41967192e-06 -6.79285572e-01] [-1.43974953e-03 -2.31074500e-05 9.99998963e-01 -2.27497874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.93591999999995 meters Centerline goodness : 0.919144 Centerline is valid? [True, False] Translation: X:301.55, Y:-0.68, Z:-2.27 [[ 9.99975770e-01 6.83122094e-03 1.33949974e-03 3.01545729e+02] [-6.83806399e-03 9.99963243e-01 5.17242492e-03 -6.82824500e-01] [-1.30411652e-03 -5.18145917e-03 9.99985726e-01 -2.27487945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.96592 meters Centerline goodness : 0.999653 Centerline is valid? [False, True] Translation: X:301.55, Y:-0.67, Z:-2.27 [[ 9.99995969e-01 2.59902959e-03 1.14354457e-03 3.01546375e+02] [-2.59783725e-03 9.99996082e-01 -1.04292231e-03 -6.74522521e-01] [-1.14625067e-03 1.03994736e-03 9.99998802e-01 -2.27499069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.99591999999996 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:301.58, Y:-0.67, Z:-2.28 [[ 9.99999249e-01 4.56773019e-04 1.13761371e-03 3.01577230e+02] [-4.56780554e-04 9.99999896e-01 6.36393355e-06 -6.73844931e-01] [-1.13761068e-03 -6.88356858e-06 9.99999353e-01 -2.27530900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.02592 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] Translation: X:301.61, Y:-0.67, Z:-2.28 [[ 9.99999241e-01 -4.72220533e-04 1.13764432e-03 3.01608775e+02] [ 4.72219723e-04 9.99999889e-01 9.80261537e-07 -6.71923338e-01] [-1.13764465e-03 -4.43042709e-07 9.99999353e-01 -2.27554300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.05591999999996 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:301.64, Y:-0.67, Z:-2.28 [[ 9.99999169e-01 -6.07018968e-04 1.13763773e-03 3.01640067e+02] [ 6.07016940e-04 9.99999816e-01 2.12839379e-06 -6.68945105e-01] [-1.13763881e-03 -1.43782665e-06 9.99999353e-01 -2.27779634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.08592 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:301.67, Y:-0.67, Z:-2.28 [[ 9.99999234e-01 -4.86983406e-04 1.13764981e-03 3.01671710e+02] [ 4.86983765e-04 9.99999881e-01 -3.89266134e-08 -6.68031374e-01] [-1.13764965e-03 5.92943569e-07 9.99999353e-01 -2.27836261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.11591999999996 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:301.70, Y:-0.67, Z:-2.28 [[ 9.99999353e-01 -1.18132559e-05 1.13763452e-03 3.01703245e+02] [ 1.18102943e-05 1.00000000e+00 2.61005705e-06 -6.65043155e-01] [-1.13763455e-03 -2.59661957e-06 9.99999353e-01 -2.27877785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.14592 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:301.73, Y:-0.66, Z:-2.28 [[ 9.99999336e-01 1.85720310e-04 1.13763270e-03 3.01733861e+02] [-1.85723760e-04 9.99999983e-01 2.92728526e-06 -6.62324184e-01] [-1.13763213e-03 -3.13856873e-06 9.99999353e-01 -2.27687537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.17591999999996 meters Centerline goodness : 0.999405 Centerline is valid? [True, True] Translation: X:301.76, Y:-0.66, Z:-2.28 [[ 9.99999191e-01 -5.69271419e-04 1.13765652e-03 3.01764835e+02] [ 5.69272987e-04 9.99999838e-01 -1.05459127e-06 -6.60432438e-01] [-1.13765573e-03 1.70222754e-06 9.99999353e-01 -2.27757624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.20592 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:301.80, Y:-0.66, Z:-2.28 [[ 9.99993321e-01 -3.47320943e-03 1.13765497e-03 3.01796522e+02] [ 3.47321260e-03 9.99993968e-01 -8.06257895e-07 -6.59758193e-01] [-1.13764531e-03 4.75757009e-06 9.99999353e-01 -2.27802950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.23591999999996 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:301.83, Y:-0.66, Z:-2.28 [[ 9.99981265e-01 -6.01452710e-03 1.13766487e-03 3.01828135e+02] [ 6.01453371e-03 9.99981913e-01 -2.38868950e-06 -6.59245148e-01] [-1.13762992e-03 9.23116845e-06 9.99999353e-01 -2.27799625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.26592 meters Centerline goodness : 0.998759 Centerline is valid? [True, True] Translation: X:301.86, Y:-0.66, Z:-2.28 [[ 9.99953326e-01 -9.59431485e-03 1.13764914e-03 3.01859038e+02] [ 9.59432089e-03 9.99953973e-01 1.44492499e-07 -6.56597245e-01] [-1.13759817e-03 1.07704852e-05 9.99999353e-01 -2.27741412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.29591999999997 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:301.89, Y:-0.66, Z:-2.28 [[ 9.99940934e-01 -1.08089583e-02 1.13764390e-03 3.01891143e+02] [ 1.08089642e-02 9.99941581e-01 9.81745110e-07 -6.55027605e-01] [-1.13758805e-03 1.13150650e-05 9.99999353e-01 -2.27651598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.32592 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:301.92, Y:-0.66, Z:-2.28 [[ 9.99860559e-01 -1.66603871e-02 1.13764780e-03 3.01922137e+02] [ 1.66603975e-02 9.99861206e-01 3.42896757e-07 -6.57018894e-01] [-1.13749561e-03 1.86108156e-05 9.99999353e-01 -2.27926642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.35591999999997 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:301.95, Y:-0.66, Z:-2.30 [[ 9.99803828e-01 -1.97739974e-02 1.13765809e-03 3.01952000e+02] [ 1.97740117e-02 9.99804475e-01 -1.36246998e-06 -6.56994351e-01] [-1.13740870e-03 2.38582670e-05 9.99999353e-01 -2.29638152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.38592 meters Centerline goodness : 0.998364 Centerline is valid? [True, True] Translation: X:301.98, Y:-0.66, Z:-2.28 [[ 9.99825316e-01 -1.86559019e-02 1.13760822e-03 3.01983681e+02] [ 1.86559061e-02 9.99825963e-01 6.88140326e-06 -6.57328631e-01] [-1.13753861e-03 1.43429109e-05 9.99999353e-01 -2.27754879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.41591999999997 meters Centerline goodness : 0.998016 Centerline is valid? [True, True] Translation: X:302.02, Y:-0.66, Z:-2.28 [[ 9.99758900e-01 -2.19282571e-02 1.13763964e-03 3.02015406e+02] [ 2.19282697e-02 9.99759547e-01 1.42348162e-06 -6.58022892e-01] [-1.13739731e-03 2.35233305e-05 9.99999353e-01 -2.27691241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.44592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:302.05, Y:-0.66, Z:-2.30 [[ 9.99685681e-01 -2.50448659e-02 1.13762233e-03 3.02047274e+02] [ 2.50448769e-02 9.99686328e-01 4.62612208e-06 -6.58680010e-01] [-1.13738135e-03 2.38669431e-05 9.99999353e-01 -2.29577913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.47592 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:302.08, Y:-0.66, Z:-2.29 [[ 9.99632250e-01 -2.70937283e-02 1.13761564e-03 3.02079730e+02] [ 2.70937391e-02 9.99632897e-01 5.91283987e-06 -6.63499299e-01] [-1.13735822e-03 2.49115959e-05 9.99999353e-01 -2.29496590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.50591999999995 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:302.11, Y:-0.67, Z:-2.30 [[ 9.99609785e-01 -2.79102942e-02 1.13761799e-03 3.02112756e+02] [ 2.79103061e-02 9.99610432e-01 5.42013788e-06 -6.66237351e-01] [-1.13732608e-03 2.63332434e-05 9.99999353e-01 -2.29516337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.53592 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:302.15, Y:-0.67, Z:-2.29 [[ 9.99512174e-01 -3.12108892e-02 1.13762041e-03 3.02146132e+02] [ 3.12109039e-02 9.99512821e-01 4.85190169e-06 -6.73796057e-01] [-1.13721762e-03 3.06566264e-05 9.99999353e-01 -2.29418124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.56591999999995 meters Centerline goodness : 0.997915 Centerline is valid? [True, True] Translation: X:302.18, Y:-0.68, Z:-2.28 [[ 9.99511629e-01 -3.12283532e-02 1.13762252e-03 3.02177988e+02] [ 3.12283685e-02 9.99512276e-01 4.29084394e-06 -6.78565165e-01] [-1.13720167e-03 3.12373470e-05 9.99999353e-01 -2.27756653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.59592 meters Centerline goodness : 0.998114 Centerline is valid? [True, True] Translation: X:302.21, Y:-0.68, Z:-2.28 [[ 9.99425585e-01 -3.38704136e-02 1.13763181e-03 3.02208738e+02] [ 3.38704335e-02 9.99426232e-01 1.80974422e-06 -6.82358375e-01] [-1.13704037e-03 3.67233780e-05 9.99999353e-01 -2.27942708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.62591999999995 meters Centerline goodness : 0.997909 Centerline is valid? [True, True] Translation: X:302.24, Y:-0.69, Z:-2.28 [[ 9.99483301e-01 -3.21222137e-02 1.13761284e-03 3.02241364e+02] [ 3.21222262e-02 9.99483948e-01 7.30178861e-06 -6.90707901e-01] [-1.13726033e-03 2.92446413e-05 9.99999353e-01 -2.27579061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.65592 meters Centerline goodness : 0.997909 Centerline is valid? [True, True] Translation: X:302.27, Y:-0.69, Z:-2.28 [[ 9.99490556e-01 -3.18956830e-02 1.13764628e-03 3.02273058e+02] [ 3.18957070e-02 9.99491202e-01 -2.94005207e-06 -6.90407938e-01] [-1.13697368e-03 3.92245868e-05 9.99999353e-01 -2.27582612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.68591999999995 meters Centerline goodness : 0.998312 Centerline is valid? [True, True] Translation: X:302.30, Y:-0.70, Z:-2.28 [[ 9.99524068e-01 -3.08276302e-02 1.13764610e-03 3.02301493e+02] [ 3.08276534e-02 9.99524715e-01 -2.88222173e-06 -7.01186932e-01] [-1.13701654e-03 3.79518097e-05 9.99999353e-01 -2.28041520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.71592 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:302.33, Y:-0.70, Z:-2.29 [[ 9.99623931e-01 -2.73989540e-02 1.13760232e-03 3.02334047e+02] [ 2.73989603e-02 9.99624578e-01 1.00833034e-05 -7.04030306e-01] [-1.13745151e-03 2.10896094e-05 9.99999353e-01 -2.29152325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.74591999999996 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:302.37, Y:-0.71, Z:-2.29 [[ 9.99740363e-01 -2.27576979e-02 1.13762162e-03 3.02366190e+02] [ 2.27577090e-02 9.99741010e-01 3.17930113e-06 -7.07018960e-01] [-1.13739934e-03 2.27111860e-05 9.99999353e-01 -2.29211507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.77592 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:302.40, Y:-0.71, Z:-2.29 [[ 9.99919970e-01 -1.25999740e-02 1.13762279e-03 3.02398769e+02] [ 1.25999791e-02 9.99920617e-01 2.68229501e-06 -7.12604703e-01] [-1.13756628e-03 1.16519430e-05 9.99999353e-01 -2.29196195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.80591999999996 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:302.43, Y:-0.71, Z:-2.29 [[ 9.99973279e-01 -7.22135207e-03 1.13762311e-03 3.02430156e+02] [ 7.22135385e-03 9.99973926e-01 2.53698630e-06 -7.14672116e-01] [-1.13761177e-03 5.67826053e-06 9.99999353e-01 -2.29087365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.83592 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:302.46, Y:-0.71, Z:-2.29 [[ 9.99994209e-01 3.20734105e-03 1.13762327e-03 3.02461581e+02] [-3.20734593e-03 9.99994856e-01 2.46358563e-06 -7.14450743e-01] [-1.13760952e-03 -6.11232273e-06 9.99999353e-01 -2.29112757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.86591999999996 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:302.49, Y:-0.71, Z:-2.29 [[ 9.99973444e-01 7.19842593e-03 1.13762343e-03 3.02492519e+02] [-7.19843330e-03 9.99974091e-01 2.38919801e-06 -7.12669165e-01] [-1.13757675e-03 -1.05782409e-05 9.99999353e-01 -2.28978610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.89592 meters Centerline goodness : 0.997914 Centerline is valid? [True, True] Translation: X:302.52, Y:-0.71, Z:-2.28 [[ 9.99822767e-01 1.87920454e-02 1.13762358e-03 3.02523651e+02] [-1.87920602e-02 9.99823414e-01 2.31437894e-06 -7.09968852e-01] [-1.13737920e-03 -2.36922595e-05 9.99999353e-01 -2.27803128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.92591999999996 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:302.55, Y:-0.71, Z:-2.29 [[ 9.99776860e-01 2.10935186e-02 1.13764542e-03 3.02552644e+02] [-2.10935225e-02 9.99777507e-01 -8.57447492e-06 -7.08141827e-01] [-1.13757317e-03 -1.54243876e-05 9.99999353e-01 -2.28924443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.95592 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:302.58, Y:-0.70, Z:-2.29 [[ 9.99596699e-01 2.83750786e-02 1.13762053e-03 3.02582725e+02] [-2.83750999e-02 9.99597346e-01 2.54577110e-06 -7.02144149e-01] [-1.13709023e-03 -3.48248407e-05 9.99999353e-01 -2.28804095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.98591999999996 meters Centerline goodness : 0.997915 Centerline is valid? [True, True] Translation: X:302.61, Y:-0.70, Z:-2.28 [[ 9.99505448e-01 3.14255627e-02 1.13762053e-03 3.02614233e+02] [-3.14255859e-02 9.99506094e-01 2.54577110e-06 -6.98120436e-01] [-1.13697865e-03 -3.82949039e-05 9.99999353e-01 -2.27824149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.01592 meters Centerline goodness : 0.997617 Centerline is valid? [True, True] Translation: X:302.64, Y:-0.69, Z:-2.27 [[ 9.99423521e-01 3.39312892e-02 1.13765379e-03 3.02644890e+02] [-3.39312992e-02 9.99424168e-01 -1.05692664e-05 -6.93348079e-01] [-1.13735732e-03 -2.80388976e-05 9.99999353e-01 -2.27440762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.04591999999997 meters Centerline goodness : 0.998460 Centerline is valid? [True, True] Translation: X:302.67, Y:-0.69, Z:-2.29 [[ 9.99311911e-01 3.70730523e-02 1.13766118e-03 3.02672705e+02] [-3.70730611e-02 9.99312558e-01 -1.33479287e-05 -6.86357799e-01] [-1.13737395e-03 -2.88378382e-05 9.99999353e-01 -2.28664915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.07592 meters Centerline goodness : 0.998412 Centerline is valid? [True, True] Translation: X:302.70, Y:-0.68, Z:-2.29 [[ 9.99277201e-01 3.79971231e-02 1.13760792e-03 3.02701963e+02] [-3.79971517e-02 9.99277847e-01 3.57946372e-06 -6.81942329e-01] [-1.13665038e-03 -4.68027371e-05 9.99999353e-01 -2.28653817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.10591999999997 meters Centerline goodness : 0.998211 Centerline is valid? [True, True] Translation: X:302.73, Y:-0.67, Z:-2.29 [[ 9.99211714e-01 3.96819371e-02 1.13760769e-03 3.02731430e+02] [-3.96819669e-02 9.99212361e-01 3.65138226e-06 -6.71691931e-01] [-1.13656677e-03 -4.87910145e-05 9.99999353e-01 -2.28684490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.13592 meters Centerline goodness : 0.997168 Centerline is valid? [True, True] Translation: X:302.76, Y:-0.67, Z:-2.28 [[ 9.99284849e-01 3.77954556e-02 1.13760745e-03 3.02760265e+02] [-3.77954843e-02 9.99285495e-01 3.72290203e-06 -6.67096573e-01] [-1.13665392e-03 -4.67166642e-05 9.99999353e-01 -2.27647700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.16591999999997 meters Centerline goodness : 0.996775 Centerline is valid? [True, True] Translation: X:302.77, Y:-0.67, Z:-2.28 [[ 9.99996936e-01 -2.19851518e-03 1.13759121e-03 3.02768995e+02] [ 2.19850713e-03 9.99997583e-01 8.31912498e-06 -6.73344283e-01] [-1.13760675e-03 -5.81809710e-06 9.99999353e-01 -2.28321708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.19592 meters Centerline goodness : 0.997567 Centerline is valid? [True, True] Translation: X:302.82, Y:-0.66, Z:-2.28 [[ 9.99227686e-01 3.92777009e-02 1.13715366e-03 3.02821462e+02] [-3.92778561e-02 9.99228321e-01 1.14463215e-04 -6.55286608e-01] [-1.13178029e-03 -1.59039771e-04 9.99999347e-01 -2.27830061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.22592 meters Centerline goodness : 0.998065 Centerline is valid? [True, True] Translation: X:302.85, Y:-0.65, Z:-2.29 [[ 9.99399126e-01 3.46423827e-02 1.13715255e-03 3.02850463e+02] [-3.46423978e-02 9.99399772e-01 -6.37153736e-06 -6.52026611e-01] [-1.13669072e-03 -3.30259821e-05 9.99999353e-01 -2.28606153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.25591999999995 meters Centerline goodness : 0.997916 Centerline is valid? [True, True] Translation: X:302.88, Y:-0.64, Z:-2.29 [[ 9.99624850e-01 2.73654367e-02 1.13715075e-03 3.02879726e+02] [-2.73654548e-02 9.99625496e-01 3.05947149e-07 -6.44195343e-01] [-1.13671651e-03 -3.14244799e-05 9.99999353e-01 -2.28515846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.28592 meters Centerline goodness : 0.996081 Centerline is valid? [True, True] Translation: X:302.91, Y:-0.64, Z:-2.27 [[ 9.99703905e-01 2.43065832e-02 1.13715042e-03 3.02910088e+02] [-2.43065998e-02 9.99704551e-01 7.83950871e-07 -6.40816143e-01] [-1.13679540e-03 -2.84239790e-05 9.99999353e-01 -2.27439290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.31591999999995 meters Centerline goodness : 0.998413 Centerline is valid? [True, True] Translation: X:302.94, Y:-0.64, Z:-2.29 [[ 9.99815358e-01 1.91822189e-02 1.13715649e-03 3.02938398e+02] [-1.91822241e-02 9.99816004e-01 -6.36346220e-06 -6.38886292e-01] [-1.13706932e-03 -1.54509034e-05 9.99999353e-01 -2.28612367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.34592 meters Centerline goodness : 0.996082 Centerline is valid? [True, True] Translation: X:302.97, Y:-0.64, Z:-2.27 [[ 9.99936780e-01 1.11866874e-02 1.13714553e-03 3.02968218e+02] [-1.11866964e-02 9.99937427e-01 1.57141761e-06 -6.36173063e-01] [-1.13705679e-03 -1.42922201e-05 9.99999353e-01 -2.27132715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.37591999999995 meters Centerline goodness : 0.997817 Centerline is valid? [True, True] Translation: X:303.00, Y:-0.64, Z:-2.29 [[ 9.99971616e-01 7.44811534e-03 1.13714297e-03 3.02999605e+02] [-7.44812373e-03 9.99972262e-01 3.14624817e-06 -6.35189486e-01] [-1.13708800e-03 -1.16157404e-05 9.99999353e-01 -2.28608822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.40592 meters Centerline goodness : 0.997117 Centerline is valid? [True, True] Translation: X:303.03, Y:-0.63, Z:-2.27 [[ 9.99997860e-01 1.72851267e-03 1.13714513e-03 3.03029653e+02] [-1.72851574e-03 9.99998506e-01 1.72191928e-06 -6.32709914e-01] [-1.13714046e-03 -3.68748886e-06 9.99999353e-01 -2.27292084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.43591999999995 meters Centerline goodness : 0.998511 Centerline is valid? [True, True] Translation: X:303.06, Y:-0.63, Z:-2.29 [[ 9.99998014e-01 -1.63665492e-03 1.13714434e-03 3.03061271e+02] [ 1.63665340e-03 9.99998661e-01 2.26687389e-06 -6.31877545e-01] [-1.13714653e-03 -4.05758233e-07 9.99999353e-01 -2.28692355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.46592 meters Centerline goodness : 0.997466 Centerline is valid? [True, True] Translation: X:303.09, Y:-0.63, Z:-2.27 [[ 9.99992531e-01 -3.69398942e-03 1.13714546e-03 3.03091814e+02] [ 3.69399043e-03 9.99993177e-01 1.21618656e-06 -6.33299918e-01] [-1.13714220e-03 2.98442698e-06 9.99999353e-01 -2.27289656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.49591999999996 meters Centerline goodness : 0.998809 Centerline is valid? [True, True] Translation: X:303.12, Y:-0.63, Z:-2.29 [[ 9.99988157e-01 -4.73202415e-03 1.13714452e-03 3.03123474e+02] [ 4.73202465e-03 9.99988804e-01 2.25418136e-06 -6.33516240e-01] [-1.13714245e-03 3.12684122e-06 9.99999353e-01 -2.28646610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.52592 meters Centerline goodness : 0.998363 Centerline is valid? [True, True] Translation: X:303.15, Y:-0.63, Z:-2.27 [[ 9.99994651e-01 -3.06666750e-03 1.13714544e-03 3.03154198e+02] [ 3.06666873e-03 9.99995298e-01 6.62399022e-07 -6.33461860e-01] [-1.13714213e-03 2.82485289e-06 9.99999353e-01 -2.27248548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.55591999999996 meters Centerline goodness : 0.823702 Centerline is valid? [True, False] Translation: X:303.18, Y:-0.63, Z:-2.27 [[ 9.99997363e-01 2.32857906e-04 -2.28484976e-03 3.03175626e+02] [-2.49891986e-04 9.99972159e-01 -7.45777838e-03 -6.25867388e-01] [ 2.28304954e-03 7.45832968e-03 9.99969580e-01 -2.26808599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.58592 meters Centerline goodness : 0.998806 Centerline is valid? [False, True] Translation: X:303.17, Y:-0.62, Z:-2.26 [[ 9.99997779e-01 -1.34864447e-03 -1.61941401e-03 3.03171549e+02] [ 1.33348164e-03 9.99955604e-01 -9.32801533e-03 -6.24220428e-01] [ 1.63192229e-03 9.32583515e-03 9.99955182e-01 -2.26424886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.61591999999996 meters Centerline goodness : 0.849375 Centerline is valid? [True, False] Translation: X:303.19, Y:-0.61, Z:-2.26 [[ 9.99977841e-01 -2.22483263e-03 -6.27442096e-03 3.03194945e+02] [ 2.08903242e-03 9.99765210e-01 -2.15675883e-02 -6.13279179e-01] [ 6.32093206e-03 2.15540029e-02 9.99747704e-01 -2.26038365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.64592 meters Centerline goodness : 0.998859 Centerline is valid? [False, True] Translation: X:303.20, Y:-0.61, Z:-2.27 [[ 9.99974061e-01 -1.50318679e-04 -7.20102314e-03 3.03200327e+02] [ 1.02889891e-05 9.99810988e-01 -1.94418963e-02 -6.13183648e-01] [ 7.20258454e-03 1.94413179e-02 9.99785056e-01 -2.26518099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.67591999999996 meters Centerline goodness : 0.998958 Centerline is valid? [True, True] Translation: X:303.23, Y:-0.63, Z:-2.27 [[ 9.99972895e-01 1.32293228e-03 -7.24287251e-03 3.03229459e+02] [-1.32292488e-03 9.99999125e-01 5.81335652e-06 -6.27428483e-01] [ 7.24287386e-03 3.76857729e-06 9.99973770e-01 -2.26651911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.70592 meters Centerline goodness : 0.998610 Centerline is valid? [True, True] Translation: X:303.26, Y:-0.63, Z:-2.26 [[ 9.99971938e-01 1.91446325e-03 -7.24284290e-03 3.03259001e+02] [-1.91456401e-03 9.99998167e-01 -6.97878083e-06 -6.26439049e-01] [ 7.24281626e-03 2.08454714e-05 9.99973770e-01 -2.26328291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.73591999999996 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] Translation: X:303.29, Y:-0.63, Z:-2.28 [[ 9.99973595e-01 -5.90135363e-04 -7.24293710e-03 3.03287909e+02] [ 5.90357477e-04 9.99999825e-01 2.85283209e-05 -6.25467496e-01] [ 7.24291900e-03 -3.28034897e-05 9.99973769e-01 -2.27714109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.76592 meters Centerline goodness : 0.998810 Centerline is valid? [True, True] Translation: X:303.32, Y:-0.62, Z:-2.26 [[ 9.99973739e-01 -2.52824569e-04 -7.24279671e-03 3.03318082e+02] [ 2.52681491e-04 9.99999968e-01 -2.06695334e-05 -6.23369505e-01] [ 7.24280170e-03 1.88388699e-05 9.99973770e-01 -2.26327034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.79591999999997 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:303.35, Y:-0.62, Z:-2.28 [[ 9.99970881e-01 -2.40388349e-03 -7.24284942e-03 3.03347565e+02] [ 2.40392031e-03 9.99997111e-01 -3.62212096e-06 -6.17311519e-01] [ 7.24283720e-03 -1.37892173e-05 9.99973770e-01 -2.27776789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.82592 meters Centerline goodness : 0.998513 Centerline is valid? [True, True] Translation: X:303.38, Y:-0.61, Z:-2.26 [[ 9.99967975e-01 -3.40447417e-03 -7.24278362e-03 3.03377195e+02] [ 3.40439169e-03 9.99994205e-01 -2.37169231e-05 -6.13239336e-01] [ 7.24282239e-03 -9.41108773e-07 9.99973770e-01 -2.26279326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.85591999999997 meters Centerline goodness : 0.998463 Centerline is valid? [True, True] Translation: X:303.41, Y:-0.61, Z:-2.27 [[ 9.99968396e-01 -3.27858813e-03 -7.24279890e-03 3.03407525e+02] [ 3.27853484e-03 9.99994625e-01 -1.92303643e-05 -6.12167558e-01] [ 7.24282302e-03 -4.51601195e-06 9.99973770e-01 -2.26748966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.88592 meters Centerline goodness : 0.998017 Centerline is valid? [True, True] Translation: X:303.44, Y:-0.61, Z:-2.26 [[ 9.99953485e-01 -6.36924225e-03 -7.24290551e-03 3.03435820e+02] [ 6.36948189e-03 9.99979715e-01 1.00192047e-05 -6.11698947e-01] [ 7.24269477e-03 -5.61522942e-05 9.99973770e-01 -2.26397555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.91591999999997 meters Centerline goodness : 0.998958 Centerline is valid? [True, True] Translation: X:303.47, Y:-0.61, Z:-2.28 [[ 9.99916684e-01 -1.06848976e-02 -7.24273447e-03 3.03465449e+02] [ 1.06849345e-02 9.99942914e-01 -3.35887888e-05 -6.08837932e-01] [ 7.24267990e-03 -4.38021534e-05 9.99973770e-01 -2.27768937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.94592 meters Centerline goodness : 0.997520 Centerline is valid? [True, True] Translation: X:303.49, Y:-0.61, Z:-2.26 [[ 9.99893498e-01 -1.26702524e-02 -7.24275218e-03 3.03494939e+02] [ 1.26703733e-02 9.99919727e-01 -2.91948147e-05 -6.09009548e-01] [ 7.24254069e-03 -6.25766683e-05 9.99973771e-01 -2.26054441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.97592 meters Centerline goodness : 0.998759 Centerline is valid? [True, True] Translation: X:303.53, Y:-0.61, Z:-2.28 [[ 9.99771411e-01 -2.01163853e-02 -7.24269637e-03 3.03525431e+02] [ 2.01166064e-02 9.99797640e-01 -4.23248806e-05 -6.11057738e-01] [ 7.24208216e-03 -1.03383267e-04 9.99973770e-01 -2.27708506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.00591999999995 meters Centerline goodness : 0.997522 Centerline is valid? [True, True] Translation: X:303.55, Y:-0.61, Z:-2.26 [[ 9.99727769e-01 -2.21795291e-02 -7.24274535e-03 3.03554972e+02] [ 2.21798877e-02 9.99753996e-01 -3.08119921e-05 -6.13329274e-01] [ 7.24164700e-03 -1.29839675e-04 9.99973771e-01 -2.26150995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.03592 meters Centerline goodness : 0.997469 Centerline is valid? [True, True] Translation: X:303.58, Y:-0.62, Z:-2.26 [[ 9.99430067e-01 -3.29709665e-02 -7.24266798e-03 3.03581105e+02] [ 3.29714798e-02 9.99456292e-01 -4.85403209e-05 -6.17280584e-01] [ 7.24033050e-03 -1.90288825e-04 9.99973770e-01 -2.26180982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.06591999999995 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:303.62, Y:-0.62, Z:-2.28 [[ 9.99535647e-01 -2.95980473e-02 -7.24200949e-03 3.03615311e+02] [ 2.95974681e-02 9.99561881e-01 -1.87173116e-04 -6.18245716e-01] [ 7.24437659e-03 -2.72589432e-05 9.99973759e-01 -2.27514249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.09592 meters Centerline goodness : 0.997520 Centerline is valid? [True, True] Translation: X:303.64, Y:-0.62, Z:-2.26 [[ 9.99513559e-01 -3.03346399e-02 -7.24263601e-03 3.03642809e+02] [ 3.03352284e-02 9.99539781e-01 -2.86136282e-05 -6.22094821e-01] [ 7.24017079e-03 -1.91107308e-04 9.99973771e-01 -2.25687170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.12591999999995 meters Centerline goodness : 0.997615 Centerline is valid? [True, True] Translation: X:303.67, Y:-0.62, Z:-2.26 [[ 9.99567190e-01 -2.85128257e-02 -7.24237900e-03 3.03672018e+02] [ 2.85129066e-02 9.99593420e-01 -9.20955048e-05 -6.22766450e-01] [ 7.24206030e-03 -1.14445631e-04 9.99973769e-01 -2.25793501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.15592 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] Translation: X:303.70, Y:-0.62, Z:-2.27 [[ 9.99650090e-01 -2.54410143e-02 -7.24240768e-03 3.03704283e+02] [ 2.54410708e-02 9.99676320e-01 -8.43459063e-05 -6.23554622e-01] [ 7.24220931e-03 -9.99382137e-05 9.99973770e-01 -2.27366987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.18591999999995 meters Centerline goodness : 0.998857 Centerline is valid? [True, True] Translation: X:303.73, Y:-0.63, Z:-2.27 [[ 9.99760804e-01 -2.06368479e-02 -7.24261120e-03 3.03732689e+02] [ 2.06372101e-02 9.99787030e-01 -2.47195194e-05 -6.25180396e-01] [ 7.24157888e-03 -1.24753683e-04 9.99973772e-01 -2.27339129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.21592 meters Centerline goodness : 0.998662 Centerline is valid? [True, True] Translation: X:303.76, Y:-0.63, Z:-2.27 [[ 9.99804468e-01 -1.84002979e-02 -7.24260807e-03 3.03761834e+02] [ 1.84005951e-02 9.99830694e-01 -2.56068340e-05 -6.25897936e-01] [ 7.24185303e-03 -1.07666471e-04 9.99973772e-01 -2.27346763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.24591999999996 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:303.79, Y:-0.62, Z:-2.27 [[ 9.99850823e-01 -1.56804396e-02 -7.24260479e-03 3.03790246e+02] [ 1.56806590e-02 9.99877051e-01 -2.65030272e-05 -6.24171799e-01] [ 7.24212989e-03 -8.70697422e-05 9.99973772e-01 -2.27223672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.27592 meters Centerline goodness : 0.997619 Centerline is valid? [True, True] Translation: X:303.82, Y:-0.62, Z:-2.26 [[ 9.99892297e-01 -1.27647545e-02 -7.24260139e-03 3.03820697e+02] [ 1.27648909e-02 9.99918525e-01 -2.74015018e-05 -6.22365378e-01] [ 7.24236107e-03 -6.50524657e-05 9.99973772e-01 -2.25830028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.30591999999996 meters Centerline goodness : 0.891915 Centerline is valid? [True, False] Translation: X:303.82, Y:-0.61, Z:-2.26 [[ 9.99993183e-01 -3.68268851e-03 2.66974070e-04 3.03817297e+02] [ 3.68530639e-03 9.99937272e-01 -1.05769344e-02 -6.10039617e-01] [-2.28005769e-04 1.05778461e-02 9.99944027e-01 -2.25788980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.33592 meters Centerline goodness : 0.999008 Centerline is valid? [False, True] Translation: X:303.84, Y:-0.60, Z:-2.25 [[ 9.99983027e-01 1.72682023e-03 -5.56458767e-03 3.03838246e+02] [-1.80140615e-03 9.99908236e-01 -1.34266567e-02 -6.04723526e-01] [ 5.54089161e-03 1.34364528e-02 9.99894375e-01 -2.25378508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.36591999999996 meters Centerline goodness : 0.997571 Centerline is valid? [True, True] Translation: X:303.87, Y:-0.61, Z:-2.24 [[ 9.99977491e-01 3.90126796e-03 -5.45878111e-03 3.03865489e+02] [-3.90109091e-03 9.99992390e-01 4.30801663e-05 -6.12733016e-01] [ 5.45890763e-03 -2.17839952e-05 9.99985100e-01 -2.24223184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.39592 meters Centerline goodness : 0.996720 Centerline is valid? [True, True] Translation: X:303.89, Y:-0.61, Z:-2.24 [[ 9.99972927e-01 4.93397314e-03 -5.45900007e-03 3.03893889e+02] [-4.93396850e-03 9.99987828e-01 1.43180176e-05 -6.09752006e-01] [ 5.45900427e-03 1.26169044e-05 9.99985099e-01 -2.24005547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.42591999999996 meters Centerline goodness : 0.998463 Centerline is valid? [True, True] Translation: X:303.92, Y:-0.61, Z:-2.25 [[ 9.99974096e-01 4.69108939e-03 -5.45897554e-03 3.03924712e+02] [-4.69106335e-03 9.99988997e-01 1.75733284e-05 -6.07910690e-01] [ 5.45899792e-03 8.03552690e-06 9.99985100e-01 -2.25389081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.45592 meters Centerline goodness : 0.998811 Centerline is valid? [True, True] Translation: X:303.95, Y:-0.61, Z:-2.25 [[ 9.99975749e-01 4.32467090e-03 -5.45880109e-03 3.03952184e+02] [-4.32451222e-03 9.99990648e-01 4.08727673e-05 -6.05741625e-01] [ 5.45892680e-03 -1.72651241e-05 9.99985100e-01 -2.25391331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.48591999999996 meters Centerline goodness : 0.998066 Centerline is valid? [True, True] Translation: X:303.98, Y:-0.60, Z:-2.24 [[ 9.99971920e-01 5.13418846e-03 -5.45882050e-03 3.03981903e+02] [-5.13405703e-03 9.99986820e-01 3.80908146e-05 -6.04308325e-01] [ 5.45894412e-03 -1.00638493e-05 9.99985100e-01 -2.24280045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.51592 meters Centerline goodness : 0.998810 Centerline is valid? [True, True] Translation: X:304.01, Y:-0.60, Z:-2.25 [[ 9.99979701e-01 3.28655120e-03 -5.45865799e-03 3.04010756e+02] [-3.28626125e-03 9.99994598e-01 6.20844050e-05 -5.99872340e-01] [ 5.45883255e-03 -4.41445684e-05 9.99985099e-01 -2.25206919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.54591999999997 meters Centerline goodness : 0.998810 Centerline is valid? [True, True] Translation: X:304.04, Y:-0.60, Z:-2.25 [[ 9.99981247e-01 2.77600810e-03 -5.45883157e-03 3.04039157e+02] [-2.77585808e-03 9.99996147e-01 3.50580733e-05 -6.00348165e-01] [ 5.45890785e-03 -1.99044742e-05 9.99985100e-01 -2.25191023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.57592 meters Centerline goodness : 0.998662 Centerline is valid? [True, True] Translation: X:304.07, Y:-0.60, Z:-2.25 [[ 9.99983625e-01 1.71756428e-03 -5.45884804e-03 3.04067558e+02] [-1.71741370e-03 9.99998525e-01 3.22718054e-05 -5.98219498e-01] [ 5.45889541e-03 -2.28961765e-05 9.99985100e-01 -2.25124858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.60591999999997 meters Centerline goodness : 0.998712 Centerline is valid? [True, True] Translation: X:304.10, Y:-0.60, Z:-2.25 [[ 9.99984539e-01 1.05981920e-03 -5.45885399e-03 3.04096395e+02] [-1.05966450e-03 9.99999438e-01 3.12320741e-05 -5.96444311e-01] [ 5.45888402e-03 -2.54470375e-05 9.99985100e-01 -2.25138904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.63592 meters Centerline goodness : 0.997820 Centerline is valid? [True, True] Translation: X:304.13, Y:-0.59, Z:-2.24 [[ 9.99984294e-01 1.27023651e-03 -5.45885787e-03 3.04127681e+02] [-1.27008873e-03 9.99999193e-01 3.05379337e-05 -5.93016784e-01] [ 5.45889226e-03 -2.36042202e-05 9.99985100e-01 -2.23906523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.66591999999997 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:304.16, Y:-0.59, Z:-2.25 [[ 9.99982359e-01 -2.34218866e-03 -5.45857475e-03 3.04155278e+02] [ 2.34267241e-03 9.99997253e-01 8.22301190e-05 -5.91851478e-01] [ 5.45836716e-03 -9.50163209e-05 9.99985098e-01 -2.24860486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.69592 meters Centerline goodness : 0.997320 Centerline is valid? [True, True] Translation: X:304.19, Y:-0.59, Z:-2.24 [[ 9.99979914e-01 -3.22072736e-03 -5.45885416e-03 3.04186568e+02] [ 3.22092961e-03 9.99994812e-01 2.82590361e-05 -5.91659883e-01] [ 5.45873482e-03 -4.58410535e-05 9.99985100e-01 -2.23731229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.72592 meters Centerline goodness : 0.998315 Centerline is valid? [True, True] Translation: X:304.21, Y:-0.59, Z:-2.25 [[ 9.99963654e-01 -6.54943177e-03 -5.45862107e-03 3.04214403e+02] [ 6.54992250e-03 9.99978546e-01 7.20279429e-05 -5.91975754e-01] [ 5.45803222e-03 -1.07778870e-04 9.99985099e-01 -2.24801304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.75591999999995 meters Centerline goodness : 0.998413 Centerline is valid? [True, True] Translation: X:304.24, Y:-0.59, Z:-2.25 [[ 9.99951222e-01 -8.23132066e-03 -5.45884259e-03 3.04242917e+02] [ 8.23158875e-03 9.99966120e-01 2.66450398e-05 -5.88842172e-01] [ 5.45843832e-03 -7.15786874e-05 9.99985100e-01 -2.24710509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.78592 meters Centerline goodness : 0.998712 Centerline is valid? [True, True] Translation: X:304.27, Y:-0.59, Z:-2.25 [[ 9.99946721e-01 -8.76103437e-03 -5.45884583e-03 3.04271934e+02] [ 8.76130664e-03 9.99961619e-01 2.59652506e-05 -5.87262286e-01] [ 5.45840882e-03 -7.37904894e-05 9.99985100e-01 -2.24811772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.81591999999995 meters Centerline goodness : 0.998413 Centerline is valid? [True, True] Translation: X:304.30, Y:-0.59, Z:-2.25 [[ 9.99936278e-01 -9.88136012e-03 -5.45884897e-03 3.04300752e+02] [ 9.88164537e-03 9.99951175e-01 2.52854610e-05 -5.86889703e-01] [ 5.45833259e-03 -7.92262594e-05 9.99985100e-01 -2.24876763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.84592 meters Centerline goodness : 0.998266 Centerline is valid? [True, True] Translation: X:304.33, Y:-0.59, Z:-2.25 [[ 9.99929010e-01 -1.05912655e-02 -5.45885200e-03 3.04329840e+02] [ 1.05915576e-02 9.99943908e-01 2.46136603e-05 -5.87392170e-01] [ 5.45828511e-03 -8.24296586e-05 9.99985100e-01 -2.24734473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.87591999999995 meters Centerline goodness : 0.998513 Centerline is valid? [True, True] Translation: X:304.36, Y:-0.59, Z:-2.25 [[ 9.99913081e-01 -1.20013107e-02 -5.45885690e-03 3.04358164e+02] [ 1.20016177e-02 9.99927978e-01 2.34738992e-05 -5.87380823e-01] [ 5.45818203e-03 -8.89869723e-05 9.99985100e-01 -2.24696103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.90592 meters Centerline goodness : 0.998709 Centerline is valid? [True, True] Translation: X:304.39, Y:-0.59, Z:-2.25 [[ 9.99863977e-01 -1.55636923e-02 -5.45885976e-03 3.04387180e+02] [ 1.55640485e-02 9.99878873e-01 2.27885940e-05 -5.87851261e-01] [ 5.45784387e-03 -1.07747453e-04 9.99985100e-01 -2.24642535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.93591999999995 meters Centerline goodness : 0.998363 Centerline is valid? [True, True] Translation: X:304.42, Y:-0.59, Z:-2.25 [[ 9.99840471e-01 -1.70068528e-02 -5.45886249e-03 3.04416263e+02] [ 1.70072269e-02 9.99855366e-01 2.21167921e-05 -5.88695030e-01] [ 5.45769681e-03 -1.14953377e-04 9.99985100e-01 -2.24541032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.96592 meters Centerline goodness : 0.998512 Centerline is valid? [True, True] Translation: X:304.44, Y:-0.59, Z:-2.25 [[ 9.99823788e-01 -1.79609083e-02 -5.45886509e-03 3.04444873e+02] [ 1.79612930e-02 9.99838683e-01 2.14538588e-05 -5.90997197e-01] [ 5.45759915e-03 -1.19498354e-04 9.99985100e-01 -2.24572667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.99591999999996 meters Centerline goodness : 0.997715 Centerline is valid? [True, True] Translation: X:304.48, Y:-0.59, Z:-2.23 [[ 9.99885929e-01 -1.40829355e-02 -5.45886762e-03 3.04476659e+02] [ 1.40832588e-02 9.99900826e-01 2.07893839e-05 -5.92111086e-01] [ 5.45803347e-03 -9.76656579e-05 9.99985100e-01 -2.23373071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.02592 meters Centerline goodness : 0.998711 Centerline is valid? [True, True] Translation: X:304.50, Y:-0.59, Z:-2.25 [[ 9.99828398e-01 -1.77025032e-02 -5.45861431e-03 3.04504892e+02] [ 1.77032426e-02 9.99843282e-01 8.71615715e-05 -5.94149558e-01] [ 5.45621587e-03 -1.83781788e-04 9.99985098e-01 -2.24735632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.05591999999996 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:304.53, Y:-0.60, Z:-2.25 [[ 9.99828360e-01 -1.77045390e-02 -5.45885206e-03 3.04533336e+02] [ 1.77049068e-02 9.99843256e-01 1.90544147e-05 -5.97449140e-01] [ 5.45765907e-03 -1.15699611e-04 9.99985100e-01 -2.24646168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.08592 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:304.56, Y:-0.60, Z:-2.25 [[ 9.99804428e-01 -1.90080775e-02 -5.45885428e-03 3.04562298e+02] [ 1.90084611e-02 9.99819323e-01 1.83945438e-05 -6.01223062e-01] [ 5.45751835e-03 -1.22155365e-04 9.99985100e-01 -2.24807455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.11591999999996 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:304.59, Y:-0.60, Z:-2.25 [[ 9.99793755e-01 -1.95614148e-02 -5.45885644e-03 3.04591235e+02] [ 1.95618030e-02 9.99808649e-01 1.77314968e-05 -6.03109369e-01] [ 5.45746503e-03 -1.24512914e-04 9.99985100e-01 -2.24787318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.14592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:304.62, Y:-0.61, Z:-2.25 [[ 9.99765911e-01 -2.09362129e-02 -5.45885801e-03 3.04619794e+02] [ 2.09366189e-02 9.99780805e-01 1.72320055e-05 -6.05243793e-01] [ 5.45730068e-03 -1.31518001e-04 9.99985100e-01 -2.24790413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.17591999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.65, Y:-0.61, Z:-2.25 [[ 9.99760948e-01 -2.11718780e-02 -5.45886006e-03 3.04648887e+02] [ 2.11722838e-02 9.99775842e-01 1.65570307e-05 -6.06612114e-01] [ 5.45728587e-03 -1.32129607e-04 9.99985100e-01 -2.24761964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.20592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.68, Y:-0.61, Z:-2.25 [[ 9.99791168e-01 -1.96931956e-02 -5.45886199e-03 3.04677682e+02] [ 1.96935758e-02 9.99806063e-01 1.58940978e-05 -6.08624198e-01] [ 5.45749031e-03 -1.23395291e-04 9.99985100e-01 -2.24694586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.23591999999996 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:304.71, Y:-0.61, Z:-2.25 [[ 9.99826582e-01 -1.78046551e-02 -5.45886383e-03 3.04706528e+02] [ 1.78050036e-02 9.99841478e-01 1.52362130e-05 -6.10798648e-01] [ 5.45772720e-03 -1.12428661e-04 9.99985100e-01 -2.24707081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.26592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:304.74, Y:-0.61, Z:-2.23 [[ 9.99874254e-01 -1.48888209e-02 -5.45886561e-03 3.04736206e+02] [ 1.48891222e-02 9.99889151e-01 1.45686343e-05 -6.11075800e-01] [ 5.45804359e-03 -9.58445196e-05 9.99985100e-01 -2.23406552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.29591999999997 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:304.77, Y:-0.61, Z:-2.25 [[ 9.99898961e-01 -1.31251246e-02 -5.45886959e-03 3.04766531e+02] [ 1.31253916e-02 9.99913858e-01 1.30824323e-05 -6.10642181e-01] [ 5.45822764e-03 -8.47309113e-05 9.99985100e-01 -2.24691773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.32592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:304.80, Y:-0.61, Z:-2.25 [[ 9.99935944e-01 -9.91506355e-03 -5.45886581e-03 3.04795557e+02] [ 9.91529045e-03 9.99950842e-01 1.45027060e-05 -6.10016955e-01] [ 5.45845367e-03 -6.86280171e-05 9.99985100e-01 -2.24706036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.35591999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.82, Y:-0.61, Z:-2.25 [[ 9.99939155e-01 -9.58576486e-03 -5.45886755e-03 3.04824071e+02] [ 9.58598311e-03 9.99954053e-01 1.38162620e-05 -6.09661647e-01] [ 5.45848429e-03 -6.61440335e-05 9.99985100e-01 -2.24556086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.38592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:304.85, Y:-0.61, Z:-2.25 [[ 9.99918089e-01 -1.15765290e-02 -5.45886919e-03 3.04852983e+02] [ 1.15767732e-02 9.99932987e-01 1.31358501e-05 -6.09413415e-01] [ 5.45835130e-03 -7.63308646e-05 9.99985100e-01 -2.24541516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.41591999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.88, Y:-0.61, Z:-2.24 [[ 9.99888587e-01 -1.38929723e-02 -5.45887075e-03 3.04881350e+02] [ 1.38932473e-02 9.99903484e-01 1.24521829e-05 -6.09715158e-01] [ 5.45817088e-03 -8.82922366e-05 9.99985100e-01 -2.24482050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.44592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.91, Y:-0.61, Z:-2.25 [[ 9.99808316e-01 -1.88024222e-02 -5.45887222e-03 3.04909961e+02] [ 1.88027666e-02 9.99823212e-01 1.17701469e-05 -6.11608527e-01] [ 5.45768585e-03 -1.14409791e-04 9.99985100e-01 -2.24509965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.47592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:304.94, Y:-0.61, Z:-2.23 [[ 9.99766110e-01 -2.09266903e-02 -5.45887358e-03 3.04939102e+02] [ 2.09270627e-02 9.99781005e-01 1.10999190e-05 -6.13588679e-01] [ 5.45744583e-03 -1.25335513e-04 9.99985100e-01 -2.23020226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.50591999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.97, Y:-0.62, Z:-2.24 [[ 9.99667589e-01 -2.51974392e-02 -5.45890652e-03 3.04970123e+02] [ 2.51977828e-02 9.99682485e-01 -5.84101976e-06 -6.16301782e-01] [ 5.45732041e-03 -1.31713262e-04 9.99985100e-01 -2.24416452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.53592 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:305.00, Y:-0.62, Z:-2.23 [[ 9.99612257e-01 -2.73044992e-02 -5.45887305e-03 3.04998588e+02] [ 2.73049656e-02 9.99627150e-01 1.09090304e-05 -6.18347597e-01] [ 5.45653984e-03 -1.59959141e-04 9.99985100e-01 -2.22881224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.56591999999995 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:305.03, Y:-0.62, Z:-2.24 [[ 9.99592288e-01 -2.80260180e-02 -5.45895055e-03 3.05031126e+02] [ 2.80262689e-02 9.99607187e-01 -3.05368458e-05 -6.22898262e-01] [ 5.45766203e-03 -1.22469621e-04 9.99985099e-01 -2.24391882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.59592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:305.06, Y:-0.63, Z:-2.24 [[ 9.99576266e-01 -2.85917770e-02 -5.45885691e-03 3.05061079e+02] [ 2.85922686e-02 9.99591157e-01 1.20141480e-05 -6.25787227e-01] [ 5.45628159e-03 -1.68090160e-04 9.99985100e-01 -2.24261663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.62591999999995 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:305.09, Y:-0.63, Z:-2.24 [[ 9.99558097e-01 -2.92200383e-02 -5.45885760e-03 3.05091108e+02] [ 2.92205375e-02 9.99572989e-01 1.16894829e-05 -6.27982117e-01] [ 5.45618504e-03 -1.71195070e-04 9.99985100e-01 -2.24289092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.65592 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:305.12, Y:-0.63, Z:-2.24 [[ 9.99557099e-01 -2.92541653e-02 -5.45885828e-03 3.05121006e+02] [ 2.92546632e-02 9.99571991e-01 1.13627647e-05 -6.30471137e-01] [ 5.45618943e-03 -1.71054793e-04 9.99985100e-01 -2.24385985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.68591999999995 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:305.15, Y:-0.64, Z:-2.24 [[ 9.99559631e-01 -2.91675343e-02 -5.45885895e-03 3.05150241e+02] [ 2.91680291e-02 9.99574522e-01 1.10358158e-05 -6.35663474e-01] [ 5.45621444e-03 -1.70255113e-04 9.99985100e-01 -2.24364066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.71592 meters Centerline goodness : 0.998907 Centerline is valid? [True, True] Translation: X:305.18, Y:-0.64, Z:-2.24 [[ 9.99587302e-01 -2.82033035e-02 -5.45885989e-03 3.05179326e+02] [ 2.82037813e-02 9.99602194e-01 1.05458943e-05 -6.40596066e-01] [ 5.45639090e-03 -1.64502033e-04 9.99985100e-01 -2.24404829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.74591999999996 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:305.21, Y:-0.64, Z:-2.24 [[ 9.99617156e-01 -2.71245538e-02 -5.45886109e-03 3.05208266e+02] [ 2.71250118e-02 9.99632049e-01 9.88189626e-06 -6.43147983e-01] [ 5.45658446e-03 -1.57949785e-04 9.99985100e-01 -2.24433237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.77592 meters Centerline goodness : 0.997765 Centerline is valid? [True, True] Translation: X:305.24, Y:-0.65, Z:-2.23 [[ 9.99656374e-01 -2.56385456e-02 -5.45886221e-03 3.05236702e+02] [ 2.56389779e-02 9.99671267e-01 9.22343131e-06 -6.48694350e-01] [ 5.45683122e-03 -1.49179910e-04 9.99985100e-01 -2.22762090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.80591999999996 meters Centerline goodness : 0.998612 Centerline is valid? [True, True] Translation: X:305.27, Y:-0.65, Z:-2.24 [[ 9.99757304e-01 -2.13432040e-02 -5.45896723e-03 3.05269936e+02] [ 2.13431818e-02 9.99772206e-01 -6.23414854e-05 -6.50266974e-01] [ 5.45905428e-03 -5.41853745e-05 9.99985098e-01 -2.24295945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.83592 meters Centerline goodness : 0.997369 Centerline is valid? [True, True] Translation: X:305.30, Y:-0.65, Z:-2.23 [[ 9.99782305e-01 -2.01381133e-02 -5.45882188e-03 3.05298159e+02] [ 2.01384726e-02 9.99797200e-01 1.08427414e-05 -6.54374488e-01] [ 5.45749648e-03 -1.20772716e-04 9.99985100e-01 -2.22605318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.86591999999996 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:305.33, Y:-0.66, Z:-2.24 [[ 9.99846531e-01 -1.66467602e-02 -5.45890611e-03 3.05330398e+02] [ 1.66468166e-02 9.99861432e-01 -3.51056575e-05 -6.56710165e-01] [ 5.45873407e-03 -5.57731388e-05 9.99985099e-01 -2.24141598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.89592 meters Centerline goodness : 0.998612 Centerline is valid? [True, True] Translation: X:305.36, Y:-0.66, Z:-2.24 [[ 9.99883258e-01 -1.42713538e-02 -5.45880677e-03 3.05358971e+02] [ 1.42716298e-02 9.99898155e-01 1.16089183e-05 -6.59211832e-01] [ 5.45808514e-03 -8.95136326e-05 9.99985101e-01 -2.24120274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.92591999999996 meters Centerline goodness : 0.998561 Centerline is valid? [True, True] Translation: X:305.39, Y:-0.66, Z:-2.24 [[ 9.99933963e-01 -1.01129229e-02 -5.45880814e-03 3.05388084e+02] [ 1.01131332e-02 9.99948861e-01 1.09224818e-05 -6.62957531e-01] [ 5.45841853e-03 -6.61274142e-05 9.99985101e-01 -2.24011285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.95592 meters Centerline goodness : 0.998015 Centerline is valid? [True, True] Translation: X:305.42, Y:-0.66, Z:-2.23 [[ 9.99936583e-01 -9.85044708e-03 -5.45880945e-03 3.05416533e+02] [ 9.85064967e-03 9.99951481e-01 1.02271799e-05 -6.64187076e-01] [ 5.45844385e-03 -6.39993508e-05 9.99985101e-01 -2.22963868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.98591999999996 meters Centerline goodness : 0.997520 Centerline is valid? [True, True] Translation: X:305.45, Y:-0.67, Z:-2.22 [[ 9.99963749e-01 -6.53460880e-03 -5.45887556e-03 3.05446295e+02] [ 6.53456837e-03 9.99978649e-01 -2.52412531e-05 -6.68326051e-01] [ 5.45892395e-03 -1.04310575e-05 9.99985100e-01 -2.22456352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.01592 meters Centerline goodness : 0.997321 Centerline is valid? [True, True] Translation: X:305.47, Y:-0.67, Z:-2.22 [[ 9.99965774e-01 -6.21708100e-03 -5.45886409e-03 3.05474353e+02] [ 6.21707026e-03 9.99980674e-01 -1.89368308e-05 -6.70813531e-01] [ 5.45887632e-03 -1.50019589e-05 9.99985100e-01 -2.22396584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.04591999999997 meters Centerline goodness : 0.997369 Centerline is valid? [True, True] Translation: X:305.50, Y:-0.67, Z:-2.23 [[ 9.99974174e-01 -4.67453743e-03 -5.45891768e-03 3.05503596e+02] [ 4.67437075e-03 9.99989074e-01 -4.32923526e-05 -6.73044802e-01] [ 5.45906041e-03 1.77742295e-05 9.99985099e-01 -2.22748165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.07592 meters Centerline goodness : 0.998462 Centerline is valid? [True, True] Translation: X:305.54, Y:-0.67, Z:-2.24 [[ 9.99985039e-01 -3.50256348e-04 -5.45893132e-03 3.05536332e+02] [ 3.49996519e-04 9.99999938e-01 -4.85521891e-05 -6.72360803e-01] [ 5.45894799e-03 4.66408558e-05 9.99985099e-01 -2.24050188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.10591999999997 meters Centerline goodness : 0.997167 Centerline is valid? [True, True] Translation: X:305.56, Y:-0.67, Z:-2.23 [[ 9.99980847e-01 -2.91679424e-03 -5.45873731e-03 3.05562712e+02] [ 2.91692681e-03 9.99995746e-01 1.63248391e-05 -6.72382903e-01] [ 5.45866647e-03 -3.22472636e-05 9.99985101e-01 -2.22752044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.13592 meters Centerline goodness : 0.998462 Centerline is valid? [True, True] Translation: X:305.60, Y:-0.67, Z:-2.24 [[ 9.99974906e-01 4.51518191e-03 -5.45897291e-03 3.05595989e+02] [-4.51560608e-03 9.99989802e-01 -6.53783396e-05 -6.73304410e-01] [ 5.45862204e-03 9.00272703e-05 9.99985098e-01 -2.23980451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.16591999999997 meters Centerline goodness : 0.998461 Centerline is valid? [True, True] Translation: X:305.63, Y:-0.67, Z:-2.24 [[ 9.99973672e-01 4.78097793e-03 -5.45869081e-03 3.05625209e+02] [-4.78094880e-03 9.99988571e-01 1.83847011e-05 -6.74715316e-01] [ 5.45871632e-03 7.71350427e-06 9.99985101e-01 -2.23913083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.19592 meters Centerline goodness : 0.998313 Centerline is valid? [True, True] Translation: X:305.65, Y:-0.67, Z:-2.24 [[ 9.99977988e-01 3.77163259e-03 -5.45869807e-03 3.05654369e+02] [-3.77160203e-03 9.99992887e-01 1.58925182e-05 -6.74793577e-01] [ 5.45871919e-03 4.69586836e-06 9.99985101e-01 -2.23934516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.22592 meters Centerline goodness : 0.998562 Centerline is valid? [True, True] Translation: X:305.68, Y:-0.68, Z:-2.24 [[ 9.99980463e-01 3.04582526e-03 -5.45870426e-03 3.05683681e+02] [-3.04579769e-03 9.99995361e-01 1.33646273e-05 -6.75410076e-01] [ 5.45871965e-03 3.26174267e-06 9.99985101e-01 -2.24052447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.25591999999995 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:305.71, Y:-0.68, Z:-2.24 [[ 9.99983983e-01 1.49509559e-03 -5.45870897e-03 3.05712621e+02] [-1.49505763e-03 9.99998882e-01 1.10354916e-05 -6.76684475e-01] [ 5.45871937e-03 -2.87423036e-06 9.99985101e-01 -2.24025805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.28592 meters Centerline goodness : 0.998562 Centerline is valid? [True, True] Translation: X:305.74, Y:-0.68, Z:-2.24 [[ 9.99982917e-01 -2.09014338e-03 -5.45871032e-03 3.05741384e+02] [ 2.09023087e-03 9.99997815e-01 1.03229984e-05 -6.79866428e-01] [ 5.45867681e-03 -2.17327868e-05 9.99985101e-01 -2.23913886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.31591999999995 meters Centerline goodness : 0.998411 Centerline is valid? [True, True] Translation: X:305.77, Y:-0.68, Z:-2.24 [[ 9.99972248e-01 -5.07016216e-03 -5.45871157e-03 3.05769195e+02] [ 5.07029016e-03 9.99987146e-01 9.61037231e-06 -6.80697706e-01] [ 5.45859268e-03 -3.72873572e-05 9.99985101e-01 -2.23741789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.34592 meters Centerline goodness : 0.998459 Centerline is valid? [True, True] Translation: X:305.80, Y:-0.68, Z:-2.24 [[ 9.99961555e-01 -6.86230362e-03 -5.45871322e-03 3.05798227e+02] [ 6.86245256e-03 9.99976453e-01 8.55550796e-06 -6.82046253e-01] [ 5.45852598e-03 -4.60153396e-05 9.99985101e-01 -2.23801020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.37591999999995 meters Centerline goodness : 0.996620 Centerline is valid? [True, True] Translation: X:305.82, Y:-0.68, Z:-2.22 [[ 9.99915097e-01 -1.18321914e-02 -5.45871423e-03 3.05824778e+02] [ 1.18324106e-02 9.99929995e-01 7.85285313e-06 -6.83877765e-01] [ 5.45823918e-03 -7.24419344e-05 9.99985101e-01 -2.22212171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.40592 meters Centerline goodness : 0.998709 Centerline is valid? [True, True] Translation: X:305.86, Y:-0.69, Z:-2.24 [[ 9.99952907e-01 -8.02400293e-03 -5.45886186e-03 3.05859317e+02] [ 8.02362269e-03 9.99967806e-01 -9.15523001e-05 -6.85607007e-01] [ 5.45942073e-03 4.77481408e-05 9.99985096e-01 -2.23741577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.43591999999995 meters Centerline goodness : 0.998211 Centerline is valid? [True, True] Translation: X:305.89, Y:-0.69, Z:-2.24 [[ 9.99948645e-01 -8.53873368e-03 -5.45866005e-03 3.05887409e+02] [ 8.53891967e-03 9.99963543e-01 1.07678403e-05 -6.88998423e-01] [ 5.45836910e-03 -5.73783470e-05 9.99985101e-01 -2.23694806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.46592 meters Centerline goodness : 0.998211 Centerline is valid? [True, True] Translation: X:305.92, Y:-0.69, Z:-2.24 [[ 9.99947539e-01 -8.66725741e-03 -5.45866191e-03 3.05916724e+02] [ 8.66743964e-03 9.99962437e-01 9.72658680e-06 -6.89084288e-01] [ 5.45837256e-03 -5.70386991e-05 9.99985101e-01 -2.23678797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.49591999999996 meters Centerline goodness : 0.998412 Centerline is valid? [True, True] Translation: X:305.95, Y:-0.69, Z:-2.24 [[ 9.99943460e-01 -9.12582227e-03 -5.45866307e-03 3.05945671e+02] [ 9.12600750e-03 9.99958357e-01 9.02500319e-06 -6.92651667e-01] [ 5.45835339e-03 -5.88402930e-05 9.99985101e-01 -2.23701435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.52592 meters Centerline goodness : 0.998064 Centerline is valid? [True, True] Translation: X:305.97, Y:-0.69, Z:-2.24 [[ 9.99940415e-01 -9.45357888e-03 -5.45866414e-03 3.05974875e+02] [ 9.45376516e-03 9.99955312e-01 8.32354741e-06 -6.94548038e-01] [ 5.45834151e-03 -5.99279803e-05 9.99985101e-01 -2.23700050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.55591999999996 meters Centerline goodness : 0.996864 Centerline is valid? [True, True] Translation: X:306.00, Y:-0.70, Z:-2.22 [[ 9.99928948e-01 -1.05972956e-02 -5.45866511e-03 3.06001799e+02] [ 1.05974951e-02 9.99943845e-01 7.62433698e-06 -6.96323319e-01] [ 5.45827778e-03 -6.54719719e-05 9.99985101e-01 -2.22188147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.58592 meters Centerline goodness : 0.998610 Centerline is valid? [True, True] Translation: X:306.03, Y:-0.70, Z:-2.24 [[ 9.99941473e-01 -9.34094426e-03 -5.45873262e-03 3.06033820e+02] [ 9.34079074e-03 9.99956372e-01 -5.36180162e-05 -7.00450280e-01] [ 5.45899531e-03 2.62599898e-06 9.99985100e-01 -2.23647755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.61591999999996 meters Centerline goodness : 0.998610 Centerline is valid? [True, True] Translation: X:306.06, Y:-0.70, Z:-2.24 [[ 9.99934820e-01 -1.00278783e-02 -5.45864265e-03 3.06062390e+02] [ 1.00280712e-02 9.99949718e-01 7.97473984e-06 -7.03009317e-01] [ 5.45828820e-03 -6.27138773e-05 9.99985101e-01 -2.23685054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.64592 meters Centerline goodness : 0.998412 Centerline is valid? [True, True] Translation: X:306.09, Y:-0.71, Z:-2.24 [[ 9.99931565e-01 -1.03473961e-02 -5.45864357e-03 3.06091552e+02] [ 1.03475900e-02 9.99946462e-01 7.27998077e-06 -7.09572816e-01] [ 5.45827600e-03 -6.37632885e-05 9.99985101e-01 -2.23573511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.67591999999996 meters Centerline goodness : 0.997916 Centerline is valid? [True, True] Translation: X:306.12, Y:-0.71, Z:-2.22 [[ 9.99932051e-01 -1.03003567e-02 -5.45864441e-03 3.06120593e+02] [ 1.03005461e-02 9.99946948e-01 6.58690642e-06 -7.12759644e-01] [ 5.45828697e-03 -6.28134774e-05 9.99985101e-01 -2.22401715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.70592 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:306.15, Y:-0.72, Z:-2.24 [[ 9.99953196e-01 -7.98808446e-03 -5.45867349e-03 3.06152393e+02] [ 7.98808646e-03 9.99968094e-01 -2.14352857e-05 -7.15684815e-01] [ 5.45867055e-03 -2.21700733e-05 9.99985101e-01 -2.23632652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.73591999999996 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:306.18, Y:-0.72, Z:-2.23 [[ 9.99974763e-01 -4.54712149e-03 -5.45864166e-03 3.06181369e+02] [ 4.54722346e-03 9.99989661e-01 6.27071380e-06 -7.19620158e-01] [ 5.45855671e-03 -3.10922190e-05 9.99985101e-01 -2.23465967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.76592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:306.21, Y:-0.72, Z:-2.23 [[ 9.99980928e-01 -2.88924564e-03 -5.45864238e-03 3.06209803e+02] [ 2.88931905e-03 9.99995826e-01 5.56338781e-06 -7.21971518e-01] [ 5.45860352e-03 -2.13350411e-05 9.99985101e-01 -2.23426912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.79591999999997 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:306.24, Y:-0.73, Z:-2.22 [[ 9.99984672e-01 9.26713919e-04 -5.45864326e-03 3.06238534e+02] [-9.26703197e-04 9.99999571e-01 4.49355438e-06 -7.27024593e-01] [ 5.45864508e-03 5.65056663e-07 9.99985101e-01 -2.22054568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.82592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.27, Y:-0.73, Z:-2.22 [[ 9.99977922e-01 3.78933934e-03 -5.45865515e-03 3.06267253e+02] [-3.78950511e-03 9.99992820e-01 -2.00264694e-05 -7.28499863e-01] [ 5.45854007e-03 4.07116288e-05 9.99985101e-01 -2.21885306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.85591999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.30, Y:-0.73, Z:-2.23 [[ 9.99939454e-01 9.55464703e-03 -5.45865072e-03 3.06298172e+02] [-9.55483083e-03 9.99954352e-01 -7.59286902e-06 -7.29817386e-01] [ 5.45832899e-03 5.97488935e-05 9.99985101e-01 -2.23027784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.88592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:306.33, Y:-0.73, Z:-2.23 [[ 9.99919812e-01 1.14268858e-02 -5.45864893e-03 3.06326254e+02] [-1.14270500e-02 9.99934709e-01 1.11860100e-06 -7.30461240e-01] [ 5.45830532e-03 6.12577429e-05 9.99985101e-01 -2.23021044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.91591999999997 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:306.36, Y:-0.73, Z:-2.22 [[ 9.99900308e-01 1.30221770e-02 -5.45864797e-03 3.06355563e+02] [-1.30223809e-02 9.99915205e-01 -1.80694180e-06 -7.30153689e-01] [ 5.45816157e-03 7.28913547e-05 9.99985101e-01 -2.21659664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.94592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.39, Y:-0.73, Z:-2.23 [[ 9.99831863e-01 1.75056642e-02 -5.45864160e-03 3.06385826e+02] [-1.75059977e-02 9.99846758e-01 -1.33221934e-05 -7.28019215e-01] [ 5.45757190e-03 1.08878921e-04 9.99985101e-01 -2.23013293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.97592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.41, Y:-0.72, Z:-2.23 [[ 9.99790810e-01 1.97114026e-02 -5.45864852e-03 3.06413326e+02] [-1.97117187e-02 9.99805705e-01 -4.09293995e-06 -7.24352785e-01] [ 5.45750726e-03 1.11691428e-04 9.99985101e-01 -2.23095896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.00591999999995 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:306.44, Y:-0.72, Z:-2.22 [[ 9.99791867e-01 1.96577090e-02 -5.45864485e-03 3.06443837e+02] [-1.96580399e-02 9.99806762e-01 -6.97158934e-06 -7.22867642e-01] [ 5.45745298e-03 1.14276397e-04 9.99985101e-01 -2.21774348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.03592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:306.47, Y:-0.72, Z:-2.22 [[ 9.99791356e-01 1.96836855e-02 -5.45867957e-03 3.06473441e+02] [-1.96838898e-02 9.99806253e-01 1.62977875e-05 -7.21496176e-01] [ 5.45794277e-03 9.11536600e-05 9.99985101e-01 -2.21593313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.06591999999995 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:306.50, Y:-0.72, Z:-2.22 [[ 9.99822604e-01 1.80267448e-02 -5.45870062e-03 3.06502826e+02] [-1.80268693e-02 9.99837502e-01 2.64003996e-05 -7.17162841e-01] [ 5.45828951e-03 7.20075664e-05 9.99985101e-01 -2.21645966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.09592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.53, Y:-0.71, Z:-2.23 [[ 9.99829411e-01 1.76451486e-02 -5.45866285e-03 3.06531880e+02] [-1.76453549e-02 9.99844309e-01 1.03809270e-05 -7.14761164e-01] [ 5.45799616e-03 8.59408871e-05 9.99985101e-01 -2.22896385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.12591999999995 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:306.56, Y:-0.71, Z:-2.22 [[ 9.99826847e-01 1.77898741e-02 -5.45859286e-03 3.06561943e+02] [-1.77902212e-02 9.99841741e-01 -1.50333622e-05 -7.09009397e-01] [ 5.45746155e-03 1.12140333e-04 9.99985102e-01 -2.21688457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.15592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:306.59, Y:-0.71, Z:-2.22 [[ 9.99841318e-01 1.69570263e-02 -5.45869654e-03 3.06589663e+02] [-1.69571684e-02 9.99856217e-01 2.02592822e-05 -7.06152431e-01] [ 5.45825521e-03 7.23079689e-05 9.99985101e-01 -2.21957273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.18591999999995 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:306.62, Y:-0.70, Z:-2.22 [[ 9.99880958e-01 1.44316543e-02 -5.45864992e-03 3.06617543e+02] [-1.44318328e-02 9.99895856e-01 6.68695751e-06 -7.00513750e-01] [ 5.45817794e-03 7.20921617e-05 9.99985101e-01 -2.21743382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.21592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:306.65, Y:-0.70, Z:-2.22 [[ 9.99883351e-01 1.42649036e-02 -5.45860372e-03 3.06646971e+02] [-1.42651446e-02 9.99898248e-01 -5.21901786e-06 -6.98516040e-01] [ 5.45797384e-03 8.30861805e-05 9.99985102e-01 -2.21762207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.24591999999996 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:306.67, Y:-0.70, Z:-2.22 [[ 9.99920235e-01 1.13897209e-02 -5.45867697e-03 3.06674495e+02] [-1.13898227e-02 9.99935134e-01 1.24502919e-05 -6.97705133e-01] [ 5.45846469e-03 4.97240638e-05 9.99985101e-01 -2.21751111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.27592 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:306.70, Y:-0.69, Z:-2.22 [[ 9.99967054e-01 6.00798402e-03 -5.45857141e-03 3.06701968e+02] [-6.00812539e-03 9.99981951e-01 -9.50076358e-06 -6.94966171e-01] [ 5.45841581e-03 4.22962321e-05 9.99985102e-01 -2.21775288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.30591999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.73, Y:-0.69, Z:-2.23 [[ 9.99984949e-01 -5.52959798e-04 -5.45848770e-03 3.06732121e+02] [ 5.52826825e-04 9.99999847e-01 -2.58695157e-05 -6.93776547e-01] [ 5.45850117e-03 2.28515279e-05 9.99985102e-01 -2.23307560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.33592 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:306.76, Y:-0.69, Z:-2.22 [[ 9.99980163e-01 -3.14299996e-03 -5.45847750e-03 3.06761207e+02] [ 3.14289466e-03 9.99995061e-01 -2.78675619e-05 -6.94868200e-01] [ 5.45853813e-03 1.07115893e-05 9.99985102e-01 -2.21870959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.36591999999996 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:306.79, Y:-0.70, Z:-2.22 [[ 9.99967567e-01 -5.92198025e-03 -5.45845965e-03 3.06790350e+02] [ 5.92189733e-03 9.99982465e-01 -3.13534697e-05 -6.96501591e-01] [ 5.45854961e-03 -9.71984795e-07 9.99985102e-01 -2.21887122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.39592 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:306.82, Y:-0.70, Z:-2.22 [[ 9.99968726e-01 -5.72297052e-03 -5.45839918e-03 3.06820232e+02] [ 5.72282280e-03 9.99983624e-01 -4.26800705e-05 -6.98313001e-01] [ 5.45855405e-03 1.14412844e-05 9.99985102e-01 -2.21951237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.42591999999996 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:306.85, Y:-0.70, Z:-2.23 [[ 9.99967711e-01 -5.89764130e-03 -5.45848065e-03 3.06850646e+02] [ 5.89757971e-03 9.99982609e-01 -2.73797955e-05 -6.98663719e-01] [ 5.45854720e-03 -4.81291333e-06 9.99985102e-01 -2.23442754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.45592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:306.88, Y:-0.70, Z:-2.22 [[ 9.99982204e-01 -2.40769182e-03 -5.45847226e-03 3.06879742e+02] [ 2.40756959e-03 9.99997101e-01 -2.89621959e-05 -6.99809283e-01] [ 5.45852617e-03 1.58200287e-05 9.99985102e-01 -2.21955322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.48591999999996 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:306.91, Y:-0.70, Z:-2.24 [[ 9.99983571e-01 -1.74992334e-03 -5.45848064e-03 3.06909904e+02] [ 1.74979979e-03 9.99998469e-01 -2.74093592e-05 -7.00415967e-01] [ 5.45852025e-03 1.78576606e-05 9.99985102e-01 -2.23591320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.51592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:306.94, Y:-0.70, Z:-2.24 [[ 9.99984778e-01 -8.05263484e-04 -5.45846924e-03 3.06938568e+02] [ 8.05114358e-04 9.99999675e-01 -2.95173736e-05 -7.00621964e-01] [ 5.45849124e-03 2.51222324e-05 9.99985102e-01 -2.23703408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.54591999999997 meters Centerline goodness : 0.998758 Centerline is valid? [True, True] Translation: X:306.97, Y:-0.70, Z:-2.22 [[ 9.99982351e-01 -2.34569816e-03 -5.45846528e-03 3.06972105e+02] [ 2.34556808e-03 9.99997249e-01 -3.02328523e-05 -7.00984119e-01] [ 5.45852118e-03 1.74291168e-05 9.99985102e-01 -2.22271494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.57592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:307.00, Y:-0.70, Z:-2.24 [[ 9.99984405e-01 -1.17765373e-03 -5.45926751e-03 3.06997659e+02] [ 1.17826400e-03 9.99999300e-01 1.08569809e-04 -7.01482951e-01] [ 5.45913583e-03 -1.15000574e-04 9.99985092e-01 -2.23667314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.60591999999997 meters Centerline goodness : 0.998447 Centerline is valid? [True, True] Translation: X:307.03, Y:-0.70, Z:-2.22 [[ 9.99983630e-01 -1.71677459e-03 -5.45828847e-03 3.07028112e+02] [ 1.71659946e-03 9.99998526e-01 -3.67703111e-05 -7.01727420e-01] [ 5.45834355e-03 2.74000142e-05 9.99985103e-01 -2.21609748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.63592 meters Centerline goodness : 0.998411 Centerline is valid? [True, True] Translation: X:307.06, Y:-0.70, Z:-2.22 [[ 9.99981758e-01 -2.58662302e-03 -5.45828186e-03 3.07058527e+02] [ 2.58645544e-03 9.99996654e-01 -3.77609864e-05 -7.02016134e-01] [ 5.45836127e-03 2.36426948e-05 9.99985103e-01 -2.21899062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.66591999999997 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:307.09, Y:-0.70, Z:-2.24 [[ 9.99981688e-01 -2.61356506e-03 -5.45827141e-03 3.07089160e+02] [ 2.61338932e-03 9.99996584e-01 -3.93307555e-05 -7.01724238e-01] [ 5.45835556e-03 2.50654471e-05 9.99985103e-01 -2.23654948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.69592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:307.12, Y:-0.70, Z:-2.24 [[ 9.99983202e-01 -1.95006175e-03 -5.45828986e-03 3.07117962e+02] [ 1.94989114e-03 9.99998098e-01 -3.65782864e-05 -7.02989578e-01] [ 5.45835081e-03 2.59346009e-05 9.99985103e-01 -2.23740416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.72592 meters Centerline goodness : 0.997962 Centerline is valid? [True, True] Translation: X:307.15, Y:-0.70, Z:-2.22 [[ 9.99984427e-01 -1.16298047e-03 -5.45828500e-03 3.07148200e+02] [ 1.16279425e-03 9.99999323e-01 -3.72901769e-05 -7.03259956e-01] [ 5.45832467e-03 3.09427338e-05 9.99985103e-01 -2.21901341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.75591999999995 meters Centerline goodness : 0.997271 Centerline is valid? [True, True] Translation: X:307.18, Y:-0.70, Z:-2.22 [[ 9.99984842e-01 7.22934013e-04 -5.45827940e-03 3.07176912e+02] [-7.23152812e-04 9.99999738e-01 -3.81121671e-05 -7.02843377e-01] [ 5.45825042e-03 4.20587595e-05 9.99985103e-01 -2.21977777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.78592 meters Centerline goodness : 0.997116 Centerline is valid? [True, True] Translation: X:307.20, Y:-0.70, Z:-2.22 [[ 9.99984622e-01 9.80842410e-04 -5.45832987e-03 3.07204762e+02] [-9.81026334e-04 9.99999518e-01 -3.10187012e-05 -7.02489792e-01] [ 5.45829682e-03 3.63729896e-05 9.99985103e-01 -2.22014184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.81591999999995 meters Centerline goodness : 0.998709 Centerline is valid? [True, True] Translation: X:307.23, Y:-0.70, Z:-2.23 [[ 9.99982923e-01 2.08851201e-03 -5.45827797e-03 3.07233988e+02] [-2.08874971e-03 9.99997818e-01 -3.78483670e-05 -7.02233284e-01] [ 5.45818701e-03 4.92486972e-05 9.99985103e-01 -2.22665557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.84592 meters Centerline goodness : 0.997668 Centerline is valid? [True, True] Translation: X:307.26, Y:-0.70, Z:-2.22 [[ 9.99979324e-01 3.39971669e-03 -5.45832643e-03 3.07263899e+02] [-3.39994055e-03 9.99994220e-01 -3.17340153e-05 -7.01543858e-01] [ 5.45818699e-03 5.02913445e-05 9.99985103e-01 -2.22277293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.87591999999995 meters Centerline goodness : 0.997666 Centerline is valid? [True, True] Translation: X:307.29, Y:-0.70, Z:-2.22 [[ 9.99979268e-01 3.41603352e-03 -5.45849175e-03 3.07292517e+02] [-3.41614568e-03 9.99994165e-01 -1.12253192e-05 -7.00881228e-01] [ 5.45842155e-03 2.98720895e-05 9.99985102e-01 -2.22306553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.90592 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:307.32, Y:-0.70, Z:-2.24 [[ 9.99977516e-01 3.89523115e-03 -5.45839877e-03 3.07322104e+02] [-3.89540983e-03 9.99992413e-01 -2.21036264e-05 -6.99174843e-01] [ 5.45827125e-03 4.33658296e-05 9.99985103e-01 -2.24225592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.93591999999995 meters Centerline goodness : 0.996968 Centerline is valid? [True, True] Translation: X:307.35, Y:-0.70, Z:-2.22 [[ 9.99971855e-01 5.14761219e-03 -5.45816578e-03 3.07353018e+02] [-5.14795296e-03 9.99986748e-01 -4.83861149e-05 -6.98192571e-01] [ 5.45784437e-03 7.64831338e-05 9.99985103e-01 -2.22377407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.96592 meters Centerline goodness : 0.997813 Centerline is valid? [True, True] Translation: X:307.38, Y:-0.70, Z:-2.23 [[ 9.99978910e-01 3.51899738e-03 -5.45850909e-03 3.07380479e+02] [-3.51910346e-03 9.99993808e-01 -9.82948764e-06 -6.96873209e-01] [ 5.45844070e-03 2.90383386e-05 9.99985102e-01 -2.22566667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.99591999999996 meters Centerline goodness : 0.997366 Centerline is valid? [True, True] Translation: X:307.41, Y:-0.70, Z:-2.23 [[ 9.99980385e-01 3.07187329e-03 -5.45825307e-03 3.07409601e+02] [-3.07212008e-03 9.99995280e-01 -3.68297090e-05 -6.96353644e-01] [ 5.45811417e-03 5.35973955e-05 9.99985103e-01 -2.22717984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.02592 meters Centerline goodness : 0.997717 Centerline is valid? [True, True] Translation: X:307.44, Y:-0.70, Z:-2.23 [[ 9.99983419e-01 1.83539052e-03 -5.45836770e-03 3.07438554e+02] [-1.83555634e-03 9.99998315e-01 -2.53698970e-05 -6.95889089e-01] [ 5.45831194e-03 3.53886177e-05 9.99985103e-01 -2.22821896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.05591999999996 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:307.47, Y:-0.69, Z:-2.25 [[ 9.99983465e-01 1.81021425e-03 -5.45824149e-03 3.07468433e+02] [-1.81044585e-03 9.99998360e-01 -3.74919853e-05 -6.94263433e-01] [ 5.45816467e-03 4.73732160e-05 9.99985103e-01 -2.24525772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.08592 meters Centerline goodness : 0.997571 Centerline is valid? [True, True] Translation: X:307.50, Y:-0.69, Z:-2.23 [[ 9.99983926e-01 1.53534926e-03 -5.45800843e-03 3.07498590e+02] [-1.53569436e-03 9.99998819e-01 -5.90376357e-05 -6.92410777e-01] [ 5.45791134e-03 6.74185196e-05 9.99985103e-01 -2.22740511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.11591999999996 meters Centerline goodness : 0.997911 Centerline is valid? [True, True] Translation: X:307.53, Y:-0.69, Z:-2.23 [[ 9.99982847e-01 2.12440087e-03 -5.45832749e-03 3.07526830e+02] [-2.12459739e-03 9.99997743e-01 -3.02051386e-05 -6.87592623e-01] [ 5.45825100e-03 4.18013688e-05 9.99985103e-01 -2.22671352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.14592 meters Centerline goodness : 0.844721 Centerline is valid? [True, False] Translation: X:307.53, Y:-0.68, Z:-2.23 [[ 9.99982501e-01 -2.05272199e-03 -5.54830586e-03 3.07527066e+02] [ 2.02234023e-03 9.99982962e-01 -5.47593559e-03 -6.82152374e-01] [ 5.55945190e-03 5.46461920e-03 9.99969615e-01 -2.22691636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.17591999999996 meters Centerline goodness : 0.999801 Centerline is valid? [False, True] Translation: X:307.53, Y:-0.68, Z:-2.23 [[ 9.99970636e-01 -4.08471888e-03 -6.48398707e-03 3.07532323e+02] [ 4.03076695e-03 9.99957329e-01 -8.31216889e-03 -6.78144181e-01] [ 6.51766327e-03 8.28578937e-03 9.99944431e-01 -2.23163693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.20592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:307.56, Y:-0.69, Z:-2.22 [[ 9.99859561e-01 -1.53971744e-02 -6.61711729e-03 3.07561993e+02] [ 1.53968022e-02 9.99881456e-01 -1.07186529e-04 -6.88756913e-01] [ 6.61798324e-03 5.28902995e-06 9.99978101e-01 -2.22200079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.23591999999996 meters Centerline goodness : 0.998561 Centerline is valid? [True, True] Translation: X:307.59, Y:-0.68, Z:-2.21 [[ 9.99948399e-01 -7.70833731e-03 -6.61675612e-03 3.07592545e+02] [ 7.70764893e-03 9.99970287e-01 -1.29530250e-04 -6.83680462e-01] [ 6.61755798e-03 7.85239329e-05 9.99978101e-01 -2.21476138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.26592 meters Centerline goodness : 0.999502 Centerline is valid? [True, True] Translation: X:307.62, Y:-0.71, Z:-2.23 [[ 9.97752885e-01 -6.66737710e-02 -6.61725226e-03 3.07618118e+02] [ 6.66745762e-02 9.97774770e-01 -9.90882389e-05 -7.05987796e-01] [ 6.60913393e-03 -3.42336913e-04 9.99978101e-01 -2.23074821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.29591999999997 meters Centerline goodness : 0.998857 Centerline is valid? [True, True] Translation: X:307.65, Y:-0.68, Z:-2.22 [[ 9.99868615e-01 -1.47988122e-02 -6.61419869e-03 3.07652473e+02] [ 1.47972328e-02 9.99890474e-01 -2.87676086e-04 -6.81895756e-01] [ 6.61773153e-03 1.89766452e-04 9.99978085e-01 -2.21675710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.32592 meters Centerline goodness : 0.806530 Centerline is valid? [True, False] Translation: X:307.65, Y:-0.67, Z:-2.21 [[ 9.99865450e-01 -1.15816886e-02 -1.16166842e-02 3.07653349e+02] [ 1.13670353e-02 9.99766513e-01 -1.83768908e-02 -6.66726010e-01] [ 1.18268073e-02 1.82423709e-02 9.99763643e-01 -2.21433006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.35591999999997 meters Centerline goodness : 0.806530 Centerline is valid? [False, False] Translation: X:307.65, Y:-0.67, Z:-2.21 [[ 9.99865306e-01 -1.15755583e-02 -1.16351039e-02 3.07653378e+02] [ 1.13609478e-02 9.99767168e-01 -1.83449713e-02 -6.67214988e-01] [ 1.18447481e-02 1.82103145e-02 9.99764015e-01 -2.21426121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.38592 meters Centerline goodness : 0.998611 Centerline is valid? [False, True] Translation: X:307.65, Y:-0.67, Z:-2.21 [[ 9.99905173e-01 -7.39277685e-03 -1.16186044e-02 3.07653220e+02] [ 7.23768217e-03 9.99884895e-01 -1.33346535e-02 -6.70778301e-01] [ 1.17158472e-02 1.32492972e-02 9.99843585e-01 -2.21448049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.41591999999997 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:307.68, Y:-0.68, Z:-2.23 [[ 9.99911206e-01 -6.44713779e-03 -1.16625205e-02 3.07683676e+02] [ 6.44693032e-03 9.99979217e-01 -5.53842307e-05 -6.82402266e-01] [ 1.16626352e-02 -1.98081444e-05 9.99931989e-01 -2.23188788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.44592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:307.71, Y:-0.68, Z:-2.23 [[ 9.99908162e-01 -6.90300746e-03 -1.16625765e-02 3.07712822e+02] [ 6.90302915e-03 9.99976173e-01 -3.83958763e-05 -6.83130686e-01] [ 1.16625636e-02 -4.21147552e-05 9.99931989e-01 -2.23123465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.47592 meters Centerline goodness : 0.998213 Centerline is valid? [True, True] Translation: X:307.74, Y:-0.68, Z:-2.21 [[ 9.99909759e-01 -6.66772945e-03 -1.16625713e-02 3.07742150e+02] [ 6.66771762e-03 9.99977770e-01 -3.98971817e-05 -6.83573184e-01] [ 1.16625781e-02 -3.78691510e-05 9.99931989e-01 -2.21422600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.50591999999995 meters Centerline goodness : 0.997816 Centerline is valid? [True, True] Translation: X:307.77, Y:-0.68, Z:-2.21 [[ 9.99905846e-01 -7.23070396e-03 -1.16625749e-02 3.07771204e+02] [ 7.23074249e-03 9.99973857e-01 -3.88625124e-05 -6.84476821e-01] [ 1.16625511e-02 -4.54702229e-05 9.99931989e-01 -2.21421066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.53592 meters Centerline goodness : 0.985470 Centerline is valid? [True, True] Translation: X:307.80, Y:-0.66, Z:-2.23 [[ 9.98053640e-01 6.12610369e-02 -1.16625968e-02 3.07799440e+02] [-6.12655874e-02 9.98121499e-01 -3.29748493e-05 -6.55392786e-01] [ 1.16386686e-02 7.47426515e-04 9.99931989e-01 -2.23080893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.56591999999995 meters Centerline goodness : 0.996477 Centerline is valid? [True, True] Translation: X:307.83, Y:-0.68, Z:-2.21 [[ 9.99899568e-01 -8.05219410e-03 -1.16626062e-02 3.07827293e+02] [ 8.05238461e-03 9.99967579e-01 -3.06232072e-05 -6.84634452e-01] [ 1.16624747e-02 -6.32916589e-05 9.99931989e-01 -2.21368318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.59592 meters Centerline goodness : 0.996426 Centerline is valid? [True, True] Translation: X:307.86, Y:-0.68, Z:-2.23 [[ 9.99894302e-01 -8.68177911e-03 -1.16623913e-02 3.07857997e+02] [ 8.68144591e-03 9.99962312e-01 -7.91958105e-05 -6.84326250e-01] [ 1.16626394e-02 -2.20589798e-05 9.99931989e-01 -2.23049282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.62591999999995 meters Centerline goodness : 0.994640 Centerline is valid? [True, True] Translation: X:307.89, Y:-0.68, Z:-2.21 [[ 9.99862387e-01 -1.17980324e-02 -1.16625160e-02 3.07885495e+02] [ 1.17982484e-02 9.99930397e-01 -5.02784072e-05 -6.84835333e-01] [ 1.16622974e-02 -8.73257727e-05 9.99931989e-01 -2.21172681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.65592 meters Centerline goodness : 0.929659 Centerline is valid? [True, False] Translation: X:307.88, Y:-0.67, Z:-2.21 [[ 9.99962323e-01 -5.85725056e-03 -6.40667842e-03 3.07881985e+02] [ 5.76316235e-03 9.99876701e-01 -1.46071247e-02 -6.72707558e-01] [ 6.49144607e-03 1.45696516e-02 9.99872785e-01 -2.21147183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.68591999999995 meters Centerline goodness : 0.994145 Centerline is valid? [False, True] Translation: X:307.90, Y:-0.67, Z:-2.21 [[ 9.99959913e-01 -2.01763602e-03 -8.72359505e-03 3.07902838e+02] [ 1.83236372e-03 9.99773700e-01 -2.11941480e-02 -6.67935828e-01] [ 8.76438297e-03 2.11773136e-02 9.99737319e-01 -2.20785540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.71592 meters Centerline goodness : 0.993805 Centerline is valid? [True, True] Translation: X:307.93, Y:-0.69, Z:-2.21 [[ 9.99954470e-01 -4.14943903e-03 -8.59308296e-03 3.07931458e+02] [ 4.15005255e-03 9.99991387e-01 5.35668301e-05 -6.89987600e-01] [ 8.59278667e-03 -8.92261370e-05 9.99963077e-01 -2.21027643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.74591999999996 meters Centerline goodness : 0.972244 Centerline is valid? [True, True] Translation: X:307.90, Y:-0.68, Z:-2.23 [[ 9.99959574e-01 2.64726907e-03 -8.59310503e-03 3.07903729e+02] [-2.64693926e-03 9.99996496e-01 4.97543045e-05 -6.84776616e-01] [ 8.59320663e-03 -2.70068661e-05 9.99963077e-01 -2.22606435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.77592 meters Centerline goodness : 0.895168 Centerline is valid? [True, False] Translation: X:307.93, Y:-0.68, Z:-2.22 [[ 9.99907427e-01 9.62475668e-04 -1.35724462e-02 3.07925847e+02] [-1.12610724e-03 9.99926718e-01 -1.20536751e-02 -6.76442119e-01] [ 1.35598503e-02 1.20678433e-02 9.99835235e-01 -2.22127436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.80591999999996 meters Centerline goodness : 0.993055 Centerline is valid? [False, True] Translation: X:307.93, Y:-0.68, Z:-2.22 [[ 9.99902533e-01 8.82114287e-04 -1.39336608e-02 3.07926772e+02] [-1.03950615e-03 9.99935696e-01 -1.12926008e-02 -6.80125542e-01] [ 1.39228034e-02 1.13059843e-02 9.99839152e-01 -2.22191700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.83592 meters Centerline goodness : 0.990472 Centerline is valid? [True, True] Translation: X:307.93, Y:-0.73, Z:-2.22 [[ 9.97395271e-01 -7.08047794e-02 -1.37606952e-02 3.07932716e+02] [ 7.08143384e-02 9.97489492e-01 2.08045226e-04 -7.27546010e-01] [ 1.37114183e-02 -1.18195785e-03 9.99905296e-01 -2.21621536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.86591999999996 meters Centerline goodness : 0.993148 Centerline is valid? [True, True] Translation: X:307.98, Y:-0.69, Z:-2.22 [[ 9.99904568e-01 1.02526470e-03 -1.37769310e-02 3.07984261e+02] [-1.04142245e-03 9.99998778e-01 -1.16568885e-03 -6.93355412e-01] [ 1.37757190e-02 1.17992521e-03 9.99904414e-01 -2.22284925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.89592 meters Centerline goodness : 0.992558 Centerline is valid? [True, True] Translation: X:308.01, Y:-0.70, Z:-2.20 [[ 9.99905267e-01 -5.09121150e-04 -1.37549038e-02 3.08011368e+02] [ 5.12181201e-04 9.99999845e-01 2.18948035e-04 -7.00495392e-01] [ 1.37547902e-02 -2.25972297e-04 9.99905373e-01 -2.20451113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.92591999999996 meters Centerline goodness : 0.993006 Centerline is valid? [True, True] Translation: X:308.04, Y:-0.70, Z:-2.22 [[ 9.99904317e-01 1.44364269e-03 -1.37576428e-02 3.08044895e+02] [-1.44321114e-03 9.99998958e-01 4.12954152e-05 -7.04100563e-01] [ 1.37576881e-02 -2.14362805e-05 9.99905358e-01 -2.22283971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.95592 meters Centerline goodness : 0.984576 Centerline is valid? [True, True] Translation: X:308.10, Y:-0.72, Z:-2.22 [[ 9.99445677e-01 -3.03173415e-02 -1.37548945e-02 3.08103544e+02] [ 3.03231816e-02 9.99540123e-01 2.16177615e-04 -7.23371431e-01] [ 1.37420150e-02 -6.33149947e-04 9.99905374e-01 -2.21737171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.98591999999996 meters Centerline goodness : 0.993001 Centerline is valid? [True, True] Translation: X:308.10, Y:-0.71, Z:-2.22 [[ 9.99893345e-01 5.01663876e-03 -1.37161237e-02 3.08101937e+02] [-4.98769060e-03 9.99985263e-01 2.14391389e-03 -7.11931128e-01] [ 1.37266768e-02 -2.07527345e-03 9.99903631e-01 -2.22186746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.01592 meters Centerline goodness : 0.993004 Centerline is valid? [True, True] Translation: X:308.13, Y:-0.71, Z:-2.22 [[ 9.99858156e-01 9.73413100e-03 -1.37446237e-02 3.08130025e+02] [-9.73228096e-03 9.99952620e-01 2.01482411e-04 -7.13066042e-01] [ 1.37459338e-02 -6.76872921e-05 9.99905518e-01 -2.22156864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.04591999999997 meters Centerline goodness : 0.992408 Centerline is valid? [True, True] Translation: X:308.16, Y:-0.71, Z:-2.20 [[ 9.99832838e-01 1.20572692e-02 -1.37447230e-02 3.08157965e+02] [-1.20557352e-02 9.99927308e-01 1.94463238e-04 -7.13438275e-01] [ 1.37460686e-02 -2.87279904e-05 9.99905518e-01 -2.19961727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.07592 meters Centerline goodness : 0.992557 Centerline is valid? [True, True] Translation: X:308.19, Y:-0.71, Z:-2.20 [[ 9.99792741e-01 1.50175718e-02 -1.37458082e-02 3.08186527e+02] [-1.50173874e-02 9.99887226e-01 1.16635366e-04 -7.13087095e-01] [ 1.37460096e-02 8.98149356e-05 9.99905515e-01 -2.19923626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.10591999999997 meters Centerline goodness : 0.992709 Centerline is valid? [True, True] Translation: X:308.22, Y:-0.71, Z:-2.20 [[ 9.99645828e-01 2.27876773e-02 -1.37455600e-02 3.08215563e+02] [-2.27879778e-02 9.99740311e-01 1.34778409e-04 -7.11430569e-01] [ 1.37450617e-02 1.78502842e-04 9.99905516e-01 -2.20296790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.13592 meters Centerline goodness : 0.844097 Centerline is valid? [True, False] Translation: X:308.21, Y:-0.72, Z:-2.20 [[ 9.99934533e-01 1.02545392e-02 -5.07685815e-03 3.08209595e+02] [-1.02253567e-02 9.99931238e-01 5.74111342e-03 -7.18692576e-01] [ 5.13538153e-03 -5.68882488e-03 9.99970632e-01 -2.20295861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.16591999999997 meters Centerline goodness : 0.992629 Centerline is valid? [False, True] Translation: X:308.21, Y:-0.71, Z:-2.20 [[ 9.99968129e-01 6.11706562e-03 -5.13060223e-03 3.08209754e+02] [-6.11818774e-03 9.99981263e-01 -2.03042811e-04 -7.11441674e-01] [ 5.12926408e-03 2.34426327e-04 9.99986818e-01 -2.20404122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.19592 meters Centerline goodness : 0.992650 Centerline is valid? [True, True] Translation: X:308.24, Y:-0.71, Z:-2.21 [[ 9.99948180e-01 8.79224655e-03 -5.13159740e-03 3.08236535e+02] [-8.79280813e-03 9.99961339e-01 -8.68862631e-05 -7.07918250e-01] [ 5.13063508e-03 1.32002912e-04 9.99986829e-01 -2.20803577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.22592 meters Centerline goodness : 0.992556 Centerline is valid? [True, True] Translation: X:308.27, Y:-0.71, Z:-2.21 [[ 9.99938274e-01 9.85490312e-03 -5.13115570e-03 3.08266712e+02] [-9.85573706e-03 9.99951422e-01 -1.37263125e-04 -7.05202648e-01] [ 5.12955373e-03 1.87825973e-04 9.99986826e-01 -2.20762337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.25591999999995 meters Centerline goodness : 0.992741 Centerline is valid? [True, True] Translation: X:308.30, Y:-0.70, Z:-2.21 [[ 9.99931180e-01 1.05500124e-02 -5.13143184e-03 3.08296782e+02] [-1.05506861e-02 9.99944335e-01 -1.04230723e-04 -7.01672153e-01] [ 5.13004656e-03 1.58363676e-04 9.99986829e-01 -2.20761749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.28592 meters Centerline goodness : 0.992649 Centerline is valid? [True, True] Translation: X:308.32, Y:-0.70, Z:-2.21 [[ 9.99905989e-01 1.27153912e-02 -5.13156370e-03 3.08321096e+02] [-1.27160113e-02 9.99919144e-01 -8.82299202e-05 -6.99021101e-01] [ 5.13002691e-03 1.53474648e-04 9.99986830e-01 -2.20872554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.31591999999995 meters Centerline goodness : 0.993043 Centerline is valid? [True, True] Translation: X:308.36, Y:-0.70, Z:-2.21 [[ 9.99945467e-01 9.09595524e-03 -5.13099001e-03 3.08356243e+02] [-9.09697987e-03 9.99958606e-01 -1.76390810e-04 -6.95536218e-01] [ 5.12917318e-03 2.23057704e-04 9.99986821e-01 -2.20705736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.34592 meters Centerline goodness : 0.991410 Centerline is valid? [True, True] Translation: X:308.36, Y:-0.70, Z:-2.22 [[ 9.99914058e-01 1.20639653e-02 -5.13191370e-03 3.08358092e+02] [-1.20641986e-02 9.99927225e-01 -1.45131135e-05 -7.00843271e-01] [ 5.13136514e-03 7.64242925e-05 9.99986832e-01 -2.21784969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.37591999999995 meters Centerline goodness : 0.963694 Centerline is valid? [True, True] Translation: X:308.37, Y:-0.67, Z:-2.22 [[ 9.98702445e-01 5.06671502e-02 -5.12504802e-03 3.08374210e+02] [-5.06709942e-02 9.98715206e-01 -6.22911120e-04 -6.70196406e-01] [ 5.08690226e-03 8.81794138e-04 9.99986673e-01 -2.22219356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.40592 meters Centerline goodness : 0.943151 Centerline is valid? [True, False] Translation: X:308.37, Y:-0.67, Z:-2.22 [[ 9.99377154e-01 3.52791108e-02 8.30196881e-04 3.08372133e+02] [-3.52810611e-02 9.99374389e-01 2.46523020e-03 -6.72338672e-01] [-7.42706371e-04 -2.49298497e-03 9.99996617e-01 -2.22387689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.43591999999995 meters Centerline goodness : 0.994535 Centerline is valid? [False, True] Translation: X:308.37, Y:-0.67, Z:-2.22 [[ 9.99812479e-01 1.92901713e-02 1.70157674e-03 3.08373138e+02] [-1.93003151e-02 9.99794747e-01 6.16130215e-03 -6.74207781e-01] [-1.58237491e-03 -6.19298774e-03 9.99979571e-01 -2.22467966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.46592 meters Centerline goodness : 0.992651 Centerline is valid? [True, True] Translation: X:308.40, Y:-0.66, Z:-2.20 [[ 9.98051963e-01 6.23667684e-02 1.63266339e-03 3.08397731e+02] [-6.23688064e-02 9.98052415e-01 1.22857953e-03 -6.60317520e-01] [-1.55286110e-03 -1.32801348e-03 9.99997912e-01 -2.20325127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.49591999999996 meters Centerline goodness : 0.993745 Centerline is valid? [True, True] Translation: X:308.46, Y:-0.65, Z:-2.21 [[ 9.97803430e-01 6.62252381e-02 1.59139363e-03 3.08458628e+02] [-6.62258611e-02 9.97804599e-01 3.41976988e-04 -6.49908421e-01] [-1.56525237e-03 -4.46617225e-04 9.99998675e-01 -2.20955548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.52592 meters Centerline goodness : 0.889391 Centerline is valid? [True, False] Translation: X:308.46, Y:-0.65, Z:-2.21 [[ 9.98621733e-01 5.17936602e-02 8.48832874e-03 3.08455464e+02] [-5.18291354e-02 9.98647901e-01 4.01385793e-03 -6.53622371e-01] [-8.26895929e-03 -4.44826850e-03 9.99955918e-01 -2.21135060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.55591999999996 meters Centerline goodness : 0.886231 Centerline is valid? [False, False] Translation: X:308.46, Y:-0.65, Z:-2.21 [[ 9.99285971e-01 3.62167736e-02 1.07654142e-02 3.08455888e+02] [-3.62982457e-02 9.99313072e-01 7.47136874e-03 -6.53563485e-01] [-1.04874303e-02 -7.85679962e-03 9.99914139e-01 -2.21348623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.58592 meters Centerline goodness : 0.968716 Centerline is valid? [False, True] Translation: X:308.45, Y:-0.65, Z:-2.22 [[ 9.99678717e-01 2.04417089e-02 1.49866608e-02 3.08454847e+02] [-2.06011946e-02 9.99731941e-01 1.05658296e-02 -6.52852246e-01] [-1.47666598e-02 -1.08711781e-02 9.99831867e-01 -2.21522896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.61591999999996 meters Centerline goodness : 0.995335 Centerline is valid? [True, True] Translation: X:308.43, Y:-0.65, Z:-2.19 [[ 9.99617766e-01 2.33682703e-02 1.47731510e-02 3.08425821e+02] [-2.32811468e-02 9.99710698e-01 -6.04216931e-03 -6.53808271e-01] [-1.49100722e-02 5.69592389e-03 9.99872615e-01 -2.19404179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.64592 meters Centerline goodness : 0.996677 Centerline is valid? [True, True] Translation: X:308.46, Y:-0.66, Z:-2.20 [[ 9.99587032e-01 2.46370691e-02 1.47912519e-02 3.08457815e+02] [-2.46388726e-02 9.99696415e-01 -6.03148861e-05 -6.56593715e-01] [-1.47882474e-02 -3.04149792e-04 9.99890602e-01 -2.19675310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.67591999999996 meters Centerline goodness : 0.997073 Centerline is valid? [True, True] Translation: X:308.49, Y:-0.65, Z:-2.19 [[ 9.99591551e-01 2.44530481e-02 1.47912023e-02 3.08490213e+02] [-2.44545905e-02 9.99700939e-01 -7.66045781e-05 -6.49445929e-01] [-1.47886520e-02 -2.85139506e-04 9.99890601e-01 -2.19268338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.70592 meters Centerline goodness : 0.997319 Centerline is valid? [True, True] Translation: X:308.52, Y:-0.65, Z:-2.19 [[ 9.99602496e-01 2.40014618e-02 1.47912227e-02 3.08522483e+02] [-2.40030481e-02 9.99711883e-01 -7.02955505e-05 -6.45703566e-01] [-1.47886483e-02 -2.84766822e-04 9.99890601e-01 -2.19346167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.73591999999996 meters Centerline goodness : 0.998760 Centerline is valid? [True, True] Translation: X:308.56, Y:-0.64, Z:-2.20 [[ 9.99626041e-01 2.29999457e-02 1.47912323e-02 3.08555130e+02] [-2.30014649e-02 9.99735429e-01 -6.74290355e-05 -6.39299892e-01] [-1.47888698e-02 -2.72816190e-04 9.99890601e-01 -2.19552418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.76592 meters Centerline goodness : 0.998758 Centerline is valid? [True, True] Translation: X:308.59, Y:-0.64, Z:-2.19 [[ 9.99638465e-01 2.24534278e-02 1.47913084e-02 3.08587397e+02] [-2.24551931e-02 9.99747849e-01 -4.67472433e-05 -6.36908484e-01] [-1.47886284e-02 -2.85411342e-04 9.99890602e-01 -2.19478371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.79591999999997 meters Centerline goodness : 0.998955 Centerline is valid? [True, True] Translation: X:308.62, Y:-0.63, Z:-2.20 [[ 9.99696559e-01 1.96978895e-02 1.47913174e-02 3.08618439e+02] [-1.96993879e-02 9.99805947e-01 -4.44027235e-05 -6.34832289e-01] [-1.47893217e-02 -2.46990650e-04 9.99890601e-01 -2.19638637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.82592 meters Centerline goodness : 0.998711 Centerline is valid? [True, True] Translation: X:308.65, Y:-0.63, Z:-2.20 [[ 9.99733166e-01 1.77427955e-02 1.47915203e-02 3.08651468e+02] [-1.77448012e-02 9.99842549e-01 4.35411045e-06 -6.29539525e-01] [-1.47891141e-02 -2.66825535e-04 9.99890599e-01 -2.19895561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.85591999999997 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:308.68, Y:-0.63, Z:-2.20 [[ 9.99771820e-01 1.54118370e-02 1.47913060e-02 3.08683075e+02] [-1.54128775e-02 9.99881214e-01 -4.36499212e-05 -6.26450140e-01] [-1.47902217e-02 -1.84336627e-04 9.99890602e-01 -2.20097315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.88592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:308.71, Y:-0.62, Z:-2.20 [[ 9.99823405e-01 1.15918284e-02 1.47915187e-02 3.08714233e+02] [-1.15931028e-02 9.99932798e-01 4.11904339e-07 -6.22254646e-01] [-1.47905199e-02 -1.71891428e-04 9.99890600e-01 -2.20414397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.91591999999997 meters Centerline goodness : 0.834566 Centerline is valid? [True, False] Translation: X:308.74, Y:-0.62, Z:-2.20 [[ 9.99968986e-01 2.88603467e-03 7.32793088e-03 3.08735354e+02] [-2.86155423e-03 9.99990298e-01 -3.34899316e-03 -6.20735961e-01] [-7.33752510e-03 3.32792002e-03 9.99967542e-01 -2.20217237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.94592 meters Centerline goodness : 0.998611 Centerline is valid? [False, True] Translation: X:308.74, Y:-0.60, Z:-2.20 [[ 9.99987233e-01 4.87844166e-03 -1.31704008e-03 3.08742438e+02] [-4.90991320e-03 9.99674002e-01 -2.50555931e-02 -5.97759102e-01] [ 1.19437847e-03 2.50617398e-02 9.99685192e-01 -2.19765101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.97592 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:308.77, Y:-0.62, Z:-2.20 [[ 9.99995426e-01 2.78882857e-03 -1.17041830e-03 3.08772292e+02] [-2.78901478e-03 9.99996098e-01 -1.57489589e-04 -6.20528220e-01] [ 1.16997452e-03 1.60753183e-04 9.99999303e-01 -2.20379915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.00591999999995 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:308.80, Y:-0.62, Z:-2.21 [[ 9.99998201e-01 1.49325135e-03 -1.16949102e-03 3.08802947e+02] [-1.49325145e-03 9.99998885e-01 7.90575682e-07 -6.18850869e-01] [ 1.16949090e-03 9.55769902e-07 9.99999316e-01 -2.20685251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.03592 meters Centerline goodness : 0.998562 Centerline is valid? [True, True] Translation: X:308.84, Y:-0.62, Z:-2.21 [[ 9.99977552e-01 -6.59756257e-03 -1.16944910e-03 3.08840028e+02] [ 6.59757618e-03 9.99978236e-01 7.78390037e-06 -6.17908808e-01] [ 1.16937229e-03 -1.54992552e-05 9.99999316e-01 -2.20579571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.06591999999995 meters Centerline goodness : 0.998907 Centerline is valid? [True, True] Translation: X:308.86, Y:-0.62, Z:-2.21 [[ 9.99971158e-01 -7.50445570e-03 -1.16922669e-03 3.08861264e+02] [ 7.50451785e-03 9.99971840e-01 4.87790144e-05 -6.18121284e-01] [ 1.16882771e-03 -5.75520901e-05 9.99999315e-01 -2.20532727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.09592 meters Centerline goodness : 0.994781 Centerline is valid? [True, True] Translation: X:308.93, Y:-0.61, Z:-2.22 [[ 9.99905044e-01 -1.37307913e-02 -1.16937058e-03 3.08927341e+02] [ 1.37307960e-02 9.99905728e-01 -3.99759359e-06 -6.06693302e-01] [ 1.16931523e-03 -1.20591749e-05 9.99999316e-01 -2.22147648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.12591999999995 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:308.92, Y:-0.60, Z:-2.22 [[ 9.99899018e-01 1.41643313e-02 -1.15163611e-03 3.08923135e+02] [-1.41639772e-02 9.99899636e-01 3.15029064e-04 -6.00999094e-01] [ 1.15598270e-03 -2.98685504e-04 9.99999287e-01 -2.21973093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.15592 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:308.93, Y:-0.61, Z:-2.21 [[ 9.99999321e-01 -1.58168545e-04 -1.15495923e-03 3.08933526e+02] [ 1.58265213e-04 9.99999984e-01 8.36076739e-05 -6.06894922e-01] [ 1.15494598e-03 -8.37904070e-05 9.99999330e-01 -2.20631728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.18591999999995 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:308.96, Y:-0.61, Z:-2.21 [[ 9.99994058e-01 3.24789401e-03 -1.15576060e-03 3.08963200e+02] [-3.24788108e-03 9.99994726e-01 1.30648618e-05 -6.05729781e-01] [ 1.15579693e-03 -9.31101117e-06 9.99999332e-01 -2.20811741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.21592 meters Centerline goodness : 0.991707 Centerline is valid? [True, True] Translation: X:309.04, Y:-0.60, Z:-2.22 [[ 9.99990902e-01 -4.10615573e-03 -1.15582994e-03 3.09039610e+02] [ 4.10616639e-03 9.99991570e-01 6.85239186e-06 -5.96933384e-01] [ 1.15579206e-03 -1.15983596e-05 9.99999332e-01 -2.22061157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.24591999999996 meters Centerline goodness : 0.943927 Centerline is valid? [True, False] Translation: X:309.07, Y:-0.58, Z:-2.22 [[ 9.99949255e-01 -6.82122476e-03 -7.41342419e-03 3.09071392e+02] [ 6.69971107e-03 9.99844796e-01 -1.62940885e-02 -5.81050202e-01] [ 7.52341924e-03 1.62435938e-02 9.99839759e-01 -2.21815805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.27592 meters Centerline goodness : 0.943927 Centerline is valid? [False, False] Translation: X:309.07, Y:-0.58, Z:-2.22 [[ 9.99949112e-01 -6.77163023e-03 -7.47786010e-03 3.09071627e+02] [ 6.64914726e-03 9.99845289e-01 -1.62845634e-02 -5.81327911e-01] [ 7.58697623e-03 1.62340133e-02 9.99839434e-01 -2.21809607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.30591999999996 meters Centerline goodness : 0.936953 Centerline is valid? [False, False] Translation: X:309.09, Y:-0.58, Z:-2.21 [[ 9.99946200e-01 6.07538386e-04 -1.03551223e-02 3.09092608e+02] [-7.97705993e-04 9.99830932e-01 -1.83703678e-02 -5.78817659e-01] [ 1.03422108e-02 1.83776399e-02 9.99777626e-01 -2.21428840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.33592 meters Centerline goodness : 0.999752 Centerline is valid? [False, True] Translation: X:309.11, Y:-0.59, Z:-2.21 [[ 9.99941813e-01 -1.65797517e-03 -1.06593205e-02 3.09114657e+02] [ 1.57174599e-03 9.99966017e-01 -8.09285063e-03 -5.88241302e-01] [ 1.06723760e-02 8.07562599e-03 9.99910438e-01 -2.21471201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.36591999999996 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:309.15, Y:-0.59, Z:-2.21 [[ 9.99941483e-01 -1.90214716e-03 -1.06495040e-02 3.09145226e+02] [ 1.90272951e-03 9.99998189e-01 4.45514605e-05 -5.94265185e-01] [ 1.06494000e-02 -6.48119791e-05 9.99943291e-01 -2.21364657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.39592 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:309.17, Y:-0.59, Z:-2.21 [[ 9.99938056e-01 -3.23603262e-03 -1.06494805e-02 3.09172798e+02] [ 3.23689918e-03 9.99994759e-01 6.41362905e-05 -5.94006692e-01] [ 1.06492172e-02 -9.86036124e-05 9.99943291e-01 -2.21334978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.42591999999996 meters Centerline goodness : 0.999452 Centerline is valid? [True, True] Translation: X:309.20, Y:-0.59, Z:-2.22 [[ 9.99938394e-01 -3.12985908e-03 -1.06495275e-02 3.09202293e+02] [ 3.12993598e-03 9.99995102e-01 -9.44572790e-06 -5.94613627e-01] [ 1.06495049e-02 -2.38871934e-05 9.99943292e-01 -2.21584829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.45592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:309.23, Y:-0.59, Z:-2.22 [[ 9.99939133e-01 -2.88413140e-03 -1.06495040e-02 3.09230701e+02] [ 2.88470541e-03 9.99995838e-01 3.85398963e-05 -5.94248328e-01] [ 1.06493486e-02 -6.92582324e-05 9.99943292e-01 -2.21905919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.48591999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.26, Y:-0.59, Z:-2.24 [[ 9.99942453e-01 -1.29575675e-03 -1.06495011e-02 3.09259706e+02] [ 1.29636800e-03 9.99999158e-01 5.04934969e-05 -5.89639519e-01] [ 1.06494268e-02 -6.42962636e-05 9.99943291e-01 -2.23611939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.51592 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:309.29, Y:-0.59, Z:-2.22 [[ 9.99943195e-01 4.42433898e-04 -1.06494943e-02 3.09290749e+02] [-4.42473989e-04 9.99999902e-01 -1.40853719e-06 -5.86960780e-01] [ 1.06494926e-02 6.12058141e-06 9.99943293e-01 -2.22107423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.54591999999997 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:309.32, Y:-0.58, Z:-2.22 [[ 9.99942681e-01 1.10559579e-03 -1.06495057e-02 3.09320857e+02] [-1.10514208e-03 9.99999388e-01 4.84889847e-05 -5.82967435e-01] [ 1.06495528e-02 -3.67169885e-05 9.99943291e-01 -2.21611113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.57592 meters Centerline goodness : 0.998658 Centerline is valid? [True, True] Translation: X:309.35, Y:-0.58, Z:-2.22 [[ 9.99942704e-01 1.08489609e-03 -1.06495140e-02 3.09346266e+02] [-1.08432447e-03 9.99999410e-01 5.94501034e-05 -5.80734158e-01] [ 1.06495722e-02 -4.78991685e-05 9.99943291e-01 -2.21618112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.60591999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.38, Y:-0.58, Z:-2.24 [[ 9.99943041e-01 -7.10920765e-04 -1.06493381e-02 3.09377889e+02] [ 7.09979857e-04 9.99999744e-01 -9.21339732e-05 -5.79027327e-01] [ 1.06494008e-02 8.45679099e-05 9.99943290e-01 -2.23760678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.63592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:309.41, Y:-0.58, Z:-2.23 [[ 9.99941606e-01 -1.83704553e-03 -1.06494310e-02 3.09409101e+02] [ 1.83701757e-03 9.99998313e-01 -1.24081641e-05 -5.78115113e-01] [ 1.06494358e-02 -7.15575223e-06 9.99943293e-01 -2.23204792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.66591999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.44, Y:-0.58, Z:-2.24 [[ 9.99936585e-01 -3.66267885e-03 -1.06494702e-02 3.09437826e+02] [ 3.66313002e-03 9.99993290e-01 2.28597984e-05 -5.77835766e-01] [ 1.06493151e-02 -6.18687429e-05 9.99943293e-01 -2.23887743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.69592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.47, Y:-0.58, Z:-2.24 [[ 9.99917052e-01 -7.24429513e-03 -1.06494239e-02 3.09466694e+02] [ 7.24456157e-03 9.99973758e-01 -1.35570281e-05 -5.77929915e-01] [ 1.06492426e-02 -6.35945035e-05 9.99943293e-01 -2.23715743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.72592 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:309.50, Y:-0.58, Z:-2.22 [[ 9.99887993e-01 -1.05162190e-02 -1.06494220e-02 3.09495805e+02] [ 1.05166568e-02 9.99944698e-01 -1.48876312e-05 -5.78426503e-01] [ 1.06489897e-02 -9.71103527e-05 9.99943293e-01 -2.21720426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.75591999999995 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:309.53, Y:-0.58, Z:-2.24 [[ 9.99882414e-01 -1.10339578e-02 -1.06493947e-02 3.09526494e+02] [ 1.10342485e-02 9.99939120e-01 -3.14584559e-05 -5.77003179e-01] [ 1.06490935e-02 -8.60533115e-05 9.99943293e-01 -2.23637394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.78592 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:309.55, Y:-0.58, Z:-2.22 [[ 9.99844801e-01 -1.40343544e-02 -1.06494171e-02 3.09554627e+02] [ 1.40349498e-02 9.99901505e-01 -1.88223287e-05 -5.78338910e-01] [ 1.06486323e-02 -1.30644627e-04 9.99943293e-01 -2.21782575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.81591999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.58, Y:-0.58, Z:-2.24 [[ 9.99822513e-01 -1.55413973e-02 -1.06493020e-02 3.09584957e+02] [ 1.55414625e-02 9.99879221e-01 -7.66348886e-05 -5.78424995e-01] [ 1.06492068e-02 -8.88844410e-05 9.99943292e-01 -2.23783614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.84592 meters Centerline goodness : 0.999551 Centerline is valid? [True, True] Translation: X:309.61, Y:-0.58, Z:-2.22 [[ 9.99750611e-01 -1.96292271e-02 -1.06494078e-02 3.09612381e+02] [ 1.96301292e-02 9.99807310e-01 -1.98221827e-05 -5.81136796e-01] [ 1.06477448e-02 -1.89232011e-04 9.99943293e-01 -2.21820225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.87591999999995 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:309.64, Y:-0.58, Z:-2.22 [[ 9.99765577e-01 -1.88516752e-02 -1.06492212e-02 3.09642761e+02] [ 1.88514934e-02 9.99822288e-01 -1.17467485e-04 -5.81796282e-01] [ 1.06495431e-02 -8.33137740e-05 9.99943289e-01 -2.21899437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.90592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.67, Y:-0.58, Z:-2.24 [[ 9.99777759e-01 -1.81940932e-02 -1.06492566e-02 3.09674603e+02] [ 1.81941009e-02 9.99834469e-01 -9.61728584e-05 -5.82563741e-01] [ 1.06492436e-02 -9.76021643e-05 9.99943290e-01 -2.23816880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.93591999999995 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:309.70, Y:-0.58, Z:-2.22 [[ 9.99782036e-01 -1.79574789e-02 -1.06493728e-02 3.09702690e+02] [ 1.79583344e-02 9.99838736e-01 -1.52983804e-05 -5.83519031e-01] [ 1.06479302e-02 -1.75949952e-04 9.99943294e-01 -2.22025047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.96592 meters Centerline goodness : 0.998806 Centerline is valid? [True, True] Translation: X:309.73, Y:-0.58, Z:-2.22 [[ 9.99794550e-01 -1.72468435e-02 -1.06491815e-02 3.09731702e+02] [ 1.72465156e-02 9.99851260e-01 -1.22636507e-04 -5.83695114e-01] [ 1.06497126e-02 -6.10499634e-05 9.99943288e-01 -2.22027284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.99591999999996 meters Centerline goodness : 0.999006 Centerline is valid? [True, True] Translation: X:309.76, Y:-0.58, Z:-2.22 [[ 9.99852421e-01 -1.34807465e-02 -1.06491658e-02 3.09761007e+02] [ 1.34800942e-02 9.99909131e-01 -1.33034188e-04 -5.83747690e-01] [ 1.06499915e-02 -1.05372028e-05 9.99943287e-01 -2.21950402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.02592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:309.79, Y:-0.58, Z:-2.24 [[ 9.99880410e-01 -1.12143393e-02 -1.06491670e-02 3.09791981e+02] [ 1.12135667e-02 9.99937117e-01 -1.32261997e-04 -5.83320366e-01] [ 1.06499806e-02 1.28310361e-05 9.99943287e-01 -2.23820693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.05591999999996 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:309.82, Y:-0.58, Z:-2.22 [[ 9.99898136e-01 -9.50318128e-03 -1.06493152e-02 3.09820074e+02] [ 9.50357904e-03 9.99954840e-01 -1.32545579e-05 -5.84157971e-01] [ 1.06489602e-02 -8.79534008e-05 9.99943294e-01 -2.22200826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.08592 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:309.85, Y:-0.58, Z:-2.22 [[ 9.99917112e-01 -7.23640752e-03 -1.06491516e-02 3.09850195e+02] [ 7.23552407e-03 9.99973816e-01 -1.21485417e-04 -5.83937043e-01] [ 1.06497519e-02 4.44231541e-05 9.99943289e-01 -2.22418252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.11591999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.88, Y:-0.58, Z:-2.24 [[ 9.99940247e-01 -2.46944175e-03 -1.06491194e-02 3.09883450e+02] [ 2.46805860e-03 9.99996944e-01 -1.43023454e-04 -5.82452926e-01] [ 1.06494401e-02 1.16732257e-04 9.99943286e-01 -2.24056350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.14592 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:309.91, Y:-0.58, Z:-2.22 [[ 9.99941504e-01 1.89241827e-03 -1.06492701e-02 3.09909299e+02] [-1.89265621e-03 9.99998209e-01 -1.22650067e-05 -5.77124747e-01] [ 1.06492278e-02 3.24196964e-05 9.99943295e-01 -2.22200218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.17591999999996 meters Centerline goodness : 0.998808 Centerline is valid? [True, True] Translation: X:309.94, Y:-0.57, Z:-2.22 [[ 9.99898616e-01 9.45280615e-03 -1.06490603e-02 3.09938371e+02] [-9.45477637e-03 9.99955294e-01 -1.34684695e-04 -5.70673775e-01] [ 1.06473111e-02 2.35355524e-04 9.99943288e-01 -2.22185626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.20592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:309.97, Y:-0.57, Z:-2.24 [[ 9.99870803e-01 1.20405506e-02 -1.06490909e-02 3.09970328e+02] [-1.20424066e-02 9.99927482e-01 -1.10174642e-04 -5.67827953e-01] [ 1.06469921e-02 2.38401090e-04 9.99943291e-01 -2.23730543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.23591999999996 meters Centerline goodness : 0.998609 Centerline is valid? [True, True] Translation: X:310.00, Y:-0.56, Z:-2.22 [[ 9.99824195e-01 1.54329019e-02 -1.06491920e-02 3.09999501e+02] [-1.54338923e-02 9.99880890e-01 -1.08240699e-05 -5.64324197e-01] [ 1.06477565e-02 1.75180649e-04 9.99943296e-01 -2.22196888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.26592 meters Centerline goodness : 0.998756 Centerline is valid? [True, True] Translation: X:310.03, Y:-0.56, Z:-2.22 [[ 9.99748401e-01 1.97415450e-02 -1.06492015e-02 3.10028339e+02] [-1.97426932e-02 9.99805094e-01 -2.70084259e-06 -5.55402161e-01] [ 1.06470726e-02 2.12944082e-04 9.99943296e-01 -2.22094789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.29591999999997 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:310.06, Y:-0.54, Z:-2.22 [[ 9.99652366e-01 2.41193551e-02 -1.06491612e-02 3.10058757e+02] [-2.41210767e-02 9.99709044e-01 -3.32334254e-05 -5.44122135e-01] [ 1.06452611e-02 2.90091105e-04 9.99943296e-01 -2.22175426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.32592 meters Centerline goodness : 0.888690 Centerline is valid? [True, False] Translation: X:310.04, Y:-0.54, Z:-2.22 [[ 9.99868298e-01 1.51103013e-02 5.92153804e-03 3.10042070e+02] [-1.51087360e-02 9.99885809e-01 -3.08982944e-04 -5.39721242e-01] [-5.92553068e-03 2.19475296e-04 9.99982420e-01 -2.22403049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.35591999999997 meters Centerline goodness : 0.983569 Centerline is valid? [False, True] Translation: X:310.04, Y:-0.52, Z:-2.22 [[ 9.99975652e-01 3.19442433e-03 6.20410508e-03 3.10041247e+02] [-3.09287316e-03 9.99862206e-01 -1.63095729e-02 -5.22819149e-01] [-6.25534989e-03 1.62899873e-02 9.99847742e-01 -2.22211099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.38592 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:310.05, Y:-0.56, Z:-2.22 [[ 9.96789140e-01 -7.99532236e-02 4.34652813e-03 3.10052314e+02] [ 7.99464764e-02 9.96797700e-01 1.70478912e-03 -5.64085402e-01] [-4.46891263e-03 -1.35182568e-03 9.99989101e-01 -2.22064585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.41591999999997 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:310.08, Y:-0.55, Z:-2.23 [[ 9.96503756e-01 -8.34277010e-02 4.48139503e-03 3.10081885e+02] [ 8.34265119e-02 9.96513830e-01 4.51943340e-04 -5.54661213e-01] [-4.50347672e-03 -7.64960799e-05 9.99989856e-01 -2.22500231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.44592 meters Centerline goodness : 0.998458 Centerline is valid? [True, True] Translation: X:310.11, Y:-0.54, Z:-2.21 [[ 9.95905848e-01 -9.02855842e-02 4.47822486e-03 3.10109739e+02] [ 9.02843319e-02 9.95915914e-01 4.81431916e-04 -5.43950526e-01] [-4.50340176e-03 -7.51473214e-05 9.99989857e-01 -2.21144784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.47592 meters Centerline goodness : 0.998759 Centerline is valid? [True, True] Translation: X:310.14, Y:-0.54, Z:-2.21 [[ 9.95810370e-01 -9.13328789e-02 4.47358297e-03 3.10141325e+02] [ 9.13314427e-02 9.95820412e-01 5.24701614e-04 -5.36427887e-01] [-4.50280774e-03 -1.13924521e-04 9.99989856e-01 -2.21306686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.50591999999995 meters Centerline goodness : 0.998958 Centerline is valid? [True, True] Translation: X:310.17, Y:-0.53, Z:-2.21 [[ 9.95617484e-01 -9.34119729e-02 4.47527842e-03 3.10173392e+02] [ 9.34106290e-02 9.95627539e-01 5.08831081e-04 -5.29359864e-01] [-4.50324135e-03 -8.85625484e-05 9.99989856e-01 -2.21482883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.53592 meters Centerline goodness : 0.998313 Centerline is valid? [True, True] Translation: X:310.20, Y:-0.52, Z:-2.21 [[ 9.95315101e-01 -9.65806533e-02 4.47507893e-03 3.10204806e+02] [ 9.65793330e-02 9.95325159e-01 5.10708265e-04 -5.19836740e-01] [-4.50348318e-03 -7.61155110e-05 9.99989856e-01 -2.21351335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.56591999999995 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:310.24, Y:-0.51, Z:-2.23 [[ 9.95004408e-01 -9.97305599e-02 4.47698531e-03 3.10235388e+02] [ 9.97293526e-02 9.95014479e-01 4.92667104e-04 -5.12847533e-01] [-4.50379917e-03 -4.37190942e-05 9.99989857e-01 -2.23060770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.59592 meters Centerline goodness : 0.824196 Centerline is valid? [True, False] Translation: X:310.24, Y:-0.50, Z:-2.23 [[ 9.95971001e-01 -8.96758428e-02 -9.67944658e-05 3.10238334e+02] [ 8.96698480e-02 9.95915795e-01 -1.05379311e-02 -4.99461096e-01] [ 1.04139699e-03 1.04867943e-02 9.99944470e-01 -2.22936551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.62591999999995 meters Centerline goodness : 0.998760 Centerline is valid? [False, True] Translation: X:310.24, Y:-0.49, Z:-2.23 [[ 9.97302717e-01 -7.33874293e-02 -1.25541614e-03 3.10238531e+02] [ 7.33614327e-02 9.97198844e-01 -1.45796327e-02 -4.91289306e-01] [ 2.32186129e-03 1.44482082e-02 9.99892923e-01 -2.22896142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.65592 meters Centerline goodness : 0.998660 Centerline is valid? [True, True] Translation: X:310.27, Y:-0.50, Z:-2.24 [[ 9.97040464e-01 -7.68443181e-02 -2.29427477e-03 3.10269445e+02] [ 7.68438564e-02 9.97043098e-01 -2.88837426e-04 -5.02058065e-01] [ 2.30968633e-03 1.11681681e-04 9.99997326e-01 -2.23533428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.68591999999995 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:310.30, Y:-0.50, Z:-2.25 [[ 9.96898687e-01 -7.86620319e-02 -2.30059867e-03 3.10303319e+02] [ 7.86617763e-02 9.96901341e-01 -2.01519647e-04 -4.96590340e-01] [ 2.30932184e-03 1.99254935e-05 9.99997333e-01 -2.24819105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.71592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:310.34, Y:-0.49, Z:-2.25 [[ 9.96605029e-01 -8.22989121e-02 -2.30321757e-03 3.10336377e+02] [ 8.22987507e-02 9.96607690e-01 -1.64952150e-04 -4.93879423e-01] [ 2.30897972e-03 -2.51597861e-05 9.99997334e-01 -2.24944820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.74591999999996 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:310.37, Y:-0.49, Z:-2.25 [[ 9.96449045e-01 -8.41664764e-02 -2.30329773e-03 3.10368573e+02] [ 8.41663225e-02 9.96451706e-01 -1.63825129e-04 -4.91673812e-01] [ 2.30891354e-03 -3.06167064e-05 9.99997334e-01 -2.24995949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.77592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:310.40, Y:-0.49, Z:-2.25 [[ 9.96220872e-01 -8.68255022e-02 -2.30336668e-03 3.10398553e+02] [ 8.68253577e-02 9.96223535e-01 -1.62849827e-04 -4.89735221e-01] [ 2.30880762e-03 -3.77562396e-05 9.99997334e-01 -2.24505183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.80591999999996 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:310.43, Y:-0.48, Z:-2.25 [[ 9.96371363e-01 -8.50811862e-02 -2.30189086e-03 3.10431333e+02] [ 8.50809888e-02 9.96374022e-01 -1.83710337e-04 -4.84991552e-01] [ 2.30917454e-03 -1.28034313e-05 9.99997334e-01 -2.24907189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.83592 meters Centerline goodness : 0.805798 Centerline is valid? [True, False] Translation: X:310.43, Y:-0.47, Z:-2.25 [[ 9.97508393e-01 -7.04949046e-02 -2.73376399e-03 3.10431822e+02] [ 7.04749132e-02 9.97490201e-01 -6.82539917e-03 -4.72139866e-01] [ 3.20805866e-03 6.61573118e-03 9.99972970e-01 -2.24826713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.86591999999996 meters Centerline goodness : 0.999802 Centerline is valid? [False, True] Translation: X:310.43, Y:-0.46, Z:-2.25 [[ 9.98490118e-01 -5.48676558e-02 -2.65032754e-03 3.10433742e+02] [ 5.48316581e-02 9.98421734e-01 -1.21461692e-02 -4.62266202e-01] [ 3.31257645e-03 1.19825080e-02 9.99922720e-01 -2.24830428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.89592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:310.47, Y:-0.47, Z:-2.25 [[ 9.98548669e-01 -5.37635735e-02 -3.16764743e-03 3.10466890e+02] [ 5.37634113e-02 9.98553693e-01 -1.36385528e-04 -4.72054581e-01] [ 3.17039861e-03 -3.41159447e-05 9.99994974e-01 -2.25318084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.92591999999996 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:310.50, Y:-0.47, Z:-2.25 [[ 9.98596933e-01 -5.28595476e-02 -3.16766813e-03 3.10498902e+02] [ 5.28593825e-02 9.98601956e-01 -1.35902968e-04 -4.69679089e-01] [ 3.17042337e-03 -3.17286948e-05 9.99994974e-01 -2.25284497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.95592 meters Centerline goodness : 0.879984 Centerline is valid? [True, False] Translation: X:310.50, Y:-0.46, Z:-2.25 [[ 9.99228217e-01 -3.90558511e-02 -4.19654575e-03 3.10500899e+02] [ 3.90279214e-02 9.99216698e-01 -6.54307683e-03 -4.61744608e-01] [ 4.44880402e-03 6.37424454e-03 9.99969788e-01 -2.25379376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.98591999999996 meters Centerline goodness : 0.999851 Centerline is valid? [False, True] Translation: X:310.50, Y:-0.46, Z:-2.25 [[ 9.99641542e-01 -2.66970662e-02 2.01341438e-03 3.10496299e+02] [ 2.67217383e-02 9.99552731e-01 -1.34270749e-02 -4.55463614e-01] [-1.65405033e-03 1.34760638e-02 9.99907826e-01 -2.25292728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.01592 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:310.53, Y:-0.47, Z:-2.25 [[ 9.99411193e-01 -3.42625891e-02 1.82795089e-03 3.10526240e+02] [ 3.42626002e-02 9.99412864e-01 2.52239872e-05 -4.73979344e-01] [-1.82774187e-03 3.74212155e-05 9.99998329e-01 -2.24801367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.04591999999997 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:310.56, Y:-0.48, Z:-2.25 [[ 9.99309646e-01 -3.71064804e-02 1.82757207e-03 3.10558287e+02] [ 3.71064433e-02 9.99311317e-01 5.41890852e-05 -4.75637080e-01] [-1.82832422e-03 1.36630239e-05 9.99998329e-01 -2.24658864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.07592 meters Centerline goodness : 0.998760 Centerline is valid? [True, True] Translation: X:310.59, Y:-0.48, Z:-2.24 [[ 9.99283213e-01 -3.78116325e-02 1.82749070e-03 3.10589588e+02] [ 3.78115846e-02 9.99284884e-01 6.07508041e-05 -4.77262115e-01] [-1.82848092e-03 8.39306040e-06 9.99998328e-01 -2.23862318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.10591999999997 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:310.62, Y:-0.48, Z:-2.25 [[ 9.99245737e-01 -3.87894015e-02 1.82756506e-03 3.10620815e+02] [ 3.87893670e-02 9.99247408e-01 5.43108621e-05 -4.79808205e-01] [-1.82829633e-03 1.66201943e-05 9.99998329e-01 -2.24785916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.13592 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:310.65, Y:-0.49, Z:-2.25 [[ 9.99228158e-01 -3.92396135e-02 1.82756756e-03 3.10651599e+02] [ 3.92395802e-02 9.99229830e-01 5.40868985e-05 -4.86731930e-01] [-1.82828237e-03 1.76678319e-05 9.99998329e-01 -2.24543132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.16591999999997 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:310.68, Y:-0.49, Z:-2.25 [[ 9.99260493e-01 -3.84073799e-02 1.82766589e-03 3.10683468e+02] [ 3.84073620e-02 9.99262164e-01 4.48802503e-05 -4.85880727e-01] [-1.82804110e-03 2.53487644e-05 9.99998329e-01 -2.24548731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.19592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:310.71, Y:-0.49, Z:-2.25 [[ 9.99165000e-01 -4.08161991e-02 1.82768344e-03 3.10713397e+02] [ 4.08161885e-02 9.99166671e-01 4.30918512e-05 -4.89386026e-01] [-1.82791922e-03 3.15432021e-05 9.99998329e-01 -2.24931488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.22592 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:310.74, Y:-0.50, Z:-2.24 [[ 9.99044457e-01 -4.36672876e-02 1.82760735e-03 3.10740278e+02] [ 4.36672663e-02 9.99046129e-01 5.15858643e-05 -4.97114614e-01] [-1.82811667e-03 2.82700453e-05 9.99998329e-01 -2.24496197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.25591999999995 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:310.78, Y:-0.50, Z:-2.25 [[ 9.99323807e-01 -3.67231537e-02 1.82725615e-03 3.10776980e+02] [ 3.67230496e-02 9.99325477e-01 9.04721596e-05 -4.99919335e-01] [-1.82934605e-03 -2.33085647e-05 9.99998326e-01 -2.25003137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.28592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:310.81, Y:-0.50, Z:-2.25 [[ 9.99637656e-01 -2.68554834e-02 1.82758202e-03 3.10811549e+02] [ 2.68554411e-02 9.99639326e-01 4.76900630e-05 -5.03835021e-01] [-1.82820360e-03 1.40773845e-06 9.99998329e-01 -2.25326060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.31591999999995 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:310.84, Y:-0.50, Z:-2.24 [[ 9.99681492e-01 -2.51709015e-02 1.82771099e-03 3.10840977e+02] [ 2.51708911e-02 9.99683163e-01 2.86932561e-05 -5.04853192e-01] [-1.82785414e-03 1.73209973e-05 9.99998329e-01 -2.24301707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.34592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:310.87, Y:-0.50, Z:-2.25 [[ 9.99928526e-01 -1.18153170e-02 1.82761766e-03 3.10874790e+02] [ 1.18152578e-02 9.99930196e-01 4.31359196e-05 -5.04370930e-01] [-1.82799975e-03 -2.15390626e-05 9.99998329e-01 -2.25345157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.37591999999995 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:310.91, Y:-0.50, Z:-2.26 [[ 9.99984894e-01 -5.18368482e-03 1.82772719e-03 3.10908109e+02] [ 5.18364780e-03 9.99986564e-01 2.49943793e-05 -5.02815260e-01] [-1.82783219e-03 -1.55197078e-05 9.99998329e-01 -2.25523824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.40592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:310.94, Y:-0.50, Z:-2.26 [[ 9.99998311e-01 -1.92433631e-04 1.82777891e-03 3.10940968e+02] [ 1.92405396e-04 9.99999981e-01 1.56238483e-05 -5.01339581e-01] [-1.82778189e-03 -1.52721474e-05 9.99998329e-01 -2.25559799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.43591999999995 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:310.97, Y:-0.50, Z:-2.26 [[ 9.99979354e-01 6.16047573e-03 1.82779474e-03 3.10972711e+02] [-6.16050926e-03 9.99981024e-01 1.27175121e-05 -4.97581152e-01] [-1.82768171e-03 -2.39773959e-05 9.99998330e-01 -2.25540521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.46592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:311.00, Y:-0.50, Z:-2.26 [[ 9.99968362e-01 7.74166305e-03 1.82777828e-03 3.11003701e+02] [-7.74170473e-03 9.99970032e-01 1.57282446e-05 -4.96036226e-01] [-1.82760174e-03 -2.98778668e-05 9.99998329e-01 -2.25531691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.49591999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.03, Y:-0.49, Z:-2.26 [[ 9.99952496e-01 9.57414909e-03 1.82779532e-03 3.11033981e+02] [-9.57418827e-03 9.99954166e-01 1.26836073e-05 -4.92291341e-01] [-1.82759011e-03 -3.01826612e-05 9.99998330e-01 -2.25679285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.52592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.06, Y:-0.49, Z:-2.26 [[ 9.99955564e-01 9.24822146e-03 1.82780439e-03 3.11064140e+02] [-9.24825717e-03 9.99957234e-01 1.10817490e-05 -4.91115263e-01] [-1.82762374e-03 -2.79852617e-05 9.99998330e-01 -2.25735047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.55591999999996 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:311.09, Y:-0.49, Z:-2.26 [[ 9.99967199e-01 7.89054327e-03 1.82782348e-03 3.11094037e+02] [-7.89057078e-03 9.99968869e-01 7.83880210e-06 -4.89877557e-01] [-1.82770472e-03 -2.22611155e-05 9.99998329e-01 -2.25514583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.58592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:311.12, Y:-0.49, Z:-2.25 [[ 9.99983399e-01 5.46449899e-03 1.82776499e-03 3.11123302e+02] [-5.46454067e-03 9.99985069e-01 1.78090289e-05 -4.86050585e-01] [-1.82764038e-03 -2.77966294e-05 9.99998329e-01 -2.24661928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.61591999999996 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:311.15, Y:-0.48, Z:-2.25 [[ 9.99983987e-01 5.35587102e-03 1.82771659e-03 3.11153989e+02] [-5.35592719e-03 9.99985657e-01 2.58420110e-05 -4.83571554e-01] [-1.82755196e-03 -3.56307141e-05 9.99998329e-01 -2.24592269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.64592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:311.19, Y:-0.48, Z:-2.25 [[ 9.99949046e-01 9.92799927e-03 1.82768733e-03 3.11187742e+02] [-9.92807261e-03 9.99950715e-01 3.10586796e-05 -4.80590379e-01] [-1.82728890e-03 -4.92025096e-05 9.99998329e-01 -2.25492390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.67591999999996 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:311.22, Y:-0.48, Z:-2.25 [[ 9.99976544e-01 6.60077458e-03 1.82781728e-03 3.11216220e+02] [-6.60079798e-03 9.99978214e-01 6.76988522e-06 -4.79800966e-01] [-1.82773278e-03 -1.88347791e-05 9.99998330e-01 -2.24545345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.70592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.25, Y:-0.48, Z:-2.25 [[ 9.99983435e-01 5.45786151e-03 1.82772959e-03 3.11248072e+02] [-5.45791269e-03 9.99985105e-01 2.30154093e-05 -4.79190363e-01] [-1.82757675e-03 -3.29906166e-05 9.99998329e-01 -2.25458329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.73591999999996 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:311.28, Y:-0.48, Z:-2.25 [[ 9.99989917e-01 4.10186561e-03 1.82779955e-03 3.11278112e+02] [-4.10188959e-03 9.99991587e-01 9.37425441e-06 -4.79614493e-01] [-1.82774573e-03 -1.68715919e-05 9.99998330e-01 -2.25450903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.76592 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:311.31, Y:-0.48, Z:-2.24 [[ 9.99997026e-01 -1.61445822e-03 1.82779955e-03 3.11307284e+02] [ 1.61444378e-03 9.99998697e-01 9.37425441e-06 -4.82286290e-01] [-1.82781231e-03 -6.42334691e-06 9.99998330e-01 -2.23996511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.79591999999997 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:311.34, Y:-0.48, Z:-2.26 [[ 9.99996706e-01 -1.80200221e-03 1.82776705e-03 3.11338856e+02] [ 1.80197672e-03 9.99998376e-01 1.55935098e-05 -4.83726245e-01] [-1.82779218e-03 -1.22998648e-05 9.99998330e-01 -2.25544154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.82592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:311.37, Y:-0.49, Z:-2.25 [[ 9.99982996e-01 -5.53784247e-03 1.82780770e-03 3.11368677e+02] [ 5.53783828e-03 9.99984666e-01 7.35638479e-06 -4.86215437e-01] [-1.82782041e-03 2.76584376e-06 9.99998330e-01 -2.24726874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.85591999999997 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:311.40, Y:-0.49, Z:-2.24 [[ 9.99976108e-01 -6.66648946e-03 1.82771887e-03 3.11399915e+02] [ 6.66645215e-03 9.99977779e-01 2.65063346e-05 -4.91470926e-01] [-1.82785496e-03 -1.43213009e-05 9.99998329e-01 -2.23708199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.88592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:311.43, Y:-0.49, Z:-2.25 [[ 9.99987904e-01 -4.56640849e-03 1.82771479e-03 3.11431928e+02] [ 4.56636588e-03 9.99989574e-01 2.74826961e-05 -4.91836022e-01] [-1.82782123e-03 -1.91363492e-05 9.99998329e-01 -2.24780026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.91591999999997 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:311.47, Y:-0.49, Z:-2.25 [[ 9.99997655e-01 -1.16190554e-03 1.82774320e-03 3.11465331e+02] [ 1.16187166e-03 9.99999325e-01 1.95982287e-05 -4.91864430e-01] [-1.82776473e-03 -1.74745797e-05 9.99998329e-01 -2.24679640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.94592 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:311.50, Y:-0.49, Z:-2.24 [[ 9.99997944e-01 8.78651094e-04 1.82774985e-03 3.11495951e+02] [-8.78684657e-04 9.99999614e-01 1.75602366e-05 -4.92340670e-01] [-1.82773371e-03 -1.91662162e-05 9.99998330e-01 -2.23518445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.97592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:311.53, Y:-0.49, Z:-2.24 [[ 9.99961202e-01 8.61708083e-03 1.82772137e-03 3.11528037e+02] [-8.61714287e-03 9.99962871e-01 2.60728647e-05 -4.93765008e-01] [-1.82742883e-03 -4.18215893e-05 9.99998329e-01 -2.24340209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.00591999999995 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:311.56, Y:-0.49, Z:-2.23 [[ 9.99951669e-01 9.66018395e-03 1.82775171e-03 3.11558497e+02] [-9.66022903e-03 9.99953339e-01 1.58378970e-05 -4.93587729e-01] [-1.82751343e-03 -3.34936317e-05 9.99998330e-01 -2.23423524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.03592 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:311.59, Y:-0.49, Z:-2.23 [[ 9.99935582e-01 1.12022676e-02 1.82774737e-03 3.11588769e+02] [-1.12023178e-02 9.99937252e-01 1.72477587e-05 -4.93005810e-01] [-1.82743947e-03 -3.77216546e-05 9.99998330e-01 -2.23394928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.06591999999995 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:311.62, Y:-0.49, Z:-2.23 [[ 9.99902439e-01 1.38481923e-02 1.82773203e-03 3.11618217e+02] [-1.38482564e-02 9.99904108e-01 2.24171441e-05 -4.92742426e-01] [-1.82724632e-03 -4.77258589e-05 9.99998329e-01 -2.23320056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.09592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:311.65, Y:-0.49, Z:-2.24 [[ 9.99879987e-01 1.53841363e-02 1.82774641e-03 3.11648669e+02] [-1.53841946e-02 9.99881656e-01 1.78371914e-05 -4.92571587e-01] [-1.82725569e-03 -4.59534572e-05 9.99998330e-01 -2.23819752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.12591999999995 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:311.68, Y:-0.49, Z:-2.23 [[ 9.99870529e-01 1.59870310e-02 1.82775613e-03 3.11677124e+02] [-1.59870842e-02 9.99872198e-01 1.44785574e-05 -4.91189252e-01] [-1.82729107e-03 -4.36971740e-05 9.99998330e-01 -2.23273910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.15592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:311.71, Y:-0.49, Z:-2.24 [[ 9.99823372e-01 1.87051929e-02 1.82774468e-03 3.11707980e+02] [-1.87052574e-02 9.99825041e-01 1.82181066e-05 -4.89317385e-01] [-1.82708413e-03 -5.24033235e-05 9.99998330e-01 -2.24021807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.18591999999995 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:311.74, Y:-0.49, Z:-2.24 [[ 9.99760606e-01 2.18034277e-02 1.82776089e-03 3.11736435e+02] [-2.18034871e-02 9.99762276e-01 1.25818244e-05 -4.85044159e-01] [-1.82705206e-03 -5.24303734e-05 9.99998330e-01 -2.23829514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.21592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:311.77, Y:-0.48, Z:-2.24 [[ 9.99750051e-01 2.22821841e-02 1.82776540e-03 3.11765316e+02] [-2.22822416e-02 9.99751720e-01 1.10827971e-05 -4.83311367e-01] [-1.82706465e-03 -5.18067371e-05 9.99998330e-01 -2.23920859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.24591999999996 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:311.79, Y:-0.48, Z:-2.23 [[ 9.99779482e-01 2.09200079e-02 1.82776688e-03 3.11794138e+02] [-2.09200622e-02 9.99781151e-01 1.06078281e-05 -4.81438228e-01] [-1.82714496e-03 -4.88424857e-05 9.99998330e-01 -2.23245542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.27592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:311.83, Y:-0.48, Z:-2.24 [[ 9.99790852e-01 2.03693802e-02 1.82773766e-03 3.11825029e+02] [-2.03694510e-02 9.99792521e-01 2.01436218e-05 -4.79101505e-01] [-1.82694813e-03 -5.73694215e-05 9.99998329e-01 -2.23797163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.30591999999996 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:311.85, Y:-0.48, Z:-2.24 [[ 9.99829755e-01 1.83608161e-02 1.82776426e-03 3.11853527e+02] [-1.83608677e-02 9.99831425e-01 1.14617746e-05 -4.78461510e-01] [-1.82724570e-03 -4.50191611e-05 9.99998330e-01 -2.23817415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.33592 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:311.88, Y:-0.48, Z:-2.24 [[ 9.99901782e-01 1.38954910e-02 1.82776223e-03 3.11881842e+02] [-1.38955363e-02 9.99903452e-01 1.20622449e-05 -4.77697048e-01] [-1.82741815e-03 -3.74587965e-05 9.99998330e-01 -2.23877492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.36591999999996 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:311.91, Y:-0.48, Z:-2.24 [[ 9.99940504e-01 1.07539948e-02 1.82775967e-03 3.11910311e+02] [-1.07540360e-02 9.99942174e-01 1.27330558e-05 -4.76707572e-01] [-1.82751705e-03 -3.23880915e-05 9.99998330e-01 -2.23804728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.39592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:311.94, Y:-0.47, Z:-2.24 [[ 9.99945117e-01 1.03161407e-02 1.82773138e-03 3.11941789e+02] [-1.03161944e-02 9.99946786e-01 1.99240749e-05 -4.74329806e-01] [-1.82742858e-03 -3.87782136e-05 9.99998329e-01 -2.24281140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.42591999999996 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:311.97, Y:-0.47, Z:-2.24 [[ 9.99964358e-01 8.24269890e-03 1.82778096e-03 3.11971384e+02] [-8.24272551e-03 9.99966028e-01 7.02379269e-06 -4.72501371e-01] [-1.82766097e-03 -2.20894390e-05 9.99998330e-01 -2.23743254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.45592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:312.00, Y:-0.47, Z:-2.24 [[ 9.99965887e-01 8.05501331e-03 1.82774762e-03 3.12001408e+02] [-8.05505482e-03 9.99967557e-01 1.53503666e-05 -4.71766993e-01] [-1.82756468e-03 -3.00724502e-05 9.99998330e-01 -2.23646698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.48591999999996 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:312.03, Y:-0.47, Z:-2.24 [[ 9.99965943e-01 8.04815557e-03 1.82773543e-03 3.12032179e+02] [-8.04820254e-03 9.99967613e-01 1.83432794e-05 -4.74155918e-01] [-1.82752861e-03 -3.30526396e-05 9.99998330e-01 -2.23702801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.51592 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:312.06, Y:-0.48, Z:-2.24 [[ 9.99963118e-01 8.39180406e-03 1.82773783e-03 3.12062465e+02] [-8.39185049e-03 9.99964788e-01 1.77357600e-05 -4.75419210e-01] [-1.82752464e-03 -3.30732085e-05 9.99998330e-01 -2.23760106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.54591999999997 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:312.09, Y:-0.48, Z:-2.24 [[ 9.99947783e-01 1.00543459e-02 1.82774988e-03 3.12091929e+02] [-1.00543896e-02 9.99949453e-01 1.47198407e-05 -4.75906608e-01] [-1.82750950e-03 -3.30959814e-05 9.99998330e-01 -2.24183423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.57592 meters Centerline goodness : 0.998959 Centerline is valid? [True, True] Translation: X:312.12, Y:-0.48, Z:-2.23 [[ 9.99985100e-01 5.14375445e-03 1.82775778e-03 3.12121135e+02] [-5.14378630e-03 9.99986771e-01 1.27251435e-05 -4.77274992e-01] [-1.82766814e-03 -2.21265494e-05 9.99998330e-01 -2.22860939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.60591999999997 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:312.15, Y:-0.48, Z:-2.24 [[ 9.99970779e-01 7.42302272e-03 1.82772845e-03 3.12152815e+02] [-7.42307202e-03 9.99972448e-01 2.01936273e-05 -4.78589036e-01] [-1.82752820e-03 -3.37603972e-05 9.99998329e-01 -2.23891010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.63592 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:312.18, Y:-0.48, Z:-2.23 [[ 9.99980934e-01 5.89838207e-03 1.82776696e-03 3.12182128e+02] [-5.89840951e-03 9.99982604e-01 9.62278553e-06 -4.79436424e-01] [-1.82767840e-03 -2.04035201e-05 9.99998330e-01 -2.23458510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.66591999999997 meters Centerline goodness : 0.999405 Centerline is valid? [True, True] Translation: X:312.21, Y:-0.48, Z:-2.23 [[ 9.99965733e-01 8.07415941e-03 1.82774326e-03 3.12213123e+02] [-8.07420236e-03 9.99967403e-01 1.61216413e-05 -4.78158279e-01] [-1.82755352e-03 -3.08786579e-05 9.99998330e-01 -2.23378979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.69592 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:312.24, Y:-0.48, Z:-2.23 [[ 9.99944527e-01 1.03731832e-02 1.82776372e-03 3.12243673e+02] [-1.03732192e-02 9.99946197e-01 1.02200436e-05 -4.76477658e-01] [-1.82755936e-03 -2.91792703e-05 9.99998330e-01 -2.23329633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.72592 meters Centerline goodness : 0.812463 Centerline is valid? [True, False] Translation: X:312.24, Y:-0.47, Z:-2.23 [[ 9.99979119e-01 6.23201573e-03 1.71006519e-03 3.12243953e+02] [-6.22338305e-03 9.99968095e-01 -5.00787506e-03 -4.72835941e-01] [-1.74121979e-03 4.99712810e-03 9.99985998e-01 -2.23277602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.75591999999995 meters Centerline goodness : 0.999504 Centerline is valid? [False, True] Translation: X:312.24, Y:-0.47, Z:-2.23 [[ 9.99996228e-01 2.14087405e-03 1.72037649e-03 3.12243948e+02] [-2.12371307e-03 9.99948582e-01 -9.91579864e-03 -4.69536511e-01] [-1.74151651e-03 9.91210765e-03 9.99949357e-01 -2.23242053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.78592 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:312.27, Y:-0.48, Z:-2.22 [[ 9.99997558e-01 1.60286407e-03 1.52138551e-03 3.12273619e+02] [-1.60291225e-03 9.99998715e-01 3.04493294e-05 -4.76673181e-01] [-1.52133475e-03 -3.28879025e-05 9.99998842e-01 -2.22221768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.81591999999995 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:312.30, Y:-0.47, Z:-2.23 [[ 9.99994722e-01 2.87065349e-03 1.52136248e-03 3.12304363e+02] [-2.87070488e-03 9.99995879e-01 3.15949080e-05 -4.74861832e-01] [-1.52126551e-03 -3.59621240e-05 9.99998842e-01 -2.23379696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.84592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.34, Y:-0.47, Z:-2.23 [[ 9.99995890e-01 2.42994586e-03 1.52138501e-03 3.12336084e+02] [-2.42999503e-03 9.99997047e-01 3.04698485e-05 -4.72997583e-01] [-1.52130648e-03 -3.41666813e-05 9.99998842e-01 -2.23384354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.87591999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.37, Y:-0.47, Z:-2.23 [[ 9.99996413e-01 2.20442196e-03 1.52138696e-03 3.12367866e+02] [-2.20447072e-03 9.99997570e-01 3.03721506e-05 -4.72030295e-01] [-1.52131631e-03 -3.37258946e-05 9.99998842e-01 -2.23365533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.90592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.40, Y:-0.47, Z:-2.23 [[ 9.99998316e-01 1.02601566e-03 1.52138889e-03 3.12399434e+02] [-1.02606290e-03 9.99999473e-01 3.02750203e-05 -4.70606986e-01] [-1.52135703e-03 -3.18360100e-05 9.99998842e-01 -2.23314482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.93591999999995 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:312.43, Y:-0.47, Z:-2.22 [[ 9.99990583e-01 -4.06450151e-03 1.52139083e-03 3.12429790e+02] [ 4.06446030e-03 9.99991740e-01 3.01775054e-05 -4.68397082e-01] [-1.52150092e-03 -2.39935886e-05 9.99998842e-01 -2.21904629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.96592 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:312.46, Y:-0.47, Z:-2.22 [[ 9.99958830e-01 -8.94565941e-03 1.52132903e-03 3.12459421e+02] [ 8.94561904e-03 9.99959987e-01 3.33408411e-05 -4.69719278e-01] [-1.52156641e-03 -1.97302385e-05 9.99998842e-01 -2.22421070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.99591999999996 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:312.49, Y:-0.47, Z:-2.22 [[ 9.99941877e-01 -1.06737789e-02 1.52115397e-03 3.12490895e+02] [ 1.06737267e-02 9.99943033e-01 4.24358776e-05 -4.70930470e-01] [-1.52152027e-03 -2.61970294e-05 9.99998842e-01 -2.21887358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.02592 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:312.52, Y:-0.47, Z:-2.22 [[ 9.99923344e-01 -1.22878695e-02 1.52124494e-03 3.12522098e+02] [ 1.22878265e-02 9.99924501e-01 3.76159203e-05 -4.70511236e-01] [-1.52159231e-03 -1.89202429e-05 9.99998842e-01 -2.21513229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.05591999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.55, Y:-0.47, Z:-2.23 [[ 9.99919742e-01 -1.25775583e-02 1.52128845e-03 3.12554464e+02] [ 1.25775192e-02 9.99920899e-01 3.52636669e-05 -4.69963518e-01] [-1.52161164e-03 -1.61268021e-05 9.99998842e-01 -2.23188411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.08592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.59, Y:-0.47, Z:-2.23 [[ 9.99926062e-01 -1.20646341e-02 1.52142525e-03 3.12588099e+02] [ 1.20646058e-02 9.99927220e-01 2.77681351e-05 -4.69024401e-01] [-1.52164953e-03 -9.41068609e-06 9.99998842e-01 -2.23193343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.11591999999996 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:312.62, Y:-0.47, Z:-2.23 [[ 9.99848117e-01 -1.73616697e-02 1.52143909e-03 3.12621510e+02] [ 1.73616488e-02 9.99849275e-01 2.69877084e-05 -4.68447388e-01] [-1.52167833e-03 -5.68918316e-07 9.99998842e-01 -2.23071766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.14592 meters Centerline goodness : 0.959290 Centerline is valid? [True, True] Translation: X:312.63, Y:-0.44, Z:-2.24 [[ 9.98801861e-01 4.89134710e-02 1.52145263e-03 3.12632719e+02] [-4.89135675e-02 9.98803015e-01 2.62014980e-05 -4.35549435e-01] [-1.51834987e-03 -1.00589781e-04 9.99998842e-01 -2.23751489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.17591999999996 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:312.68, Y:-0.47, Z:-2.22 [[ 9.99650280e-01 -2.64009470e-02 1.51941256e-03 3.12678804e+02] [ 2.64007559e-02 9.99651429e-01 1.45634081e-04 -4.71966841e-01] [-1.52272782e-03 -1.05469510e-04 9.99998835e-01 -2.21631967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.20592 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:312.71, Y:-0.47, Z:-2.22 [[ 9.99639482e-01 -2.68065997e-02 1.52087978e-03 3.12710857e+02] [ 2.68065661e-02 9.99640639e-01 4.24618158e-05 -4.73530623e-01] [-1.52147149e-03 -1.67694312e-06 9.99998843e-01 -2.21604012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.23591999999996 meters Centerline goodness : 0.999405 Centerline is valid? [True, True] Translation: X:312.74, Y:-0.48, Z:-2.23 [[ 9.99527881e-01 -3.06871582e-02 1.52102023e-03 3.12741985e+02] [ 3.06871445e-02 9.99529038e-01 3.22979801e-05 -4.76566331e-01] [-1.52129502e-03 1.43930360e-05 9.99998843e-01 -2.22883262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.26592 meters Centerline goodness : 0.998708 Centerline is valid? [True, True] Translation: X:312.77, Y:-0.48, Z:-2.22 [[ 9.99447434e-01 -3.32041124e-02 1.52117847e-03 3.12771047e+02] [ 3.32041195e-02 9.99448591e-01 2.06296851e-05 -4.80115406e-01] [-1.52102467e-03 2.98911059e-05 9.99998843e-01 -2.21655743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.29591999999997 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:312.80, Y:-0.49, Z:-2.22 [[ 9.99414699e-01 -3.41752182e-02 1.52106865e-03 3.12799323e+02] [ 3.41752140e-02 9.99415856e-01 2.87644576e-05 -4.85444021e-01] [-1.52116316e-03 2.32352249e-05 9.99998843e-01 -2.22188151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.32592 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:312.83, Y:-0.49, Z:-2.22 [[ 9.99392946e-01 -3.48055442e-02 1.52082336e-03 3.12833341e+02] [ 3.48055103e-02 9.99394103e-01 4.87747050e-05 -4.87550515e-01] [-1.52159953e-03 4.18793707e-06 9.99998842e-01 -2.22391250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.35591999999997 meters Centerline goodness : 0.998159 Centerline is valid? [True, True] Translation: X:312.86, Y:-0.49, Z:-2.21 [[ 9.99423853e-01 -3.39064741e-02 1.52101152e-03 3.12863658e+02] [ 3.39064640e-02 9.99425010e-01 3.24169109e-05 -4.89080337e-01] [-1.52123609e-03 1.91738882e-05 9.99998843e-01 -2.21309818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.38592 meters Centerline goodness : 0.819563 Centerline is valid? [True, False] Translation: X:312.87, Y:-0.49, Z:-2.21 [[ 9.99785821e-01 -2.06869959e-02 -6.00124991e-04 3.12866108e+02] [ 2.06833516e-02 9.99770676e-01 -5.54920423e-03 -4.89679248e-01] [ 7.14783733e-04 5.53560311e-03 9.99984423e-01 -2.21382122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.41591999999997 meters Centerline goodness : 0.998163 Centerline is valid? [False, True] Translation: X:312.86, Y:-0.49, Z:-2.21 [[ 9.99951488e-01 -8.45159568e-03 5.05881220e-03 3.12862004e+02] [ 8.51298399e-03 9.99888862e-01 -1.22389633e-02 -4.86543903e-01] [-4.95481120e-03 1.22814352e-02 9.99912304e-01 -2.21379130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.44592 meters Centerline goodness : 0.998262 Centerline is valid? [True, True] Translation: X:312.84, Y:-0.53, Z:-2.19 [[ 9.98515357e-01 -5.42668863e-02 4.71039832e-03 3.12842871e+02] [ 5.42617326e-02 9.98526008e-01 1.21518299e-03 -5.28878535e-01] [-4.76939943e-03 -9.57784507e-04 9.99988168e-01 -2.18798300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.47592 meters Centerline goodness : 0.996469 Centerline is valid? [True, True] Translation: X:312.87, Y:-0.53, Z:-2.17 [[ 9.98419222e-01 -5.60048161e-02 4.74527632e-03 3.12870895e+02] [ 5.60047055e-02 9.98430493e-01 1.56288551e-04 -5.31762797e-01] [-4.74658148e-03 1.09716310e-04 9.99988729e-01 -2.17210197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.50591999999995 meters Centerline goodness : 0.997514 Centerline is valid? [True, True] Translation: X:312.90, Y:-0.54, Z:-2.18 [[ 9.98564786e-01 -5.33467421e-02 4.74270372e-03 3.12902545e+02] [ 5.33462366e-02 9.98576049e-01 2.33117601e-04 -5.35446885e-01] [-4.74838640e-03 2.02223666e-05 9.99988726e-01 -2.17767950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.53592 meters Centerline goodness : 0.997714 Centerline is valid? [True, True] Translation: X:312.94, Y:-0.54, Z:-2.18 [[ 9.98896533e-01 -4.67248790e-02 4.74353519e-03 3.12935003e+02] [ 4.67244179e-02 9.98907796e-01 2.08051441e-04 -5.41852122e-01] [-4.74807546e-03 1.38170570e-05 9.99988728e-01 -2.18463379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.56591999999995 meters Centerline goodness : 0.817744 Centerline is valid? [True, False] Translation: X:312.93, Y:-0.54, Z:-2.18 [[ 9.99494986e-01 -3.12823520e-02 5.58449249e-03 3.12933354e+02] [ 3.13024511e-02 9.99503658e-01 -3.54870586e-03 -5.39874437e-01] [-5.47070881e-03 3.72172202e-03 9.99978110e-01 -2.18386572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.59592 meters Centerline goodness : 0.996423 Centerline is valid? [False, True] Translation: X:312.93, Y:-0.54, Z:-2.18 [[ 9.99875161e-01 -1.51954739e-02 4.33120437e-03 3.12933481e+02] [ 1.52199959e-02 9.99868001e-01 -5.68612420e-03 -5.42969299e-01] [-4.24422930e-03 5.75133526e-03 9.99974454e-01 -2.18285652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.62591999999995 meters Centerline goodness : 0.954995 Centerline is valid? [True, True] Translation: X:313.00, Y:-0.57, Z:-2.21 [[ 9.95363190e-01 -9.60926660e-02 4.28004020e-03 3.12999580e+02] [ 9.60933591e-02 9.95372325e-01 4.38860148e-05 -5.72490667e-01] [-4.26445069e-03 3.67600916e-04 9.99990840e-01 -2.20803204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.65592 meters Centerline goodness : 0.996567 Centerline is valid? [True, True] Translation: X:312.99, Y:-0.56, Z:-2.19 [[ 9.99924853e-01 -1.14865497e-02 4.28339901e-03 3.12989235e+02] [ 1.14902556e-02 9.99933631e-01 -8.41581764e-04 -5.55976342e-01] [-4.27344785e-03 8.90735872e-04 9.99990472e-01 -2.19441383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.68591999999995 meters Centerline goodness : 0.996375 Centerline is valid? [True, True] Translation: X:313.02, Y:-0.56, Z:-2.19 [[ 9.99981402e-01 -4.35199322e-03 4.27274909e-03 3.13022186e+02] [ 4.35181508e-03 9.99990530e-01 5.09894428e-05 -5.56846367e-01] [-4.27293053e-03 -3.23942806e-05 9.99990870e-01 -2.19233989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.71592 meters Centerline goodness : 0.995140 Centerline is valid? [True, True] Translation: X:313.05, Y:-0.56, Z:-2.18 [[ 9.99984557e-01 -3.55370456e-03 4.27275889e-03 3.13051920e+02] [ 3.55352270e-03 9.99993685e-01 5.01544630e-05 -5.55712735e-01] [-4.27291014e-03 -3.49703427e-05 9.99990870e-01 -2.17775642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.74591999999996 meters Centerline goodness : 0.995136 Centerline is valid? [True, True] Translation: X:313.08, Y:-0.56, Z:-2.18 [[ 9.99989943e-01 1.36437582e-03 4.27237488e-03 3.13084479e+02] [-1.36474161e-03 9.99999065e-01 8.27029218e-05 -5.55505979e-01] [-4.27225805e-03 -8.85327778e-05 9.99990870e-01 -2.17794204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.77592 meters Centerline goodness : 0.995627 Centerline is valid? [True, True] Translation: X:313.12, Y:-0.56, Z:-2.18 [[ 9.99988807e-01 2.03259412e-03 4.27249407e-03 3.13116867e+02] [-2.03292185e-03 9.99997931e-01 7.23654635e-05 -5.55282898e-01] [-4.27233814e-03 -8.10503001e-05 9.99990870e-01 -2.17862562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.80591999999996 meters Centerline goodness : 0.995079 Centerline is valid? [True, True] Translation: X:313.15, Y:-0.56, Z:-2.18 [[ 9.99990808e-01 3.60602456e-04 4.27252456e-03 3.13148341e+02] [-3.60903391e-04 9.99999932e-01 6.96641900e-05 -5.55149741e-01] [-4.27249915e-03 -7.12055182e-05 9.99990870e-01 -2.17573422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.83592 meters Centerline goodness : 0.995633 Centerline is valid? [True, True] Translation: X:313.18, Y:-0.56, Z:-2.18 [[ 9.99989938e-01 1.36714297e-03 4.27253310e-03 3.13180429e+02] [-1.36744975e-03 9.99999063e-01 6.88830488e-05 -5.55360297e-01] [-4.27243492e-03 -7.47248300e-05 9.99990870e-01 -2.18148194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.86591999999996 meters Centerline goodness : 0.995481 Centerline is valid? [True, True] Translation: X:313.21, Y:-0.56, Z:-2.18 [[ 9.99990821e-01 3.21527905e-04 4.27262012e-03 3.13211477e+02] [-3.21789682e-04 9.99999946e-01 6.05811844e-05 -5.56172899e-01] [-4.27260042e-03 -6.19555133e-05 9.99990870e-01 -2.18034633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.89592 meters Centerline goodness : 0.995137 Centerline is valid? [True, True] Translation: X:313.24, Y:-0.56, Z:-2.18 [[ 9.99990785e-01 4.18038087e-04 4.27254692e-03 3.13241949e+02] [-4.18331628e-04 9.99999910e-01 6.78105673e-05 -5.56087802e-01] [-4.27251819e-03 -6.95972839e-05 9.99990870e-01 -2.18200378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.92591999999996 meters Centerline goodness : 0.994736 Centerline is valid? [True, True] Translation: X:313.27, Y:-0.56, Z:-2.18 [[ 9.99990787e-01 4.12882119e-04 4.27252525e-03 3.13274176e+02] [-4.13185076e-04 9.99999912e-01 7.00258240e-05 -5.55779063e-01] [-4.27249596e-03 -7.17905226e-05 9.99990870e-01 -2.17828630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.95592 meters Centerline goodness : 0.995580 Centerline is valid? [True, True] Translation: X:313.31, Y:-0.56, Z:-2.18 [[ 9.99990563e-01 7.86305359e-04 4.27258045e-03 3.13305502e+02] [-7.86587167e-04 9.99999689e-01 6.42772968e-05 -5.55496562e-01] [-4.27252858e-03 -6.76374472e-05 9.99990870e-01 -2.18135900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.98591999999996 meters Centerline goodness : 0.996428 Centerline is valid? [True, True] Translation: X:313.34, Y:-0.55, Z:-2.19 [[ 9.99985599e-01 3.24760102e-03 4.27262466e-03 3.13337223e+02] [-3.24788538e-03 9.99994724e-01 5.96164652e-05 -5.53745597e-01] [-4.27240851e-03 -7.34926018e-05 9.99990871e-01 -2.18748307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.01592 meters Centerline goodness : 0.996774 Centerline is valid? [True, True] Translation: X:313.37, Y:-0.55, Z:-2.19 [[ 9.99986488e-01 2.96093697e-03 4.27269331e-03 3.13369080e+02] [-2.96118698e-03 9.99995614e-01 5.21876232e-05 -5.52509371e-01] [-4.27252004e-03 -6.48391618e-05 9.99990871e-01 -2.18793811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.04591999999997 meters Centerline goodness : 0.996970 Centerline is valid? [True, True] Translation: X:313.40, Y:-0.55, Z:-2.19 [[ 9.99989303e-01 1.77169967e-03 4.27266614e-03 3.13401953e+02] [-1.77195190e-03 9.99998429e-01 5.52474925e-05 -5.53197313e-01] [-4.27256154e-03 -6.28178604e-05 9.99990871e-01 -2.19240669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.07592 meters Centerline goodness : 0.956051 Centerline is valid? [True, True] Translation: X:313.48, Y:-0.57, Z:-2.20 [[ 9.98645087e-01 -5.18626365e-02 4.27282309e-03 3.13482207e+02] [ 5.18629510e-02 9.98654211e-01 3.72375318e-05 -5.73396724e-01] [-4.26900401e-03 1.84414137e-04 9.99990871e-01 -2.20161469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.10591999999997 meters Centerline goodness : 0.955562 Centerline is valid? [True, True] Translation: X:313.51, Y:-0.57, Z:-2.20 [[ 9.97987244e-01 -6.32722553e-02 4.25241802e-03 3.13508129e+02] [ 6.32767764e-02 9.97995577e-01 -9.37056785e-04 -5.72050504e-01] [-4.18460468e-03 1.20425002e-03 9.99990519e-01 -2.20204202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.13592 meters Centerline goodness : 0.997072 Centerline is valid? [True, True] Translation: X:313.48, Y:-0.57, Z:-2.19 [[ 9.99580592e-01 -2.86458350e-02 4.24919595e-03 3.13477968e+02] [ 2.86492458e-02 9.99589249e-01 -7.44001283e-04 -5.65030079e-01] [-4.22613806e-03 8.65425502e-04 9.99990695e-01 -2.19107643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.16591999999997 meters Centerline goodness : 0.996330 Centerline is valid? [True, True] Translation: X:313.51, Y:-0.57, Z:-2.18 [[ 9.99382048e-01 -3.48949611e-02 4.22648639e-03 3.13507672e+02] [ 3.48947990e-02 9.99390985e-01 1.12119891e-04 -5.67135731e-01] [-4.22782482e-03 3.54317864e-05 9.99991062e-01 -2.18040889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.19592 meters Centerline goodness : 0.995930 Centerline is valid? [True, True] Translation: X:313.54, Y:-0.57, Z:-2.18 [[ 9.99314540e-01 -3.67775983e-02 4.22596182e-03 3.13538389e+02] [ 3.67773693e-02 9.99323475e-01 1.31895933e-04 -5.67241100e-01] [-4.22795367e-03 2.36142356e-05 9.99991062e-01 -2.17805112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.22592 meters Centerline goodness : 0.996921 Centerline is valid? [True, True] Translation: X:313.57, Y:-0.57, Z:-2.19 [[ 9.99281567e-01 -3.76628892e-02 4.22573149e-03 3.13570686e+02] [ 3.76626308e-02 9.99290502e-01 1.40737097e-04 -5.66822166e-01] [-4.22803391e-03 1.85161787e-05 9.99991062e-01 -2.19194000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.25591999999995 meters Centerline goodness : 0.996229 Centerline is valid? [True, True] Translation: X:313.60, Y:-0.57, Z:-2.18 [[ 9.99146790e-01 -4.10831864e-02 4.22655447e-03 3.13599006e+02] [ 4.10830938e-02 9.99155727e-01 1.08753257e-04 -5.66805747e-01] [-4.22745404e-03 6.49794658e-05 9.99991062e-01 -2.17589483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.28592 meters Centerline goodness : 0.995736 Centerline is valid? [True, True] Translation: X:313.63, Y:-0.57, Z:-2.17 [[ 9.99115577e-01 -4.18355430e-02 4.22499087e-03 3.13631250e+02] [ 4.18351995e-02 9.99124510e-01 1.69672587e-04 -5.67774669e-01] [-4.22839028e-03 7.23081126e-06 9.99991060e-01 -2.17086364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.31591999999995 meters Centerline goodness : 0.996423 Centerline is valid? [True, True] Translation: X:313.66, Y:-0.57, Z:-2.18 [[ 9.99050223e-01 -4.33681879e-02 4.22507886e-03 3.13663549e+02] [ 4.33678731e-02 9.99059157e-01 1.66134593e-04 -5.72795237e-01] [-4.22830868e-03 1.72558813e-05 9.99991061e-01 -2.17989073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.34592 meters Centerline goodness : 0.995977 Centerline is valid? [True, True] Translation: X:313.69, Y:-0.57, Z:-2.18 [[ 9.99152252e-01 -4.09502327e-02 4.22558715e-03 3.13694545e+02] [ 4.09499841e-02 9.99161187e-01 1.45353192e-04 -5.73316838e-01] [-4.22799492e-03 2.78077580e-05 9.99991062e-01 -2.18117696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.37591999999995 meters Centerline goodness : 0.996179 Centerline is valid? [True, True] Translation: X:313.73, Y:-0.58, Z:-2.18 [[ 9.99135042e-01 -4.13680584e-02 4.22518715e-03 3.13728426e+02] [ 4.13677419e-02 9.99143975e-01 1.62300092e-04 -5.76266012e-01] [-4.22828433e-03 1.26267423e-05 9.99991061e-01 -2.17944984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.40592 meters Centerline goodness : 0.996922 Centerline is valid? [True, True] Translation: X:313.76, Y:-0.58, Z:-2.19 [[ 9.99227522e-01 -3.90704369e-02 4.22604846e-03 3.13759772e+02] [ 3.90702583e-02 9.99236458e-01 1.24851683e-04 -5.76535816e-01] [-4.22769971e-03 4.03575675e-05 9.99991062e-01 -2.19034791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.43591999999995 meters Centerline goodness : 0.996223 Centerline is valid? [True, True] Translation: X:313.79, Y:-0.58, Z:-2.18 [[ 9.99386910e-01 -3.47554104e-02 4.22670392e-03 3.13790373e+02] [ 3.47553152e-02 9.99395847e-01 9.59902068e-05 -5.80495664e-01] [-4.22748652e-03 5.09690708e-05 9.99991063e-01 -2.17741097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.46592 meters Centerline goodness : 0.996875 Centerline is valid? [True, True] Translation: X:313.82, Y:-0.58, Z:-2.19 [[ 9.99408142e-01 -3.41394433e-02 4.22661038e-03 3.13821934e+02] [ 3.41393251e-02 9.99417078e-01 1.00133015e-04 -5.81333878e-01] [-4.22756508e-03 4.42198754e-05 9.99991063e-01 -2.19026092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.49591999999996 meters Centerline goodness : 0.996078 Centerline is valid? [True, True] Translation: X:313.85, Y:-0.58, Z:-2.18 [[ 9.99709867e-01 -2.37131998e-02 4.22674185e-03 3.13854545e+02] [ 2.37130133e-02 9.99718803e-01 9.42360347e-05 -5.82304678e-01] [-4.22778794e-03 6.02009206e-06 9.99991063e-01 -2.18045478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.52592 meters Centerline goodness : 0.994888 Centerline is valid? [True, True] Translation: X:313.85, Y:-0.60, Z:-2.19 [[ 9.99530099e-01 -3.03596436e-02 4.22775890e-03 3.13851566e+02] [ 3.03597122e-02 9.99539037e-01 4.79585320e-05 -5.97160311e-01] [-4.22726606e-03 8.04175471e-05 9.99991062e-01 -2.18790719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.55591999999996 meters Centerline goodness : 0.996270 Centerline is valid? [True, True] Translation: X:313.91, Y:-0.59, Z:-2.18 [[ 9.99736739e-01 -2.25533354e-02 4.21889670e-03 3.13909253e+02] [ 2.25513479e-02 9.99745552e-01 5.18084679e-04 -5.87137491e-01] [-4.22950775e-03 -4.22806480e-04 9.99990966e-01 -2.17854262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.58592 meters Centerline goodness : 0.996873 Centerline is valid? [True, True] Translation: X:313.97, Y:-0.58, Z:-2.20 [[ 9.99745756e-01 -2.21487653e-02 4.22551314e-03 3.13973875e+02] [ 2.21487256e-02 9.99754685e-01 5.62085041e-05 -5.83043480e-01] [-4.22572151e-03 3.73955175e-05 9.99991071e-01 -2.19802330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.61591999999996 meters Centerline goodness : 0.996968 Centerline is valid? [True, True] Translation: X:313.97, Y:-0.60, Z:-2.18 [[ 9.99729347e-01 -2.28759905e-02 4.23344962e-03 3.13965899e+02] [ 2.28787121e-02 9.99738071e-01 -5.95574699e-04 -5.95109493e-01] [-4.21871639e-03 6.92269380e-04 9.99990862e-01 -2.18004302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.64592 meters Centerline goodness : 0.996871 Centerline is valid? [True, True] Translation: X:314.00, Y:-0.60, Z:-2.18 [[ 9.99802839e-01 -1.94027359e-02 4.22107717e-03 3.13996724e+02] [ 1.94025795e-02 9.99811749e-01 7.79970289e-05 -5.96673127e-01] [-4.22179590e-03 3.91813447e-06 9.99991088e-01 -2.17791568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.67591999999996 meters Centerline goodness : 0.997373 Centerline is valid? [True, True] Translation: X:314.03, Y:-0.60, Z:-2.18 [[ 9.99844359e-01 -1.71300935e-02 4.22105872e-03 3.14027121e+02] [ 1.71299126e-02 9.99853269e-01 7.90057647e-05 -5.97613043e-01] [-4.22179274e-03 -6.68710117e-06 9.99991088e-01 -2.17901237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.70592 meters Centerline goodness : 0.997719 Centerline is valid? [True, True] Translation: X:314.06, Y:-0.60, Z:-2.18 [[ 9.99868382e-01 -1.56652870e-02 4.22099408e-03 3.14057970e+02] [ 1.56650780e-02 9.99877292e-01 8.25726850e-05 -5.99502284e-01] [-4.22176965e-03 -1.64396153e-05 9.99991088e-01 -2.17865621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.73591999999996 meters Centerline goodness : 0.998905 Centerline is valid? [True, True] Translation: X:314.09, Y:-0.60, Z:-2.19 [[ 9.99899181e-01 -1.35576801e-02 4.22098720e-03 3.14089927e+02] [ 1.35574508e-02 9.99908090e-01 8.29538691e-05 -6.04086720e-01] [-4.22172392e-03 -2.57196796e-05 9.99991088e-01 -2.18864212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.76592 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:314.12, Y:-0.61, Z:-2.19 [[ 9.99917123e-01 -1.21626268e-02 4.22111964e-03 3.14122758e+02] [ 1.21624162e-02 9.99926032e-01 7.55550749e-05 -6.05726171e-01] [-4.22172636e-03 -2.42097994e-05 9.99991088e-01 -2.18865568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.79591999999997 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:314.15, Y:-0.61, Z:-2.18 [[ 9.99907425e-01 -1.29353790e-02 4.22115823e-03 3.14153419e+02] [ 1.29351847e-02 9.99916334e-01 7.33339347e-05 -6.09414433e-01] [-4.22175366e-03 -1.87256845e-05 9.99991088e-01 -2.17968931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.82592 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:314.19, Y:-0.61, Z:-2.18 [[ 9.99924022e-01 -1.15815883e-02 4.22098563e-03 3.14186040e+02] [ 1.15813401e-02 9.99932931e-01 8.32305726e-05 -6.10541098e-01] [-4.22166648e-03 -3.43395785e-05 9.99991088e-01 -2.17626895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.85591999999997 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:314.22, Y:-0.61, Z:-2.18 [[ 9.99935587e-01 -1.05357890e-02 4.22130780e-03 3.14218227e+02] [ 1.05356113e-02 9.99944497e-01 6.43231715e-05 -6.11147105e-01] [-4.22175120e-03 -1.98449700e-05 9.99991088e-01 -2.17592201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.88592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:314.25, Y:-0.61, Z:-2.18 [[ 9.99962212e-01 -7.59972492e-03 4.22115908e-03 3.14249412e+02] [ 7.59948339e-03 9.99971121e-01 7.32563296e-05 -6.12338548e-01] [-4.22159391e-03 -4.11749331e-05 9.99991088e-01 -2.17693031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.91591999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.28, Y:-0.61, Z:-2.18 [[ 9.99980312e-01 -4.64287787e-03 4.22130069e-03 3.14279935e+02] [ 4.64264630e-03 9.99989221e-01 6.46537074e-05 -6.11257578e-01] [-4.22155537e-03 -4.50544284e-05 9.99991088e-01 -2.17997166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.94591999999994 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:314.31, Y:-0.61, Z:-2.18 [[ 9.99985921e-01 -3.21577271e-03 4.22108638e-03 3.14313259e+02] [ 3.21547338e-03 9.99994827e-01 7.76971632e-05 -6.10540814e-01] [-4.22131441e-03 -6.41232783e-05 9.99991088e-01 -2.18053749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.97592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:314.34, Y:-0.61, Z:-2.18 [[ 9.99987281e-01 -2.76016519e-03 4.22120271e-03 3.14344975e+02] [ 2.75989248e-03 9.99996189e-01 7.04274355e-05 -6.09767708e-01] [-4.22138101e-03 -5.87764742e-05 9.99991088e-01 -2.18067066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.00591999999995 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:314.38, Y:-0.61, Z:-2.18 [[ 9.99989829e-01 -1.58830487e-03 4.22123280e-03 3.14377480e+02] [ 1.58802990e-03 9.99998737e-01 6.84911548e-05 -6.08407965e-01] [-4.22133626e-03 -6.17870143e-05 9.99991088e-01 -2.18094087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.03592 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:314.41, Y:-0.61, Z:-2.18 [[ 9.99987290e-01 -2.75670799e-03 4.22133517e-03 3.14409791e+02] [ 2.75647182e-03 9.99996199e-01 6.17641071e-05 -6.06457067e-01] [-4.22148939e-03 -5.01273307e-05 9.99991088e-01 -2.17747557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.06591999999995 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:314.44, Y:-0.60, Z:-2.19 [[ 9.99977761e-01 -5.16308267e-03 4.22138898e-03 3.14441617e+02] [ 5.16288326e-03 9.99986671e-01 5.81360349e-05 -6.03359039e-01] [-4.22163288e-03 -3.63402035e-05 9.99991088e-01 -2.19041866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.09592 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:314.47, Y:-0.60, Z:-2.18 [[ 9.99963684e-01 -7.40345910e-03 4.22133568e-03 3.14472801e+02] [ 7.40326427e-03 9.99972594e-01 6.17783369e-05 -6.02522868e-01] [-4.22167736e-03 -3.05244297e-05 9.99991088e-01 -2.17597726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.12591999999995 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:314.50, Y:-0.60, Z:-2.19 [[ 9.99891540e-01 -1.41097981e-02 4.22147787e-03 3.14504534e+02] [ 1.41097042e-02 9.99900452e-01 5.20421845e-05 -6.02046727e-01] [-4.22179193e-03 7.52726382e-06 9.99991088e-01 -2.19266971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.15592 meters Centerline goodness : 0.998461 Centerline is valid? [True, True] Translation: X:314.54, Y:-0.60, Z:-2.18 [[ 9.99869277e-01 -1.56079575e-02 4.22135802e-03 3.14536709e+02] [ 1.56078415e-02 9.99878188e-01 6.04156882e-05 -6.01336723e-01] [-4.22178678e-03 5.47849639e-06 9.99991088e-01 -2.18057972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.18591999999995 meters Centerline goodness : 0.998858 Centerline is valid? [True, True] Translation: X:314.57, Y:-0.60, Z:-2.18 [[ 9.99825118e-01 -1.82184606e-02 4.22159946e-03 3.14567450e+02] [ 1.82184410e-02 9.99834030e-01 4.30926121e-05 -6.00732707e-01] [-4.22168388e-03 3.38258850e-05 9.99991088e-01 -2.18033510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.21592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:314.60, Y:-0.60, Z:-2.19 [[ 9.99746881e-01 -2.20987253e-02 4.22149000e-03 3.14598183e+02] [ 2.20987067e-02 9.99755792e-01 5.10364871e-05 -6.01069078e-01] [-4.22158693e-03 4.22659008e-05 9.99991088e-01 -2.19345457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.24591999999996 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:314.63, Y:-0.60, Z:-2.18 [[ 9.99765362e-01 -2.12461815e-02 4.22140115e-03 3.14629956e+02] [ 2.12461278e-02 9.99774274e-01 5.75540602e-05 -6.00535700e-01] [-4.22167107e-03 3.21478726e-05 9.99991088e-01 -2.17901573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.27592 meters Centerline goodness : 0.998708 Centerline is valid? [True, True] Translation: X:314.66, Y:-0.60, Z:-2.18 [[ 9.99754313e-01 -2.17598828e-02 4.22151712e-03 3.14662279e+02] [ 2.17598701e-02 9.99763225e-01 4.89277334e-05 -6.00481301e-01] [-4.22158223e-03 4.29439517e-05 9.99991088e-01 -2.17900659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.30591999999996 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:314.69, Y:-0.60, Z:-2.19 [[ 9.99723012e-01 -2.31533331e-02 4.22167225e-03 3.14692885e+02] [ 2.31533822e-02 9.99731924e-01 3.72590708e-05 -6.01686703e-01] [-4.22140319e-03 6.04972405e-05 9.99991088e-01 -2.19243566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.33592 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:314.72, Y:-0.60, Z:-2.18 [[ 9.99726229e-01 -2.30140410e-02 4.22142888e-03 3.14723350e+02] [ 2.30140110e-02 9.99735141e-01 5.57028666e-05 -6.03518391e-01] [-4.22159274e-03 4.14643937e-05 9.99991088e-01 -2.17796309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.36591999999996 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:314.75, Y:-0.61, Z:-2.19 [[ 9.99636955e-01 -2.66108644e-02 4.22139382e-03 3.14754228e+02] [ 2.66108553e-02 9.99645867e-01 5.83473572e-05 -6.06186555e-01] [-4.22145156e-03 5.40087254e-05 9.99991088e-01 -2.19376631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.39592 meters Centerline goodness : 0.998460 Centerline is valid? [True, True] Translation: X:314.79, Y:-0.61, Z:-2.18 [[ 9.99653729e-01 -2.59731123e-02 4.22143141e-03 3.14785223e+02] [ 2.59731096e-02 9.99662640e-01 5.54872153e-05 -6.07835330e-01] [-4.22144845e-03 5.41756990e-05 9.99991088e-01 -2.17832239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.42591999999996 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:314.82, Y:-0.61, Z:-2.19 [[ 9.99650463e-01 -2.60984641e-02 4.22157035e-03 3.14815499e+02] [ 2.60985074e-02 9.99659375e-01 4.48382594e-05 -6.12082975e-01] [-4.22130259e-03 6.53540982e-05 9.99991088e-01 -2.18610419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.45592 meters Centerline goodness : 0.998509 Centerline is valid? [True, True] Translation: X:314.85, Y:-0.61, Z:-2.18 [[ 9.99683592e-01 -2.47970851e-02 4.22137151e-03 3.14846432e+02] [ 2.47970522e-02 9.99692504e-01 6.01449445e-05 -6.13168591e-01] [-4.22156487e-03 4.45516554e-05 9.99991088e-01 -2.17862616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.48591999999996 meters Centerline goodness : 0.998858 Centerline is valid? [True, True] Translation: X:314.88, Y:-0.61, Z:-2.18 [[ 9.99825629e-01 -1.81903915e-02 4.22151298e-03 3.14877195e+02] [ 1.81903460e-02 9.99834541e-01 4.91717311e-05 -6.12076777e-01] [-4.22170894e-03 2.76276248e-05 9.99991088e-01 -2.18210007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.51592 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:314.91, Y:-0.61, Z:-2.18 [[ 9.99786548e-01 -2.02246416e-02 4.22162846e-03 3.14907851e+02] [ 2.02246525e-02 9.99795460e-01 4.01213055e-05 -6.13751086e-01] [-4.22157640e-03 4.52682269e-05 9.99991088e-01 -2.18051535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.54591999999997 meters Centerline goodness : 0.917197 Centerline is valid? [True, False] Translation: X:314.91, Y:-0.61, Z:-2.18 [[ 9.99956890e-01 -9.18227289e-03 1.37993343e-03 3.14910869e+02] [ 9.19473049e-03 9.99914386e-01 -9.31012347e-03 -6.05622527e-01] [-1.29432719e-03 9.32241023e-03 9.99955708e-01 -2.18107705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.57592 meters Centerline goodness : 0.999752 Centerline is valid? [False, True] Translation: X:314.93, Y:-0.61, Z:-2.18 [[ 9.99997660e-01 -1.51596509e-03 -1.54320556e-03 3.14932293e+02] [ 1.49956962e-03 9.99943005e-01 -1.05705761e-02 -6.07030775e-01] [ 1.55914223e-03 1.05682372e-02 9.99942939e-01 -2.17773842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.60591999999997 meters Centerline goodness : 0.998808 Centerline is valid? [True, True] Translation: X:314.96, Y:-0.62, Z:-2.16 [[ 9.99998047e-01 -1.30236932e-03 -1.48667854e-03 3.14962096e+02] [ 1.30238258e-03 9.99999152e-01 7.95584778e-06 -6.19200499e-01] [ 1.48666692e-03 -9.89205648e-06 9.99998895e-01 -2.16319729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.63592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:314.99, Y:-0.62, Z:-2.17 [[ 9.99997710e-01 -1.53946467e-03 -1.48666145e-03 3.14991838e+02] [ 1.53948315e-03 9.99998815e-01 1.12849269e-05 -6.19837092e-01] [ 1.48664232e-03 -1.35735913e-05 9.99998895e-01 -2.17449860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.66591999999997 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:315.02, Y:-0.62, Z:-2.17 [[ 9.99997008e-01 -1.94279033e-03 -1.48667953e-03 3.15021843e+02] [ 1.94280418e-03 9.99998113e-01 7.86977042e-06 -6.20139375e-01] [ 1.48666144e-03 -1.07580741e-05 9.99998895e-01 -2.17416127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.69591999999994 meters Centerline goodness : 0.998163 Centerline is valid? [True, True] Translation: X:315.05, Y:-0.62, Z:-2.16 [[ 9.99998213e-01 -1.16804206e-03 -1.48668003e-03 3.15052363e+02] [ 1.16805491e-03 9.99999318e-01 7.77516894e-06 -6.21742387e-01] [ 1.48666993e-03 -9.51167894e-06 9.99998895e-01 -2.16175338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.72592 meters Centerline goodness : 0.998312 Centerline is valid? [True, True] Translation: X:315.08, Y:-0.62, Z:-2.16 [[ 9.99997047e-01 -1.92235747e-03 -1.48663399e-03 3.15082095e+02] [ 1.92238432e-03 9.99998152e-01 1.66258751e-05 -6.23023389e-01] [ 1.48659929e-03 -1.94837079e-05 9.99998895e-01 -2.16371226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.75591999999995 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:315.11, Y:-0.62, Z:-2.16 [[ 9.99989742e-01 -4.27860427e-03 -1.48662523e-03 3.15110798e+02] [ 4.27863625e-03 9.99990846e-01 1.83299555e-05 -6.23992586e-01] [ 1.48653320e-03 -2.46904961e-05 9.99998895e-01 -2.16394548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.78592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:315.14, Y:-0.63, Z:-2.18 [[ 9.99939707e-01 -1.08798777e-02 -1.48666636e-03 3.15139796e+02] [ 1.08799043e-02 9.99940812e-01 9.86180864e-06 -6.26327386e-01] [ 1.48647107e-03 -2.60360018e-05 9.99998895e-01 -2.17589981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.81591999999995 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:315.17, Y:-0.63, Z:-2.18 [[ 9.99914118e-01 -1.30210047e-02 -1.48667872e-03 3.15169824e+02] [ 1.30210300e-02 9.99915223e-01 7.36804220e-06 -6.28948889e-01] [ 1.48645674e-03 -2.67254976e-05 9.99998895e-01 -2.17547477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.84592 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:315.20, Y:-0.64, Z:-2.18 [[ 9.99827012e-01 -1.85401306e-02 -1.48667895e-03 3.15200380e+02] [ 1.85401619e-02 9.99828116e-01 7.32142248e-06 -6.35621035e-01] [ 1.48628767e-03 -3.48834244e-05 9.99998895e-01 -2.17549325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.87591999999995 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:315.23, Y:-0.64, Z:-2.18 [[ 9.99778853e-01 -2.09769914e-02 -1.48667895e-03 3.15230426e+02] [ 2.09770255e-02 9.99779958e-01 7.32142247e-06 -6.38301261e-01] [ 1.48619823e-03 -3.85059055e-05 9.99998895e-01 -2.17588013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.90592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:315.26, Y:-0.64, Z:-2.18 [[ 9.99742466e-01 -2.26448857e-02 -1.48667895e-03 3.15261231e+02] [ 2.26449217e-02 9.99743571e-01 7.32142248e-06 -6.40138848e-01] [ 1.48613193e-03 -4.09852652e-05 9.99998895e-01 -2.17512695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.93591999999995 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:315.31, Y:-0.65, Z:-2.17 [[ 9.99296033e-01 -3.74863667e-02 -1.48667895e-03 3.15306019e+02] [ 3.74864190e-02 9.99297137e-01 7.32142248e-06 -6.50834911e-01] [ 1.48535956e-03 -6.30465383e-05 9.99998895e-01 -2.16562625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.96592 meters Centerline goodness : 0.998610 Centerline is valid? [True, True] Translation: X:315.32, Y:-0.65, Z:-2.16 [[ 9.99684657e-01 -2.50674912e-02 -1.48588124e-03 3.15318799e+02] [ 2.50676965e-02 9.99685749e-01 1.19695931e-04 -6.48284064e-01] [ 1.48241383e-03 -1.56905806e-04 9.99998889e-01 -2.16319333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.99591999999996 meters Centerline goodness : 0.997864 Centerline is valid? [True, True] Translation: X:315.35, Y:-0.65, Z:-2.16 [[ 9.99694257e-01 -2.46816363e-02 -1.48636500e-03 3.15349837e+02] [ 2.46816709e-02 9.99695361e-01 4.95370010e-06 -6.52617228e-01] [ 1.48578993e-03 -4.16381574e-05 9.99998895e-01 -2.16387821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.02592 meters Centerline goodness : 0.997666 Centerline is valid? [True, True] Translation: X:315.38, Y:-0.66, Z:-2.16 [[ 9.99783742e-01 -2.07426888e-02 -1.48634777e-03 3.15380829e+02] [ 2.07427250e-02 9.99784846e-01 8.96376778e-06 -6.59157601e-01] [ 1.48584205e-03 -3.97927325e-05 9.99998895e-01 -2.16254436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.05591999999996 meters Centerline goodness : 0.998707 Centerline is valid? [True, True] Translation: X:315.44, Y:-0.66, Z:-2.18 [[ 9.99615700e-01 -2.76810861e-02 -1.48632108e-03 3.15438451e+02] [ 2.76811386e-02 9.99616804e-01 1.47538008e-05 -6.58955341e-01] [ 1.48534313e-03 -5.58911908e-05 9.99998895e-01 -2.18036084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.08592 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:315.44, Y:-0.67, Z:-2.17 [[ 9.99805517e-01 -1.96653193e-02 -1.48469814e-03 3.15435834e+02] [ 1.96656614e-02 9.99806589e-01 2.16128230e-04 -6.69159758e-01] [ 1.48016075e-03 -2.45283768e-04 9.99998874e-01 -2.17402543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.11591999999996 meters Centerline goodness : 0.998957 Centerline is valid? [True, True] Translation: X:315.47, Y:-0.67, Z:-2.17 [[ 9.99841142e-01 -1.77618752e-02 -1.48524210e-03 3.15465182e+02] [ 1.77619005e-02 9.99842245e-01 3.80486640e-06 -6.71612111e-01] [ 1.48494022e-03 -3.01849844e-05 9.99998897e-01 -2.17452769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.14592 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:315.49, Y:-0.67, Z:-2.17 [[ 9.99867541e-01 -1.62078638e-02 -1.48524233e-03 3.15494777e+02] [ 1.62078872e-02 9.99868644e-01 3.71186902e-06 -6.73698292e-01] [ 1.48498708e-03 -2.77840176e-05 9.99998897e-01 -2.17408819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.17591999999996 meters Centerline goodness : 0.998260 Centerline is valid? [True, True] Translation: X:315.53, Y:-0.68, Z:-2.16 [[ 9.99920793e-01 -1.24980325e-02 -1.48524256e-03 3.15525806e+02] [ 1.24980517e-02 9.99921896e-01 3.61894023e-06 -6.75844202e-01] [ 1.48508133e-03 -2.21812919e-05 9.99998897e-01 -2.15973992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.20592 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:315.56, Y:-0.68, Z:-2.17 [[ 9.99930121e-01 -1.17280799e-02 -1.48522516e-03 3.15555513e+02] [ 1.17281090e-02 9.99931223e-01 1.09115388e-05 -6.76425112e-01] [ 1.48499504e-03 -2.83296588e-05 9.99998897e-01 -2.17391732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.23591999999996 meters Centerline goodness : 0.998507 Centerline is valid? [True, True] Translation: X:315.58, Y:-0.68, Z:-2.16 [[ 9.99936111e-01 -1.12057394e-02 -1.48524302e-03 3.15584757e+02] [ 1.12057572e-02 9.99937214e-01 3.65589924e-06 -6.79231134e-01] [ 1.48510879e-03 -2.02989383e-05 9.99998897e-01 -2.16030462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.26592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:315.61, Y:-0.68, Z:-2.17 [[ 9.99951114e-01 -9.77565158e-03 -1.48524154e-03 3.15614497e+02] [ 9.77566873e-03 9.99952217e-01 4.29173820e-06 -6.81826851e-01] [ 1.48512862e-03 -1.88107577e-05 9.99998897e-01 -2.17398710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.29591999999997 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:315.64, Y:-0.68, Z:-2.17 [[ 9.99954484e-01 -9.42465731e-03 -1.48524352e-03 3.15644120e+02] [ 9.42467281e-03 9.99955587e-01 3.43607123e-06 -6.81915477e-01] [ 1.48514517e-03 -1.74338491e-05 9.99998897e-01 -2.17431617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.32592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:315.67, Y:-0.68, Z:-2.17 [[ 9.99960998e-01 -8.70609028e-03 -1.48524373e-03 3.15673634e+02] [ 8.70610484e-03 9.99962101e-01 3.34118817e-06 -6.81938458e-01] [ 1.48515836e-03 -1.62717455e-05 9.99998897e-01 -2.17430464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.35591999999997 meters Centerline goodness : 0.998759 Centerline is valid? [True, True] Translation: X:315.70, Y:-0.68, Z:-2.16 [[ 9.99973027e-01 -7.19301519e-03 -1.48524394e-03 3.15703305e+02] [ 7.19302794e-03 9.99974130e-01 3.24637647e-06 -6.83069599e-01] [ 1.48518217e-03 -1.39296901e-05 9.99998897e-01 -2.15624273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.38592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:315.73, Y:-0.68, Z:-2.17 [[ 9.99984675e-01 -5.33323332e-03 -1.48524992e-03 3.15733499e+02] [ 5.33323983e-03 9.99985778e-01 4.23245615e-07 -6.83601230e-01] [ 1.48522654e-03 -8.34443318e-06 9.99998897e-01 -2.17291903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.41591999999997 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:315.76, Y:-0.68, Z:-2.17 [[ 9.99998086e-01 -1.27375479e-03 -1.48524315e-03 3.15762753e+02] [ 1.27376123e-03 9.99999189e-01 3.39154170e-06 -6.82735622e-01] [ 1.48523762e-03 -5.28338035e-06 9.99998897e-01 -2.17368860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.44591999999994 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:315.79, Y:-0.68, Z:-2.17 [[ 9.99998751e-01 5.40878265e-04 -1.48524336e-03 3.15791925e+02] [-5.40873967e-04 9.99999854e-01 3.29534003e-06 -6.81903888e-01] [ 1.48524493e-03 -2.49200645e-06 9.99998897e-01 -2.17339908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.47592 meters Centerline goodness : 0.998459 Centerline is valid? [True, True] Translation: X:315.84, Y:-0.68, Z:-2.17 [[ 9.99998769e-01 5.05540813e-04 -1.48524357e-03 3.15836141e+02] [-5.05536620e-04 9.99999872e-01 3.19840087e-06 -6.80905123e-01] [ 1.48524500e-03 -2.44755192e-06 9.99998897e-01 -2.16587831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.50591999999995 meters Centerline goodness : 0.998858 Centerline is valid? [True, True] Translation: X:315.85, Y:-0.69, Z:-2.16 [[ 9.99998238e-01 1.14855807e-03 -1.48503343e-03 3.15851401e+02] [-1.14839455e-03 9.99999334e-01 1.10959185e-04 -6.86519390e-01] [ 1.48515989e-03 -1.09253586e-04 9.99998891e-01 -2.15960620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.53592 meters Centerline goodness : 0.998807 Centerline is valid? [True, True] Translation: X:315.88, Y:-0.69, Z:-2.16 [[ 9.99997106e-01 1.89276385e-03 -1.48494246e-03 3.15881380e+02] [-1.89276229e-03 9.99998209e-01 2.45677125e-06 -6.85258159e-01] [ 1.48494445e-03 3.53878950e-07 9.99998897e-01 -2.16071001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.56591999999995 meters Centerline goodness : 0.998956 Centerline is valid? [True, True] Translation: X:315.91, Y:-0.68, Z:-2.16 [[ 9.99995491e-01 2.61025705e-03 -1.48494027e-03 3.15910934e+02] [-2.61025903e-03 9.99996593e-01 6.09438128e-07 -6.84111618e-01] [ 1.48493680e-03 3.26664337e-06 9.99998897e-01 -2.16173671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.59592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:315.94, Y:-0.68, Z:-2.17 [[ 9.99977360e-01 6.56306735e-03 -1.48493645e-03 3.15941362e+02] [-6.56307761e-03 9.99978463e-01 -2.03526440e-06 -6.80773639e-01] [ 1.48489111e-03 1.17809715e-05 9.99998897e-01 -2.17323587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.62591999999995 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:315.97, Y:-0.68, Z:-2.16 [[ 9.99966921e-01 7.99700934e-03 -1.48493621e-03 3.15970782e+02] [-7.99702141e-03 9.99968023e-01 -2.19200701e-06 -6.77598269e-01] [ 1.48487120e-03 1.40670012e-05 9.99998897e-01 -2.16003925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.65592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:316.00, Y:-0.67, Z:-2.17 [[ 9.99948717e-01 1.00178871e-02 -1.48493154e-03 3.16001415e+02] [-1.00179056e-02 9.99949820e-01 -5.05241057e-06 -6.73749583e-01] [ 1.48480641e-03 1.99280554e-05 9.99998897e-01 -2.17195991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.68591999999995 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:316.03, Y:-0.67, Z:-2.17 [[ 9.99952649e-01 9.61737356e-03 -1.48493583e-03 3.16029772e+02] [-9.61738804e-03 9.99953752e-01 -2.60609760e-06 -6.67047542e-01] [ 1.48484209e-03 1.68871783e-05 9.99998897e-01 -2.17306118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.71592 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:316.06, Y:-0.67, Z:-2.16 [[ 9.99981497e-01 5.89927066e-03 -1.48493431e-03 3.16059639e+02] [-5.89928205e-03 9.99982599e-01 -3.29173258e-06 -6.66306457e-01] [ 1.48488905e-03 1.20517180e-05 9.99998897e-01 -2.15941098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.74591999999996 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:316.09, Y:-0.67, Z:-2.18 [[ 9.99995803e-01 -2.48777058e-03 -1.48493183e-03 3.16089227e+02] [ 2.48776699e-03 9.99996905e-01 -4.26013420e-06 -6.67849819e-01] [ 1.48493783e-03 5.65951945e-07 9.99998897e-01 -2.17527235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.77592 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:316.12, Y:-0.67, Z:-2.18 [[ 9.99973730e-01 -7.09463803e-03 -1.48493273e-03 3.16118986e+02] [ 7.09464003e-03 9.99974833e-01 -3.91643705e-06 -6.68502982e-01] [ 1.48492315e-03 -6.61872904e-06 9.99998897e-01 -2.17613418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.80591999999996 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:316.15, Y:-0.67, Z:-2.18 [[ 9.99918582e-01 -1.26737570e-02 -1.48493247e-03 3.16148950e+02] [ 1.26737650e-02 9.99919685e-01 -4.01358001e-06 -6.69144252e-01] [ 1.48486407e-03 -1.48064319e-05 9.99998897e-01 -2.17684905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.83592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:316.18, Y:-0.67, Z:-2.18 [[ 9.99817415e-01 -1.90507448e-02 -1.48493220e-03 3.16178568e+02] [ 1.90507597e-02 9.99818518e-01 -4.10914279e-06 -6.71948588e-01] [ 1.48474100e-03 -2.41806941e-05 9.99998897e-01 -2.17740463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.86591999999996 meters Centerline goodness : 0.998706 Centerline is valid? [True, True] Translation: X:316.21, Y:-0.67, Z:-2.16 [[ 9.99792150e-01 -2.03334923e-02 -1.48493194e-03 3.16208619e+02] [ 2.03335085e-02 9.99793253e-01 -4.20407740e-06 -6.74530895e-01] [ 1.48471041e-03 -2.59906725e-05 9.99998897e-01 -2.16392987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.89592 meters Centerline goodness : 0.998706 Centerline is valid? [True, True] Translation: X:316.24, Y:-0.67, Z:-2.16 [[ 9.99791439e-01 -2.03684477e-02 -1.48493980e-03 3.16238623e+02] [ 2.03684681e-02 9.99792541e-01 -1.33822257e-06 -6.74455091e-01] [ 1.48465900e-03 -2.89080056e-05 9.99998897e-01 -2.16388543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.92591999999996 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:316.27, Y:-0.68, Z:-2.18 [[ 9.99745807e-01 -2.24970236e-02 -1.48493972e-03 3.16269382e+02] [ 2.24970464e-02 9.99746909e-01 -1.36815867e-06 -6.77815827e-01] [ 1.48459468e-03 -3.20389469e-05 9.99998897e-01 -2.17753384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.95592 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:316.30, Y:-0.68, Z:-2.16 [[ 9.99731949e-01 -2.31046723e-02 -1.48493320e-03 3.16300648e+02] [ 2.31046920e-02 9.99733051e-01 -3.87146860e-06 -6.79420706e-01] [ 1.48462624e-03 -3.04384933e-05 9.99998897e-01 -2.16345528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.98591999999996 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:316.33, Y:-0.68, Z:-2.18 [[ 9.99791731e-01 -2.03540783e-02 -1.48497156e-03 3.16329875e+02] [ 2.03541164e-02 9.99792833e-01 1.05134209e-05 -6.80154578e-01] [ 1.48444993e-03 -4.07365152e-05 9.99998897e-01 -2.17750571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.01592 meters Centerline goodness : 0.997814 Centerline is valid? [True, True] Translation: X:316.40, Y:-0.68, Z:-2.18 [[ 9.99775792e-01 -2.11224948e-02 -1.48492979e-03 3.16396979e+02] [ 2.11225118e-02 9.99776895e-01 -4.21195225e-06 -6.76850012e-01] [ 1.48468746e-03 -2.71544392e-05 9.99998897e-01 -2.17925658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.04591999999997 meters Centerline goodness : 0.997716 Centerline is valid? [True, True] Translation: X:316.43, Y:-0.68, Z:-2.18 [[ 9.99741498e-01 -2.26886999e-02 -1.46946710e-03 3.16427023e+02] [ 2.26892103e-02 9.99742512e-01 3.31599421e-04 -6.79870760e-01] [ 1.46156517e-03 -3.64854750e-04 9.99998865e-01 -2.17754607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.07592 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:316.42, Y:-0.70, Z:-2.16 [[ 9.99616051e-01 -2.76694076e-02 -1.46808058e-03 3.16418020e+02] [ 2.76697068e-02 9.99617103e-01 1.83933630e-04 -6.99314274e-01] [ 1.46242912e-03 -2.24484368e-04 9.99998905e-01 -2.16136081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.10591999999997 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:316.45, Y:-0.70, Z:-2.16 [[ 9.99651442e-01 -2.63600056e-02 -1.46467277e-03 3.16448693e+02] [ 2.63599969e-02 9.99652515e-01 -2.52305516e-05 -7.01423879e-01] [ 1.46482889e-03 -1.33870123e-05 9.99998927e-01 -2.16413041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.13592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:316.48, Y:-0.71, Z:-2.16 [[ 9.99639150e-01 -2.68220773e-02 -1.46477751e-03 3.16478948e+02] [ 2.68220786e-02 9.99640223e-01 -1.87470729e-05 -7.06582505e-01] [ 1.46475335e-03 -2.05480696e-05 9.99998927e-01 -2.16247021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.16591999999997 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:316.51, Y:-0.71, Z:-2.18 [[ 9.99642410e-01 -2.67003014e-02 -1.46467804e-03 3.16509534e+02] [ 2.67002936e-02 9.99643483e-01 -2.48586537e-05 -7.06883021e-01] [ 1.46481959e-03 -1.42575693e-05 9.99998927e-01 -2.17542425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.19591999999994 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:316.54, Y:-0.71, Z:-2.18 [[ 9.99656185e-01 -2.61795096e-02 -1.46470023e-03 3.16538731e+02] [ 2.61795033e-02 9.99657258e-01 -2.34740411e-05 -7.07476378e-01] [ 1.46481276e-03 -1.48791541e-05 9.99998927e-01 -2.17551938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.22592 meters Centerline goodness : 0.934075 Centerline is valid? [True, False] Translation: X:316.54, Y:-0.71, Z:-2.18 [[ 9.99930275e-01 -1.17769872e-02 8.65237421e-04 3.16537605e+02] [ 1.17805705e-02 9.99921532e-01 -4.26008270e-03 -7.07867299e-01] [-8.14998588e-04 4.26997866e-03 9.99990551e-01 -2.17565977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.25591999999995 meters Centerline goodness : 0.999901 Centerline is valid? [False, True] Translation: X:316.54, Y:-0.71, Z:-2.18 [[ 9.99969841e-01 -7.72730062e-03 7.77849116e-04 3.16537782e+02] [ 7.72622837e-03 9.99969211e-01 1.37218078e-03 -7.14623260e-01] [-7.88428420e-04 -1.36612956e-03 9.99998756e-01 -2.17591710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.28592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:316.57, Y:-0.71, Z:-2.16 [[ 9.99992753e-01 -3.72664463e-03 7.78209304e-04 3.16567944e+02] [ 3.72664560e-03 9.99993056e-01 2.03889445e-07 -7.14311241e-01] [-7.78204660e-04 2.69622231e-06 9.99999697e-01 -2.16336422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.31591999999995 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:316.60, Y:-0.71, Z:-2.18 [[ 9.99998340e-01 -1.64726834e-03 7.78209323e-04 3.16598760e+02] [ 1.64726873e-03 9.99998643e-01 1.41691744e-07 -7.14837994e-01] [-7.78208500e-04 1.14022837e-06 9.99999697e-01 -2.17617791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.34592 meters Centerline goodness : 0.905898 Centerline is valid? [True, False] Translation: X:316.60, Y:-0.72, Z:-2.18 [[ 9.99992799e-01 -3.79401760e-03 -8.55361865e-05 3.16603944e+02] [ 3.79385429e-03 9.99991120e-01 -1.83475109e-03 -7.16405175e-01] [ 9.24965049e-05 1.83441337e-03 9.99998313e-01 -2.18079727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.37591999999995 meters Centerline goodness : 1.000000 Centerline is valid? [False, True] Translation: X:316.60, Y:-0.72, Z:-2.18 [[ 9.99992405e-01 -3.89714984e-03 -4.59553278e-05 3.16603913e+02] [ 3.89712386e-03 9.99992254e-01 -5.52480663e-04 -7.22431040e-01] [ 4.81080717e-05 5.52297373e-04 9.99999846e-01 -2.18080903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.40592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:316.63, Y:-0.72, Z:-2.17 [[ 9.99998925e-01 -1.46554448e-03 -5.07482168e-05 3.16633933e+02] [ 1.46554446e-03 9.99998926e-01 -4.40602411e-07 -7.23341462e-01] [ 5.07488080e-05 3.66228168e-07 9.99999999e-01 -2.16862734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.43591999999995 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:316.66, Y:-0.72, Z:-2.17 [[ 9.99999810e-01 -6.14929381e-04 -5.07496012e-05 3.16664230e+02] [ 6.14929367e-04 9.99999811e-01 -2.82398319e-07 -7.22994567e-01] [ 5.07497652e-05 2.51190844e-07 9.99999999e-01 -2.16897008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.46592 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:316.69, Y:-0.72, Z:-2.17 [[ 9.99999597e-01 8.96003993e-04 -5.07493574e-05 3.16694468e+02] [-8.96004010e-04 9.99999599e-01 -3.10046733e-07 -7.23891917e-01] [ 5.07490593e-05 3.55518235e-07 9.99999999e-01 -2.16830586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.49591999999996 meters Centerline goodness : 0.864168 Centerline is valid? [True, False] Translation: X:316.69, Y:-0.72, Z:-2.17 [[ 9.99999618e-01 8.72243354e-04 -5.35855553e-05 3.16694549e+02] [-8.72237804e-04 9.99999614e-01 1.03524590e-04 -7.24444164e-01] [ 5.36758333e-05 -1.03477811e-04 9.99999993e-01 -2.16835124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.52592 meters Centerline goodness : 0.999901 Centerline is valid? [False, True] Translation: X:316.69, Y:-0.73, Z:-2.17 [[ 9.99987937e-01 4.90933575e-03 -1.55894495e-04 3.16694865e+02] [-4.90844053e-03 9.99973905e-01 5.30054966e-03 -7.29180238e-01] [ 1.81912605e-04 -5.29972052e-03 9.99985940e-01 -2.16842272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.55591999999996 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:316.73, Y:-0.72, Z:-2.17 [[ 9.99986960e-01 5.10541815e-03 -1.17031904e-04 3.16725010e+02] [-5.10542028e-03 9.99986967e-01 -1.79080996e-05 -7.23442008e-01] [ 1.16938951e-04 1.85053632e-05 9.99999993e-01 -2.16916289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.58592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.76, Y:-0.72, Z:-2.18 [[ 9.99974181e-01 7.18497929e-03 -1.17155337e-04 3.16756132e+02] [-7.18497942e-03 9.99974188e-01 -6.87924556e-07 -7.22840351e-01] [ 1.17147370e-04 1.52966548e-06 9.99999993e-01 -2.17694438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.61591999999996 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:316.79, Y:-0.72, Z:-2.17 [[ 9.99949550e-01 1.00440434e-02 -1.17158179e-04 3.16786110e+02] [-1.00440435e-02 9.99949557e-01 -2.97921653e-07 -7.18546294e-01] [ 1.17149277e-04 1.47464847e-06 9.99999993e-01 -2.16798309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.64592 meters Centerline goodness : 0.941959 Centerline is valid? [True, False] Translation: X:316.81, Y:-0.72, Z:-2.16 [[ 9.99984305e-01 3.09276928e-03 -4.67176970e-03 3.16807745e+02] [-3.08383656e-03 9.99993405e-01 1.91805670e-03 -7.19053143e-01] [ 4.67767100e-03 -1.90361962e-03 9.99987248e-01 -2.16419314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.67591999999996 meters Centerline goodness : 0.999901 Centerline is valid? [False, True] Translation: X:316.83, Y:-0.72, Z:-2.16 [[ 9.99963853e-01 -5.18044987e-04 -8.48675598e-03 3.16829807e+02] [ 5.88393657e-04 9.99965474e-01 8.28883117e-03 -7.22586437e-01] [ 8.48216898e-03 -8.29352511e-03 9.99929633e-01 -2.16090342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.70592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:316.86, Y:-0.71, Z:-2.16 [[ 9.99963087e-01 2.24625169e-03 -8.29336790e-03 3.16856068e+02] [-2.24795255e-03 9.99997454e-01 -1.95771154e-04 -7.10780600e-01] [ 8.29290704e-03 2.14407025e-04 9.99965590e-01 -2.16161107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.73591999999996 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:316.89, Y:-0.70, Z:-2.16 [[ 9.99958901e-01 3.66195806e-03 -8.29380959e-03 3.16885220e+02] [-3.66354947e-03 9.99993274e-01 -1.76695498e-04 -7.04842094e-01] [ 8.29310675e-03 2.07073018e-04 9.99965590e-01 -2.16093161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.76592 meters Centerline goodness : 0.786362 Centerline is valid? [True, False] Translation: X:316.89, Y:-0.70, Z:-2.16 [[ 9.99965338e-01 -3.85695985e-04 -8.31706168e-03 3.16885299e+02] [ 3.36568320e-04 9.99982494e-01 -5.90744448e-03 -6.97667275e-01] [ 8.31919456e-03 5.90444046e-03 9.99947963e-01 -2.16126275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.79591999999997 meters Centerline goodness : 0.999950 Centerline is valid? [False, True] Translation: X:316.89, Y:-0.69, Z:-2.16 [[ 9.99964804e-01 -3.06414140e-04 -8.38433906e-03 3.16885424e+02] [ 2.43817050e-04 9.99972100e-01 -7.46595793e-03 -6.90591759e-01] [ 8.38639281e-03 7.46365091e-03 9.99936979e-01 -2.16135458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.82592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:316.92, Y:-0.69, Z:-2.16 [[ 9.99963067e-01 -1.28404445e-04 -8.59352578e-03 3.16915521e+02] [ 1.26883348e-04 9.99999976e-01 -1.77549883e-04 -6.93580178e-01] [ 8.59354837e-03 1.76452950e-04 9.99963059e-01 -2.16169149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.85591999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.94, Y:-0.69, Z:-2.16 [[ 9.99953901e-01 -4.28219840e-03 -8.59413887e-03 3.16942114e+02] [ 4.28101212e-03 9.99990824e-01 -1.56424188e-04 -6.85876440e-01] [ 8.59472985e-03 1.19625364e-04 9.99963057e-01 -2.16020583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.88592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:316.97, Y:-0.68, Z:-2.16 [[ 9.99944294e-01 -6.13007260e-03 -8.59253304e-03 3.16969757e+02] [ 6.12848746e-03 9.99981198e-01 -2.10796323e-04 -6.82239831e-01] [ 8.59366369e-03 1.58125349e-04 9.99963061e-01 -2.15983547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.91591999999997 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:317.00, Y:-0.68, Z:-2.16 [[ 9.99923571e-01 -8.88977736e-03 -8.59206106e-03 3.16998814e+02] [ 8.88815911e-03 9.99960474e-01 -2.26509391e-04 -6.79022117e-01] [ 8.59373507e-03 1.50124474e-04 9.99963062e-01 -2.15838551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.94591999999994 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:317.03, Y:-0.68, Z:-2.16 [[ 9.99891073e-01 -1.20010318e-02 -8.59164957e-03 3.17027607e+02] [ 1.19994125e-02 9.99927976e-01 -2.39999351e-04 -6.76456529e-01] [ 8.59391100e-03 1.36878461e-04 9.99963062e-01 -2.15805985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.97592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.06, Y:-0.67, Z:-2.17 [[ 9.99822463e-01 -1.67698769e-02 -8.59144345e-03 3.17057194e+02] [ 1.67683758e-02 9.99859370e-01 -2.46727621e-04 -6.72453532e-01] [ 8.59437283e-03 1.02619266e-04 9.99963062e-01 -2.17053129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.00591999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.09, Y:-0.67, Z:-2.17 [[ 9.99710440e-01 -2.24773951e-02 -8.59088318e-03 3.17086410e+02] [ 2.24759486e-02 9.99747349e-01 -2.64897718e-04 -6.71353198e-01] [ 8.59466690e-03 7.17327654e-05 9.99963063e-01 -2.17258819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.03592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:317.12, Y:-0.67, Z:-2.16 [[ 9.99611692e-01 -2.65077747e-02 -8.59084801e-03 3.17115361e+02] [ 2.65064673e-02 9.99648606e-01 -2.66033423e-04 -6.70474508e-01] [ 8.59488120e-03 3.82170887e-05 9.99963063e-01 -2.15764412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.06591999999995 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:317.15, Y:-0.67, Z:-2.17 [[ 9.99573702e-01 -2.79037763e-02 -8.59036188e-03 3.17146001e+02] [ 2.79023865e-02 9.99610613e-01 -2.81622693e-04 -6.68583279e-01] [ 8.59487524e-03 4.18110409e-05 9.99963063e-01 -2.17085705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.09592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:317.18, Y:-0.67, Z:-2.15 [[ 9.99527743e-01 -2.95040591e-02 -8.59083559e-03 3.17175586e+02] [ 2.95028597e-02 9.99564660e-01 -2.66343348e-04 -6.65985978e-01] [ 8.59495387e-03 1.27633485e-05 9.99963063e-01 -2.15165317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.12591999999995 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:317.21, Y:-0.66, Z:-2.15 [[ 9.99519523e-01 -2.97812692e-02 -8.59068429e-03 3.17205026e+02] [ 2.97800382e-02 9.99556440e-01 -2.71209113e-04 -6.60863862e-01] [ 8.59495075e-03 1.52478966e-05 9.99963063e-01 -2.15294967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.15592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.23, Y:-0.66, Z:-2.17 [[ 9.99571937e-01 -2.79668732e-02 -8.59048947e-03 3.17234995e+02] [ 2.79655212e-02 9.99608850e-01 -2.77485346e-04 -6.58647477e-01] [ 8.59488970e-03 3.71290493e-05 9.99963063e-01 -2.17087287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.18591999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.26, Y:-0.65, Z:-2.17 [[ 9.99606069e-01 -2.67190074e-02 -8.59082596e-03 3.17263296e+02] [ 2.67177025e-02 9.99642983e-01 -2.66644353e-04 -6.54539110e-01] [ 8.59488336e-03 3.70121816e-05 9.99963063e-01 -2.17103337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.21592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:317.29, Y:-0.65, Z:-2.15 [[ 9.99572550e-01 -2.79448579e-02 -8.59079073e-03 3.17292164e+02] [ 2.79435886e-02 9.99609466e-01 -2.67774345e-04 -6.52083561e-01] [ 8.59491865e-03 2.76023627e-05 9.99963063e-01 -2.15461768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.24591999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.32, Y:-0.65, Z:-2.16 [[ 9.99565811e-01 -2.81851448e-02 -8.58998656e-03 3.17320501e+02] [ 2.81836634e-02 9.99602719e-01 -2.93487583e-04 -6.48605474e-01] [ 8.59484591e-03 5.12628644e-05 9.99963062e-01 -2.15558153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.27592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:317.35, Y:-0.65, Z:-2.15 [[ 9.99482414e-01 -3.10019001e-02 -8.58988039e-03 3.17347917e+02] [ 3.10004935e-02 9.99519325e-01 -2.96879934e-04 -6.46967916e-01] [ 8.59495529e-03 3.04357416e-05 9.99963062e-01 -2.15358837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.30591999999996 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:317.38, Y:-0.64, Z:-2.15 [[ 9.99433611e-01 -3.25374041e-02 -8.58920432e-03 3.17376387e+02] [ 3.25358691e-02 9.99470518e-01 -3.18420719e-04 -6.44240807e-01] [ 8.59501707e-03 3.87831412e-05 9.99963061e-01 -2.15331341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.33592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:317.41, Y:-0.64, Z:-2.17 [[ 9.99398947e-01 -3.35851038e-02 -8.58984066e-03 3.17407398e+02] [ 3.35837821e-02 9.99435861e-01 -2.98099872e-04 -6.41327114e-01] [ 8.59500651e-03 9.44136137e-06 9.99963062e-01 -2.16910970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.36591999999996 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:317.44, Y:-0.64, Z:-2.17 [[ 9.99408087e-01 -3.33117846e-02 -8.59077650e-03 3.17436157e+02] [ 3.33107106e-02 9.99445008e-01 -2.68114371e-04 -6.37187068e-01] [ 8.59494005e-03 -1.82091985e-05 9.99963063e-01 -2.17097557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.39592 meters Centerline goodness : 0.998707 Centerline is valid? [True, True] Translation: X:317.46, Y:-0.64, Z:-2.15 [[ 9.99451855e-01 -3.19716869e-02 -8.59074146e-03 3.17464908e+02] [ 3.19705537e-02 9.99488775e-01 -2.69232256e-04 -6.35761259e-01] [ 8.59495747e-03 -5.56608408e-06 9.99963063e-01 -2.15446555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.42591999999996 meters Centerline goodness : 0.998857 Centerline is valid? [True, True] Translation: X:317.50, Y:-0.63, Z:-2.17 [[ 9.99488107e-01 -3.08177870e-02 -8.58996201e-03 3.17495822e+02] [ 3.08163985e-02 9.99525019e-01 -2.93984874e-04 -6.34251383e-01] [ 8.59494190e-03 2.91226930e-05 9.99963062e-01 -2.17050027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.45592 meters Centerline goodness : 0.998460 Centerline is valid? [True, True] Translation: X:317.52, Y:-0.63, Z:-2.17 [[ 9.99497076e-01 -3.05253089e-02 -8.59072871e-03 3.17524445e+02] [ 3.05241196e-02 9.99533994e-01 -2.69549747e-04 -6.32553679e-01] [ 8.59495347e-03 7.18975390e-06 9.99963063e-01 -2.17027546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.48591999999996 meters Centerline goodness : 0.998113 Centerline is valid? [True, True] Translation: X:317.56, Y:-0.63, Z:-2.16 [[ 9.99540409e-01 -2.90718254e-02 -8.59069338e-03 3.17555047e+02] [ 2.90705728e-02 9.99577325e-01 -2.70671065e-04 -6.29301252e-01] [ 8.59493121e-03 2.08102890e-05 9.99963063e-01 -2.15609872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.51592 meters Centerline goodness : 0.998162 Centerline is valid? [True, True] Translation: X:317.58, Y:-0.63, Z:-2.15 [[ 9.99520937e-01 -2.97334898e-02 -8.59159000e-03 3.17584754e+02] [ 2.97325064e-02 9.99557862e-01 -2.42191883e-04 -6.25724001e-01] [ 8.59499254e-03 -1.33736473e-05 9.99963062e-01 -2.15406950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.54591999999997 meters Centerline goodness : 0.997812 Centerline is valid? [True, True] Translation: X:317.62, Y:-0.62, Z:-2.17 [[ 9.99497095e-01 -3.05246608e-02 -8.59076107e-03 3.17615099e+02] [ 3.05234813e-02 9.99534014e-01 -2.68408512e-04 -6.24050675e-01] [ 8.59495098e-03 6.05359326e-06 9.99963063e-01 -2.16771294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.57592 meters Centerline goodness : 0.996868 Centerline is valid? [True, True] Translation: X:317.64, Y:-0.62, Z:-2.15 [[ 9.99488469e-01 -3.08058485e-02 -8.59064245e-03 3.17644846e+02] [ 3.08046472e-02 9.99525387e-01 -2.72152772e-04 -6.22441170e-01] [ 8.59494912e-03 7.38184769e-06 9.99963063e-01 -2.15129600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.60591999999997 meters Centerline goodness : 0.998210 Centerline is valid? [True, True] Translation: X:317.68, Y:-0.62, Z:-2.17 [[ 9.99457634e-01 -3.17904915e-02 -8.59078319e-03 3.17675269e+02] [ 3.17893646e-02 9.99494555e-01 -2.67731138e-04 -6.20450633e-01] [ 8.59495232e-03 -5.50960957e-06 9.99963063e-01 -2.16818635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.63592 meters Centerline goodness : 0.997218 Centerline is valid? [True, True] Translation: X:317.70, Y:-0.62, Z:-2.15 [[ 9.99473606e-01 -3.12843857e-02 -8.59061270e-03 3.17704293e+02] [ 3.12831940e-02 9.99510524e-01 -2.73094174e-04 -6.19197468e-01] [ 8.59495138e-03 4.20861525e-06 9.99963063e-01 -2.15201744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.66591999999997 meters Centerline goodness : 0.997515 Centerline is valid? [True, True] Translation: X:317.73, Y:-0.62, Z:-2.15 [[ 9.99521564e-01 -2.97126806e-02 -8.59072704e-03 3.17734834e+02] [ 2.97114616e-02 9.99558481e-01 -2.69515046e-04 -6.16460192e-01] [ 8.59494209e-03 1.41430441e-05 9.99963063e-01 -2.15316166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.69591999999994 meters Centerline goodness : 0.997117 Centerline is valid? [True, True] Translation: X:317.76, Y:-0.61, Z:-2.15 [[ 9.99646461e-01 -2.51623623e-02 -8.59124533e-03 3.17764600e+02] [ 2.51611152e-02 9.99683377e-01 -2.53237882e-04 -6.10255563e-01] [ 8.59489721e-03 3.69830396e-05 9.99963063e-01 -2.15316098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.72592 meters Centerline goodness : 0.997762 Centerline is valid? [True, True] Translation: X:317.79, Y:-0.61, Z:-2.16 [[ 9.99674144e-01 -2.40370188e-02 -8.59229908e-03 3.17793291e+02] [ 2.40360139e-02 9.99711069e-01 -2.20221251e-04 -6.06539875e-01] [ 8.59510997e-03 1.36248702e-05 9.99963061e-01 -2.16469405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.75591999999995 meters Centerline goodness : 0.996721 Centerline is valid? [True, True] Translation: X:317.82, Y:-0.60, Z:-2.15 [[ 9.99713248e-01 -2.23522743e-02 -8.59050314e-03 3.17823138e+02] [ 2.23507269e-02 9.99750153e-01 -2.76100305e-04 -6.03439032e-01] [ 8.59452830e-03 8.40171431e-05 9.99963063e-01 -2.14589547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.78592 meters Centerline goodness : 0.996721 Centerline is valid? [True, True] Translation: X:317.85, Y:-0.60, Z:-2.15 [[ 9.99706781e-01 -2.26392789e-02 -8.59158654e-03 3.17851416e+02] [ 2.26380309e-02 9.99743698e-01 -2.42498082e-04 -6.02662393e-01] [ 8.59487448e-03 4.79303756e-05 9.99963062e-01 -2.14565536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.81591999999995 meters Centerline goodness : 0.996321 Centerline is valid? [True, True] Translation: X:317.88, Y:-0.60, Z:-2.14 [[ 9.99743159e-01 -2.09714555e-02 -8.59151669e-03 3.17879842e+02] [ 2.09701274e-02 9.99780073e-01 -2.44646531e-04 -5.98035745e-01] [ 8.59475777e-03 6.44184961e-05 9.99963062e-01 -2.14458876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.84592 meters Centerline goodness : 0.996865 Centerline is valid? [True, True] Translation: X:317.91, Y:-0.60, Z:-2.15 [[ 9.99748102e-01 -2.07354004e-02 -8.58927274e-03 3.17911657e+02] [ 2.07334768e-02 9.99784989e-01 -3.12947768e-04 -5.95793436e-01] [ 8.59391505e-03 1.34783450e-04 9.99963063e-01 -2.14953513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.87591999999995 meters Centerline goodness : 0.996719 Centerline is valid? [True, True] Translation: X:317.94, Y:-0.59, Z:-2.15 [[ 9.99716639e-01 -2.21999323e-02 -8.59093764e-03 3.17940894e+02] [ 2.21985011e-02 9.99753549e-01 -2.61925849e-04 -5.94570161e-01] [ 8.59463513e-03 7.11456913e-05 9.99963063e-01 -2.14819083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.90592 meters Centerline goodness : 0.996625 Centerline is valid? [True, True] Translation: X:317.97, Y:-0.59, Z:-2.15 [[ 9.99625963e-01 -2.59638933e-02 -8.59129592e-03 3.17970525e+02] [ 2.59626942e-02 9.99662881e-01 -2.51090641e-04 -5.94324826e-01] [ 8.59491892e-03 2.79435355e-05 9.99963063e-01 -2.14762795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.93591999999995 meters Centerline goodness : 0.997222 Centerline is valid? [True, True] Translation: X:318.00, Y:-0.59, Z:-2.15 [[ 9.99555353e-01 -2.85531469e-02 -8.59145613e-03 3.17999123e+02] [ 2.85520846e-02 9.99592276e-01 -2.46298989e-04 -5.93348665e-01] [ 8.59498580e-03 8.85490707e-07 9.99963062e-01 -2.15195128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.96592 meters Centerline goodness : 0.996973 Centerline is valid? [True, True] Translation: X:318.03, Y:-0.59, Z:-2.15 [[ 9.99569309e-01 -2.80608693e-02 -8.58977818e-03 3.18030259e+02] [ 2.80593606e-02 9.99606215e-01 -2.96118833e-04 -5.92132243e-01] [ 8.59470500e-03 5.49676142e-05 9.99963063e-01 -2.14874826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.99591999999996 meters Centerline goodness : 0.997071 Centerline is valid? [True, True] Translation: X:318.06, Y:-0.59, Z:-2.15 [[ 9.99581497e-01 -2.76228937e-02 -8.59105421e-03 3.18058964e+02] [ 2.76216968e-02 9.99618415e-01 -2.57968723e-04 -5.90975911e-01] [ 8.59490183e-03 2.05612684e-05 9.99963063e-01 -2.14729115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.02592 meters Centerline goodness : 0.996327 Centerline is valid? [True, True] Translation: X:318.09, Y:-0.59, Z:-2.15 [[ 9.99638030e-01 -2.54955761e-02 -8.58974368e-03 3.18088292e+02] [ 2.54939637e-02 9.99674932e-01 -2.97169466e-04 -5.89599631e-01] [ 8.59452793e-03 7.80752861e-05 9.99963063e-01 -2.14559243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.05591999999996 meters Centerline goodness : 0.996181 Centerline is valid? [True, True] Translation: X:318.12, Y:-0.59, Z:-2.14 [[ 9.99686742e-01 -2.35077201e-02 -8.59102197e-03 3.18117423e+02] [ 2.35063647e-02 9.99723654e-01 -2.58722660e-04 -5.87987182e-01] [ 8.59472985e-03 5.66979180e-05 9.99963063e-01 -2.14417403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.08592 meters Centerline goodness : 0.997768 Centerline is valid? [True, True] Translation: X:318.15, Y:-0.59, Z:-2.16 [[ 9.99749930e-01 -2.06464922e-02 -8.59068638e-03 3.18146896e+02] [ 2.06449447e-02 9.99786834e-01 -2.68789058e-04 -5.85169304e-01] [ 8.59440469e-03 9.13675969e-05 9.99963063e-01 -2.15957668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.11591999999996 meters Centerline goodness : 0.939554 Centerline is valid? [True, False] Translation: X:318.14, Y:-0.58, Z:-2.16 [[ 9.99965113e-01 -7.61078138e-03 -3.44211917e-03 3.18142468e+02] [ 7.58459060e-03 9.99942666e-01 -7.55901300e-03 -5.75883824e-01] [ 3.49945182e-03 7.53264223e-03 9.99965506e-01 -2.15835185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.14592 meters Centerline goodness : 0.996772 Centerline is valid? [False, True] Translation: X:318.12, Y:-0.57, Z:-2.16 [[ 9.99997024e-01 -9.23786981e-04 2.25810905e-03 3.18120736e+02] [ 9.46922618e-04 9.99946854e-01 -1.02660739e-02 -5.72313370e-01] [-2.24850538e-03 1.02681816e-02 9.99944753e-01 -2.16251467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.17591999999996 meters Centerline goodness : 0.971271 Centerline is valid? [True, True] Translation: X:318.19, Y:-0.60, Z:-2.18 [[ 9.98060111e-01 -6.22233864e-02 2.06501730e-03 3.18186576e+02] [ 6.22234210e-02 9.98062244e-01 4.75898889e-05 -6.03718804e-01] [-2.06397701e-03 8.09948711e-05 9.99997867e-01 -2.18031496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.20592 meters Centerline goodness : 0.997022 Centerline is valid? [True, True] Translation: X:318.17, Y:-0.58, Z:-2.16 [[ 9.99989584e-01 -4.06684344e-03 2.07188857e-03 3.18173510e+02] [ 4.06760027e-03 9.99991662e-01 -3.61205682e-04 -5.84086205e-01] [-2.07040233e-03 3.69629534e-04 9.99997788e-01 -2.16332898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.23591999999996 meters Centerline goodness : 0.997171 Centerline is valid? [True, True] Translation: X:318.20, Y:-0.58, Z:-2.17 [[ 9.99990651e-01 -3.80077905e-03 2.06191088e-03 3.18204724e+02] [ 3.80069871e-03 9.99992776e-01 4.28804458e-05 -5.83297717e-01] [-2.06205897e-03 -3.50433429e-05 9.99997873e-01 -2.16668562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.26592 meters Centerline goodness : 0.943537 Centerline is valid? [True, False] Translation: X:318.18, Y:-0.58, Z:-2.17 [[ 9.99969708e-01 -6.52102777e-04 7.75614389e-03 3.18181710e+02] [ 7.10008717e-04 9.99971881e-01 -7.46540673e-03 -5.76318890e-01] [-7.75105759e-03 7.47068752e-03 9.99942053e-01 -2.16985637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.29591999999997 meters Centerline goodness : 0.830252 Centerline is valid? [False, False] Translation: X:318.16, Y:-0.57, Z:-2.17 [[ 9.99911434e-01 2.64292244e-03 1.30437487e-02 3.18158975e+02] [-2.44124113e-03 9.99877604e-01 -1.54536889e-02 -5.67457147e-01] [-1.30829951e-02 1.54204773e-02 9.99795501e-01 -2.17306826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.32592 meters Centerline goodness : 0.997025 Centerline is valid? [False, True] Translation: X:318.16, Y:-0.56, Z:-2.18 [[ 9.99925882e-01 6.72655674e-04 1.21564344e-02 3.18164079e+02] [-4.52068852e-04 9.99835367e-01 -1.81393310e-02 -5.64079500e-01] [-1.21666345e-02 1.81324910e-02 9.99761564e-01 -2.17739082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.35591999999997 meters Centerline goodness : 0.997469 Centerline is valid? [True, True] Translation: X:318.20, Y:-0.58, Z:-2.19 [[ 9.99925740e-01 2.95981188e-03 1.18217892e-02 3.18195893e+02] [-2.96313485e-03 9.99995575e-01 2.63582958e-04 -5.80156777e-01] [-1.18209567e-02 -2.98592939e-04 9.99930085e-01 -2.18665721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.38592 meters Centerline goodness : 0.865677 Centerline is valid? [True, False] Translation: X:318.20, Y:-0.58, Z:-2.19 [[ 9.99928875e-01 -1.12981697e-03 1.18729827e-02 3.18195779e+02] [ 1.18616642e-03 9.99988062e-01 -4.74005301e-03 -5.76616575e-01] [-1.18674856e-02 4.75379921e-03 9.99918279e-01 -2.18656499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.41591999999997 meters Centerline goodness : 0.996615 Centerline is valid? [False, True] Translation: X:318.20, Y:-0.57, Z:-2.19 [[ 9.99989888e-01 -2.35254421e-03 -3.83276102e-03 3.18204384e+02] [ 2.32313902e-03 9.99967974e-01 -7.65853789e-03 -5.73752051e-01] [ 3.85065533e-03 7.64955641e-03 9.99963328e-01 -2.18527223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.44591999999994 meters Centerline goodness : 0.996719 Centerline is valid? [True, True] Translation: X:318.23, Y:-0.57, Z:-2.18 [[ 9.99983991e-01 4.00046263e-03 -4.00180042e-03 3.18234274e+02] [-4.00074668e-03 9.99991995e-01 -6.29784664e-05 -5.73600411e-01] [ 4.00151644e-03 7.89876479e-05 9.99991991e-01 -2.18286682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.47592 meters Centerline goodness : 0.997814 Centerline is valid? [True, True] Translation: X:318.26, Y:-0.57, Z:-2.19 [[ 9.99983937e-01 4.01404788e-03 -4.00162037e-03 3.18263510e+02] [-4.01436368e-03 9.99991940e-01 -7.08898183e-05 -5.70720280e-01] [ 4.00130356e-03 8.69526391e-05 9.99991991e-01 -2.19200956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.50591999999995 meters Centerline goodness : 0.997417 Centerline is valid? [True, True] Translation: X:318.29, Y:-0.57, Z:-2.18 [[ 9.99991936e-01 3.43814949e-04 -4.00112850e-03 3.18292592e+02] [-3.44186721e-04 9.99999937e-01 -9.22285366e-05 -5.66947713e-01] [ 4.00109654e-03 9.36049282e-05 9.99991991e-01 -2.18244706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.53592 meters Centerline goodness : 0.997867 Centerline is valid? [True, True] Translation: X:318.32, Y:-0.57, Z:-2.18 [[ 9.99986047e-01 -3.44887640e-03 -4.00148844e-03 3.18320854e+02] [ 3.44859670e-03 9.99994051e-01 -7.67957224e-05 -5.66190102e-01] [ 4.00172949e-03 6.29951310e-05 9.99991991e-01 -2.18310979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.56591999999995 meters Centerline goodness : 0.997666 Centerline is valid? [True, True] Translation: X:318.35, Y:-0.57, Z:-2.18 [[ 9.99959605e-01 -8.04836731e-03 -4.00143182e-03 3.18349679e+02] [ 8.04811485e-03 9.99967610e-01 -7.91904859e-05 -5.65729436e-01] [ 4.00193957e-03 4.69833041e-05 9.99991991e-01 -2.18075045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.59592 meters Centerline goodness : 0.998164 Centerline is valid? [True, True] Translation: X:318.38, Y:-0.57, Z:-2.18 [[ 9.99903703e-01 -1.32881577e-02 -4.00128297e-03 3.18378857e+02] [ 1.32879221e-02 9.99911708e-01 -8.54553819e-05 -5.65611835e-01] [ 4.00206524e-03 3.22784162e-05 9.99991991e-01 -2.17986751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.62591999999995 meters Centerline goodness : 0.998907 Centerline is valid? [True, True] Translation: X:318.41, Y:-0.57, Z:-2.18 [[ 9.99851482e-01 -1.67631710e-02 -4.00125276e-03 3.18408616e+02] [ 1.67629582e-02 9.99859488e-01 -8.67160987e-05 -5.65320400e-01] [ 4.00214417e-03 1.96303869e-05 9.99991991e-01 -2.17765825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.65592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:318.44, Y:-0.56, Z:-2.18 [[ 9.99793277e-01 -1.99347179e-02 -4.00118154e-03 3.18438174e+02] [ 1.99345187e-02 9.99801284e-01 -8.96822894e-05 -5.64736746e-01] [ 4.00217423e-03 9.90212206e-06 9.99991991e-01 -2.18026226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.68591999999995 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:318.47, Y:-0.56, Z:-2.18 [[ 9.99762602e-01 -2.14179823e-02 -4.00119309e-03 3.18468015e+02] [ 2.14177968e-02 9.99770609e-01 -8.92042122e-05 -5.64081017e-01] [ 4.00218582e-03 3.48629478e-06 9.99991991e-01 -2.17993431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.71592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.50, Y:-0.56, Z:-2.19 [[ 9.99758965e-01 -2.15870679e-02 -4.00128443e-03 3.18497601e+02] [ 2.15868990e-02 9.99766972e-01 -8.54034526e-05 -5.63926713e-01] [ 4.00219563e-03 -9.92455513e-07 9.99991991e-01 -2.19233876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.74591999999996 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:318.53, Y:-0.56, Z:-2.18 [[ 9.99769475e-01 -2.10947335e-02 -4.00101003e-03 3.18527755e+02] [ 2.10945152e-02 9.99777481e-01 -9.67507983e-05 -5.64279097e-01] [ 4.00216067e-03 1.23291277e-05 9.99991991e-01 -2.17656377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.77592 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:318.56, Y:-0.56, Z:-2.17 [[ 9.99918528e-01 -1.21213433e-02 -4.00117971e-03 3.18563588e+02] [ 1.21210814e-02 9.99926533e-01 -8.97055022e-05 -5.60544378e-01] [ 4.00197311e-03 4.11995688e-05 9.99991991e-01 -2.17426512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.80591999999996 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:318.59, Y:-0.57, Z:-2.18 [[ 9.99778256e-01 -2.06738225e-02 -4.00391476e-03 3.18588031e+02] [ 2.06740890e-02 9.99786268e-01 2.51773131e-05 -5.65526166e-01] [ 4.00253848e-03 -1.07949020e-04 9.99991984e-01 -2.17841474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.83592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:318.62, Y:-0.57, Z:-2.18 [[ 9.99761506e-01 -2.14691450e-02 -4.00082190e-03 3.18618054e+02] [ 2.14689193e-02 9.99769511e-01 -9.93578859e-05 -5.66977538e-01] [ 4.00203288e-03 1.34408671e-05 9.99991992e-01 -2.17806410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.86591999999996 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:318.65, Y:-0.57, Z:-2.18 [[ 9.99757115e-01 -2.16726779e-02 -4.00064250e-03 3.18647916e+02] [ 2.16724247e-02 9.99765120e-01 -1.06633592e-04 -5.68848527e-01] [ 4.00201386e-03 1.99040693e-05 9.99991992e-01 -2.17844379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.89592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:318.68, Y:-0.57, Z:-2.18 [[ 9.99704756e-01 -2.39665087e-02 -4.00082546e-03 3.18677813e+02] [ 2.39663036e-02 9.99712762e-01 -9.92285083e-05 -5.70810157e-01] [ 4.00205443e-03 3.31421419e-06 9.99991992e-01 -2.17972415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.92591999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.71, Y:-0.57, Z:-2.19 [[ 9.99731430e-01 -2.28268086e-02 -4.00046879e-03 3.18708452e+02] [ 2.28265363e-02 9.99739434e-01 -1.13717258e-04 -5.70906641e-01] [ 4.00202221e-03 2.23698704e-05 9.99991992e-01 -2.19088596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.95592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:318.74, Y:-0.57, Z:-2.18 [[ 9.99688735e-01 -2.46257104e-02 -4.00086990e-03 3.18737895e+02] [ 2.46255186e-02 9.99696741e-01 -9.72086986e-05 -5.73910168e-01] [ 4.00205044e-03 -1.34505516e-06 9.99991992e-01 -2.17863794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.98591999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.77, Y:-0.57, Z:-2.19 [[ 9.99731150e-01 -2.28390911e-02 -4.00037949e-03 3.18768715e+02] [ 2.28388035e-02 9.99739154e-01 -1.17579826e-04 -5.74109220e-01] [ 4.00202142e-03 2.61843335e-05 9.99991992e-01 -2.19166025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.01592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:318.80, Y:-0.57, Z:-2.18 [[ 9.99683740e-01 -2.48276786e-02 -4.00090513e-03 3.18797180e+02] [ 2.48274949e-02 9.99691746e-01 -9.55762078e-05 -5.74437501e-01] [ 4.00204477e-03 -3.78647095e-06 9.99991992e-01 -2.17606352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.04591999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.83, Y:-0.58, Z:-2.18 [[ 9.99685859e-01 -2.47423371e-02 -4.00002249e-03 3.18828429e+02] [ 2.47420036e-02 9.99693861e-01 -1.32847652e-04 -5.75707124e-01] [ 4.00208489e-03 3.38373479e-05 9.99991991e-01 -2.17920245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.07592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.86, Y:-0.58, Z:-2.19 [[ 9.99714630e-01 -2.35511185e-02 -4.00048620e-03 3.18859193e+02] [ 2.35508550e-02 9.99722634e-01 -1.12969651e-04 -5.76044620e-01] [ 4.00203716e-03 1.87225425e-05 9.99991992e-01 -2.19240761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.10591999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.89, Y:-0.58, Z:-2.19 [[ 9.99653759e-01 -2.60068171e-02 -4.00096086e-03 3.18887945e+02] [ 2.60066555e-02 9.99661765e-01 -9.24215794e-05 -5.78749142e-01] [ 4.00201118e-03 -1.16620315e-05 9.99991992e-01 -2.19122827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.13592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.92, Y:-0.58, Z:-2.18 [[ 9.99557652e-01 -2.94701902e-02 -4.00094879e-03 3.18916951e+02] [ 2.94700542e-02 9.99565659e-01 -9.29408081e-05 -5.80054138e-01] [ 4.00195000e-03 -2.50084820e-05 9.99991992e-01 -2.17803053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.16591999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.95, Y:-0.58, Z:-2.19 [[ 9.99582085e-01 -2.86295797e-02 -4.00037804e-03 3.18947715e+02] [ 2.86293386e-02 9.99590090e-01 -1.17523008e-04 -5.80252688e-01] [ 4.00210288e-03 2.94571581e-06 9.99991992e-01 -2.19153699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.19591999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.98, Y:-0.58, Z:-2.19 [[ 9.99580297e-01 -2.86918633e-02 -4.00095729e-03 3.18977531e+02] [ 2.86917230e-02 9.99588303e-01 -9.24566801e-05 -5.79919765e-01] [ 4.00196287e-03 -2.23764828e-05 9.99991992e-01 -2.19065510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.22592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:319.01, Y:-0.58, Z:-2.18 [[ 9.99613694e-01 -2.75037393e-02 -4.00095135e-03 3.19007202e+02] [ 2.75035885e-02 9.99621700e-01 -9.27131435e-05 -5.80015443e-01] [ 4.00198775e-03 -1.73631919e-05 9.99991992e-01 -2.17827744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.25591999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.04, Y:-0.58, Z:-2.19 [[ 9.99713423e-01 -2.36023192e-02 -4.00033188e-03 3.19037979e+02] [ 2.36020301e-02 9.99721426e-01 -1.19453269e-04 -5.79168644e-01] [ 4.00203686e-03 2.50030827e-05 9.99991992e-01 -2.19026918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.28592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.07, Y:-0.58, Z:-2.18 [[ 9.99746483e-01 -2.21576439e-02 -4.00097651e-03 3.19067425e+02] [ 2.21574566e-02 9.99754489e-01 -9.11609591e-05 -5.77670694e-01] [ 4.00201414e-03 2.48638508e-06 9.99991992e-01 -2.17738053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.31591999999995 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:319.10, Y:-0.58, Z:-2.17 [[ 9.99792567e-01 -1.99703617e-02 -4.00093798e-03 3.19097069e+02] [ 1.99701500e-02 9.99800572e-01 -9.28536850e-05 -5.76106565e-01] [ 4.00199440e-03 1.29350926e-05 9.99991992e-01 -2.17304657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.34592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.13, Y:-0.57, Z:-2.18 [[ 9.99823317e-01 -1.83665115e-02 -4.00086809e-03 3.19126558e+02] [ 1.83662747e-02 9.99831321e-01 -9.59350512e-05 -5.73594584e-01] [ 4.00195522e-03 2.24370587e-05 9.99991992e-01 -2.17790349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.37591999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.16, Y:-0.57, Z:-2.18 [[ 9.99809640e-01 -1.90965574e-02 -4.00076667e-03 3.19156272e+02] [ 1.90963084e-02 9.99817644e-01 -1.00430275e-04 -5.73328673e-01] [ 4.00195498e-03 2.40112825e-05 9.99991992e-01 -2.17744853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.40592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:319.19, Y:-0.57, Z:-2.18 [[ 9.99752725e-01 -2.18742628e-02 -4.00078234e-03 3.19185405e+02] [ 2.18740389e-02 9.99760730e-01 -9.97357744e-05 -5.73838516e-01] [ 4.00200671e-03 1.21978439e-05 9.99991992e-01 -2.17507700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.43591999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.22, Y:-0.57, Z:-2.18 [[ 9.99730458e-01 -2.28693324e-02 -4.00055339e-03 3.19215518e+02] [ 2.28690756e-02 9.99738462e-01 -1.09932810e-04 -5.73319950e-01] [ 4.00202118e-03 1.84142206e-05 9.99991992e-01 -2.17749704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.46592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.25, Y:-0.57, Z:-2.19 [[ 9.99731147e-01 -2.28391846e-02 -4.00066085e-03 3.19246531e+02] [ 2.28389470e-02 9.99739152e-01 -1.05080169e-04 -5.72955168e-01] [ 4.00201723e-03 1.36810364e-05 9.99991992e-01 -2.18943547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.49591999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.28, Y:-0.57, Z:-2.19 [[ 9.99684756e-01 -2.47867086e-02 -4.00104783e-03 3.19275842e+02] [ 2.47865575e-02 9.99692762e-01 -8.73555753e-05 -5.73431658e-01] [ 4.00198382e-03 -1.18441650e-05 9.99991992e-01 -2.18954306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.52592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.30, Y:-0.57, Z:-2.18 [[ 9.99645858e-01 -2.63087573e-02 -4.00103920e-03 3.19304707e+02] [ 2.63086168e-02 9.99653865e-01 -8.77491879e-05 -5.73370934e-01] [ 4.00196287e-03 -1.75436949e-05 9.99991992e-01 -2.17650391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.55591999999996 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:319.34, Y:-0.57, Z:-2.18 [[ 9.99675501e-01 -2.51572777e-02 -4.00050319e-03 3.19335119e+02] [ 2.51570301e-02 9.99683506e-01 -1.12219407e-04 -5.73469037e-01] [ 4.00206019e-03 1.15422132e-05 9.99991992e-01 -2.17660348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.58592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:319.36, Y:-0.58, Z:-2.17 [[ 9.99709218e-01 -2.37796973e-02 -4.00067832e-03 3.19364103e+02] [ 2.37794710e-02 9.99717223e-01 -1.04137036e-04 -5.75157322e-01] [ 4.00202337e-03 8.97274044e-06 9.99991992e-01 -2.17336289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.61591999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.40, Y:-0.57, Z:-2.19 [[ 9.99781237e-01 -2.05298413e-02 -4.00053409e-03 3.19395051e+02] [ 2.05295620e-02 9.99789240e-01 -1.10876591e-04 -5.74704970e-01] [ 4.00196721e-03 2.87231224e-05 9.99991992e-01 -2.19001383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.64592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:319.42, Y:-0.57, Z:-2.17 [[ 9.99766244e-01 -2.12473454e-02 -4.00108111e-03 3.19422780e+02] [ 2.12471746e-02 9.99774250e-01 -8.51824334e-05 -5.74506662e-01] [ 4.00198777e-03 1.50852277e-07 9.99991992e-01 -2.17366480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.67591999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.45, Y:-0.57, Z:-2.19 [[ 9.99836810e-01 -1.76167422e-02 -4.00042842e-03 3.19454740e+02] [ 1.76164215e-02 9.99844812e-01 -1.15384574e-04 -5.73232837e-01] [ 4.00184030e-03 4.48925114e-05 9.99991992e-01 -2.18762343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.70592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.48, Y:-0.57, Z:-2.19 [[ 9.99834509e-01 -1.77467199e-02 -4.00107776e-03 3.19484048e+02] [ 1.77465230e-02 9.99842514e-01 -8.47168402e-05 -5.72677279e-01] [ 4.00195110e-03 1.36976019e-05 9.99991992e-01 -2.18750864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.73591999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.51, Y:-0.57, Z:-2.19 [[ 9.99847183e-01 -1.70176929e-02 -4.00106667e-03 3.19512865e+02] [ 1.70174881e-02 9.99855188e-01 -8.52374706e-05 -5.71418764e-01] [ 4.00193781e-03 1.71363405e-05 9.99991992e-01 -2.18768872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.76592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:319.54, Y:-0.57, Z:-2.18 [[ 9.99865603e-01 -1.58986849e-02 -4.00105552e-03 3.19541452e+02] [ 1.58984690e-02 9.99873608e-01 -8.57576047e-05 -5.68938461e-01] [ 4.00191325e-03 2.21354219e-05 9.99991992e-01 -2.17537190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.79591999999997 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:319.57, Y:-0.57, Z:-2.17 [[ 9.99889002e-01 -1.43519065e-02 -4.00072437e-03 3.19571002e+02] [ 1.43516165e-02 9.99897005e-01 -1.01202579e-04 -5.67120354e-01] [ 4.00176477e-03 4.37744843e-05 9.99991992e-01 -2.17345118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.82592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.60, Y:-0.56, Z:-2.19 [[ 9.99934841e-01 -1.06914447e-02 -4.00083745e-03 3.19601428e+02] [ 1.06911465e-02 9.99942843e-01 -9.59055997e-05 -5.63659392e-01] [ 4.00163415e-03 5.31258111e-05 9.99991992e-01 -2.18652510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.85591999999997 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:319.63, Y:-0.56, Z:-2.17 [[ 9.99918990e-01 -1.20832408e-02 -4.00106924e-03 3.19629336e+02] [ 1.20829974e-02 9.99926994e-01 -8.49945729e-05 -5.62108891e-01] [ 4.00180414e-03 3.66427783e-05 9.99991992e-01 -2.17357500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.88592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.66, Y:-0.56, Z:-2.19 [[ 9.99951917e-01 -8.95325707e-03 -4.00027751e-03 3.19661418e+02] [ 8.95283924e-03 9.99959915e-01 -1.22345517e-04 -5.59837122e-01] [ 4.00121255e-03 8.65257932e-05 9.99991991e-01 -2.18521343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.91591999999997 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:319.69, Y:-0.56, Z:-2.17 [[ 9.99921497e-01 -1.18739584e-02 -4.00108525e-03 3.19690925e+02] [ 1.18737183e-02 9.99929501e-01 -8.37624008e-05 -5.57629138e-01] [ 4.00179777e-03 3.62480660e-05 9.99991992e-01 -2.17485446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.94591999999994 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:319.72, Y:-0.56, Z:-2.17 [[ 9.99912487e-01 -1.26100109e-02 -4.00078396e-03 3.19720724e+02] [ 1.26097194e-02 9.99920490e-01 -9.80710019e-05 -5.57169453e-01] [ 4.00170253e-03 4.76136563e-05 9.99991992e-01 -2.17352551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.97592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.75, Y:-0.56, Z:-2.19 [[ 9.99846886e-01 -1.70351695e-02 -4.00090022e-03 3.19751664e+02] [ 1.70349358e-02 9.99854891e-01 -9.24834218e-05 -5.61128027e-01] [ 4.00189512e-03 2.43141830e-05 9.99991992e-01 -2.18550966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.00591999999995 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:319.78, Y:-0.56, Z:-2.19 [[ 9.99802525e-01 -1.94654329e-02 -4.00110382e-03 3.19780818e+02] [ 1.94652581e-02 9.99810531e-01 -8.26239699e-05 -5.62420359e-01] [ 4.00195404e-03 4.72513521e-06 9.99991992e-01 -2.18528484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.03592 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:319.81, Y:-0.56, Z:-2.17 [[ 9.99725813e-01 -2.30714053e-02 -4.00109298e-03 3.19809933e+02] [ 2.30712573e-02 9.99733820e-01 -8.31454035e-05 -5.63381885e-01] [ 4.00194625e-03 -9.18763948e-06 9.99991992e-01 -2.17243814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.06591999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.84, Y:-0.56, Z:-2.18 [[ 9.99761754e-01 -2.14576661e-02 -4.00057226e-03 3.19840898e+02] [ 2.14574053e-02 9.99769758e-01 -1.08123075e-04 -5.63887572e-01] [ 4.00197122e-03 2.22554152e-05 9.99991992e-01 -2.18479358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.09592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:319.87, Y:-0.56, Z:-2.17 [[ 9.99693640e-01 -2.44257725e-02 -4.00109633e-03 3.19869094e+02] [ 2.44256367e-02 9.99701646e-01 -8.27982516e-05 -5.64506338e-01] [ 4.00192500e-03 -1.49564398e-05 9.99991992e-01 -2.17120272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.12591999999995 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:319.90, Y:-0.56, Z:-2.17 [[ 9.99760590e-01 -2.15118943e-02 -4.00016832e-03 3.19899954e+02] [ 2.15115557e-02 9.99768592e-01 -1.27649731e-04 -5.64323568e-01] [ 4.00198863e-03 4.15693270e-05 9.99991991e-01 -2.17083645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.15592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:319.93, Y:-0.56, Z:-2.17 [[ 9.99862958e-01 -1.60643283e-02 -4.00042694e-03 3.19931270e+02] [ 1.60639965e-02 9.99870959e-01 -1.15074304e-04 -5.64458011e-01] [ 4.00175931e-03 5.07956900e-05 9.99991992e-01 -2.16819947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.18591999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.96, Y:-0.56, Z:-2.17 [[ 9.99895669e-01 -1.38795762e-02 -4.00093538e-03 3.19961749e+02] [ 1.38793269e-02 9.99903673e-01 -9.00695027e-05 -5.64109346e-01] [ 4.00180012e-03 3.45298156e-05 9.99991992e-01 -2.16929037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.21592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:319.99, Y:-0.57, Z:-2.17 [[ 9.99923886e-01 -1.16710426e-02 -4.00100339e-03 3.19991966e+02] [ 1.16707889e-02 9.99931890e-01 -8.67369147e-05 -5.67635822e-01] [ 4.00174319e-03 4.00354469e-05 9.99991992e-01 -2.16939448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.24591999999996 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:320.02, Y:-0.57, Z:-2.17 [[ 9.99912022e-01 -1.26467220e-02 -4.00110195e-03 3.20020392e+02] [ 1.26464957e-02 9.99920027e-01 -8.18550645e-05 -5.69828285e-01] [ 4.00181717e-03 3.12479444e-05 9.99991992e-01 -2.16827140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.27592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:320.05, Y:-0.57, Z:-2.17 [[ 9.99888766e-01 -1.43682835e-02 -4.00096339e-03 3.20048898e+02] [ 1.43680434e-02 9.99896770e-01 -8.87436585e-05 -5.71579631e-01] [ 4.00182546e-03 3.12477717e-05 9.99991992e-01 -2.16836540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.30591999999996 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:320.08, Y:-0.57, Z:-2.17 [[ 9.99821688e-01 -1.84549065e-02 -4.00111159e-03 3.20078133e+02] [ 1.84547287e-02 9.99829694e-01 -8.13572952e-05 -5.73663672e-01] [ 4.00193162e-03 7.50335942e-06 9.99991992e-01 -2.16889939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.33592 meters Centerline goodness : 0.990593 Centerline is valid? [True, True] Translation: X:320.16, Y:-0.56, Z:-2.18 [[ 9.99958475e-01 8.18786327e-03 -4.00095685e-03 3.20159698e+02] [-8.18828518e-03 9.99966471e-01 -8.90822013e-05 -5.56928313e-01] [ 4.00009331e-03 1.21839478e-04 9.99991992e-01 -2.18255913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.36591999999996 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:320.13, Y:-0.59, Z:-2.17 [[ 9.99444320e-01 -3.30888386e-02 -4.02241904e-03 3.20127925e+02] [ 3.30928715e-02 9.99451839e-01 9.40204746e-04 -5.92216265e-01] [ 3.98910382e-03 -1.07279569e-03 9.99991468e-01 -2.17097047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.39592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:320.16, Y:-0.59, Z:-2.17 [[ 9.99491756e-01 -3.16278022e-02 -3.98906468e-03 3.20158878e+02] [ 3.16275210e-02 9.99499716e-01 -1.33562868e-04 -5.91808104e-01] [ 3.99129332e-03 7.33075796e-06 9.99992035e-01 -2.16877894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.42591999999996 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:320.19, Y:-0.59, Z:-2.19 [[ 9.99630524e-01 -2.68868147e-02 -3.98933344e-03 3.20189095e+02] [ 2.68865304e-02 9.99638484e-01 -1.24887721e-04 -5.90570170e-01] [ 3.99124906e-03 1.75822429e-05 9.99992035e-01 -2.18613662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.45592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.22, Y:-0.59, Z:-2.18 [[ 9.99686341e-01 -2.47245636e-02 -3.98936817e-03 3.20218035e+02] [ 2.47242666e-02 9.99694301e-01 -1.23768349e-04 -5.88534851e-01] [ 3.99120874e-03 2.50953262e-05 9.99992035e-01 -2.18473014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.48591999999996 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:320.25, Y:-0.59, Z:-2.18 [[ 9.99738805e-01 -2.25034746e-02 -3.98935201e-03 3.20247113e+02] [ 2.25031578e-02 9.99746764e-01 -1.24286962e-04 -5.86295416e-01] [ 3.99113865e-03 3.44814811e-05 9.99992035e-01 -2.18447272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.51592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:320.28, Y:-0.58, Z:-2.18 [[ 9.99756108e-01 -2.17211702e-02 -3.98933559e-03 3.20276516e+02] [ 2.17208450e-02 9.99764067e-01 -1.24811685e-04 -5.83126323e-01] [ 3.99110543e-03 3.81295040e-05 9.99992035e-01 -2.18177710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.54591999999997 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:320.31, Y:-0.58, Z:-2.17 [[ 9.99731085e-01 -2.28438640e-02 -3.98938399e-03 3.20305424e+02] [ 2.28435540e-02 9.99739044e-01 -1.23271059e-04 -5.80963090e-01] [ 3.99115892e-03 3.21062013e-05 9.99992035e-01 -2.16931191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.57592 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:320.34, Y:-0.58, Z:-2.17 [[ 9.99672967e-01 -2.52595658e-02 -3.98906531e-03 3.20335696e+02] [ 2.52592347e-02 9.99680926e-01 -1.33370863e-04 -5.77452215e-01] [ 3.99116139e-03 3.25665099e-05 9.99992035e-01 -2.16836193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.60591999999997 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:320.37, Y:-0.58, Z:-2.17 [[ 9.99648032e-01 -2.62278012e-02 -3.98939447e-03 3.20365589e+02] [ 2.62275195e-02 9.99655992e-01 -1.22920232e-04 -5.75646483e-01] [ 3.99124601e-03 1.82450466e-05 9.99992035e-01 -2.16584709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.63592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:320.39, Y:-0.57, Z:-2.17 [[ 9.99581432e-01 -2.86538463e-02 -3.98981462e-03 3.20393786e+02] [ 2.86536369e-02 9.99589394e-01 -1.09652469e-04 -5.74472373e-01] [ 3.99131834e-03 -4.71612779e-06 9.99992035e-01 -2.16699826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.66591999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.42, Y:-0.57, Z:-2.19 [[ 9.99523613e-01 -3.06044713e-02 -3.98924156e-03 3.20423694e+02] [ 3.06042053e-02 9.99531573e-01 -1.27714525e-04 -5.73126231e-01] [ 3.99128153e-03 5.56611629e-06 9.99992035e-01 -2.18630140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.69591999999994 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:320.45, Y:-0.57, Z:-2.17 [[ 9.99546498e-01 -2.98476897e-02 -3.98927246e-03 3.20453887e+02] [ 2.98474216e-02 9.99554458e-01 -1.26741886e-04 -5.71358879e-01] [ 3.99127803e-03 7.61491135e-06 9.99992035e-01 -2.16755988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.72592 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:320.48, Y:-0.57, Z:-2.17 [[ 9.99607192e-01 -2.77406876e-02 -3.98950070e-03 3.20483477e+02] [ 2.77404315e-02 9.99615153e-01 -1.19532219e-04 -5.69767220e-01] [ 3.99128125e-03 8.81479531e-06 9.99992035e-01 -2.16600505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.75591999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.51, Y:-0.57, Z:-2.18 [[ 9.99603897e-01 -2.78591193e-02 -3.98975011e-03 3.20513456e+02] [ 2.78588956e-02 9.99611859e-01 -1.11651573e-04 -5.69708861e-01] [ 3.99131204e-03 4.57316131e-07 9.99992035e-01 -2.18469047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.78592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.54, Y:-0.57, Z:-2.18 [[ 9.99683090e-01 -2.48556966e-02 -3.98927741e-03 3.20544765e+02] [ 2.48553895e-02 9.99691049e-01 -1.26552518e-04 -5.70134594e-01] [ 3.99119047e-03 2.73573686e-05 9.99992035e-01 -2.18101382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.81591999999995 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:320.58, Y:-0.57, Z:-2.17 [[ 9.99743367e-01 -2.22998049e-02 -3.98993307e-03 3.20575075e+02] [ 2.22995602e-02 9.99751328e-01 -1.05791544e-04 -5.70240763e-01] [ 3.99130001e-03 1.67906418e-05 9.99992035e-01 -2.16996707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.84592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:320.60, Y:-0.57, Z:-2.17 [[ 9.99745799e-01 -2.21905460e-02 -3.98966617e-03 3.20604143e+02] [ 2.21902670e-02 9.99753759e-01 -1.14201709e-04 -5.69186063e-01] [ 3.99121795e-03 2.56409213e-05 9.99992035e-01 -2.16726307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.87591999999995 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:320.63, Y:-0.57, Z:-2.17 [[ 9.99816621e-01 -1.87299096e-02 -3.98927322e-03 3.20634789e+02] [ 1.87295539e-02 9.99824579e-01 -1.26507864e-04 -5.66405856e-01] [ 3.99094290e-03 5.17673574e-05 9.99992035e-01 -2.16742815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.90592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.66, Y:-0.56, Z:-2.18 [[ 9.99860097e-01 -1.62440780e-02 -3.98954643e-03 3.20664926e+02] [ 1.62437367e-02 9.99868055e-01 -1.17926768e-04 -5.64355201e-01] [ 3.99093564e-03 5.31051275e-05 9.99992035e-01 -2.18411724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.93591999999995 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:320.69, Y:-0.56, Z:-2.17 [[ 9.99861478e-01 -1.61587756e-02 -3.98975175e-03 3.20693799e+02] [ 1.61584594e-02 9.99869437e-01 -1.11478844e-04 -5.62081279e-01] [ 3.99103220e-03 4.69951605e-05 9.99992035e-01 -2.16672788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.96592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.72, Y:-0.56, Z:-2.18 [[ 9.99876664e-01 -1.51900798e-02 -3.98965354e-03 3.20724319e+02] [ 1.51897436e-02 9.99884623e-01 -1.14555643e-04 -5.60394316e-01] [ 3.99093333e-03 5.39397000e-05 9.99992035e-01 -2.18200683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.99591999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.75, Y:-0.56, Z:-2.18 [[ 9.99892187e-01 -1.41314327e-02 -3.98970788e-03 3.20752634e+02] [ 1.41310949e-02 9.99900145e-01 -1.12862000e-04 -5.57291792e-01] [ 3.99090438e-03 5.64708917e-05 9.99992035e-01 -2.18353771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.02592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.78, Y:-0.55, Z:-2.18 [[ 9.99895997e-01 -1.38593506e-02 -3.98920639e-03 3.20781332e+02] [ 1.38589485e-02 9.99903952e-01 -1.28437842e-04 -5.54909100e-01] [ 3.99060330e-03 7.31382783e-05 9.99992035e-01 -2.18267319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.05591999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.81, Y:-0.55, Z:-2.18 [[ 9.99893591e-01 -1.40318383e-02 -3.98918958e-03 3.20809984e+02] [ 1.40314354e-02 9.99901546e-01 -1.28957724e-04 -5.49000502e-01] [ 3.99060635e-03 7.29699461e-05 9.99992035e-01 -2.18288873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.08592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:320.84, Y:-0.54, Z:-2.17 [[ 9.99867913e-01 -1.57557072e-02 -3.98917270e-03 3.20838775e+02] [ 1.57553160e-02 9.99875869e-01 -1.29478004e-04 -5.44558785e-01] [ 3.99071754e-03 6.66102252e-05 9.99992035e-01 -2.16889914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.11591999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.87, Y:-0.54, Z:-2.19 [[ 9.99895207e-01 -1.39163715e-02 -3.98865804e-03 3.20869964e+02] [ 1.39159025e-02 9.99903159e-01 -1.45307480e-04 -5.40051959e-01] [ 3.99029392e-03 8.97864769e-05 9.99992035e-01 -2.18516290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.14592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.90, Y:-0.53, Z:-2.18 [[ 9.99883508e-01 -1.47328698e-02 -3.98920183e-03 3.20898752e+02] [ 1.47324747e-02 9.99891463e-01 -1.28414444e-04 -5.34031548e-01] [ 3.99066077e-03 6.96286701e-05 9.99992035e-01 -2.18408330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.17591999999996 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:320.93, Y:-0.53, Z:-2.18 [[ 9.99875563e-01 -1.52625642e-02 -3.98918514e-03 3.20927835e+02] [ 1.52621713e-02 9.99883518e-01 -1.28930866e-04 -5.30742023e-01] [ 3.99068829e-03 6.80311956e-05 9.99992035e-01 -2.18145296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.20592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:320.96, Y:-0.53, Z:-2.17 [[ 9.99828584e-01 -1.80800886e-02 -3.98923727e-03 3.20956021e+02] [ 1.80797244e-02 9.99836540e-01 -1.27324937e-04 -5.26127038e-01] [ 3.99088723e-03 5.51788005e-05 9.99992035e-01 -2.16795172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.23591999999996 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:320.98, Y:-0.52, Z:-2.17 [[ 9.99764399e-01 -2.13362894e-02 -3.98868796e-03 3.20984868e+02] [ 2.13358835e-02 9.99772354e-01 -1.44278968e-04 -5.18269946e-01] [ 3.99085833e-03 5.91427936e-05 9.99992035e-01 -2.16886950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.26592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:321.02, Y:-0.52, Z:-2.17 [[ 9.99725807e-01 -2.30738976e-02 -3.98815685e-03 3.21016115e+02] [ 2.30734395e-02 9.99733760e-01 -1.60821215e-04 -5.15151987e-01] [ 3.99080581e-03 6.87566232e-05 9.99992034e-01 -2.16663822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.29591999999997 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:321.05, Y:-0.51, Z:-2.17 [[ 9.99565940e-01 -2.91893943e-02 -3.98881460e-03 3.21045488e+02] [ 2.91890678e-02 9.99573899e-01 -1.40061969e-04 -5.11325503e-01] [ 3.99120328e-03 2.35713944e-05 9.99992035e-01 -2.16528760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.32592 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:321.08, Y:-0.51, Z:-2.17 [[ 9.99502654e-01 -3.12815806e-02 -3.98842403e-03 3.21076406e+02] [ 3.12812212e-02 9.99510611e-01 -1.52476189e-04 -5.08185752e-01] [ 3.99124183e-03 2.76375812e-05 9.99992035e-01 -2.16593301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.35591999999997 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:321.11, Y:-0.51, Z:-2.17 [[ 9.99473313e-01 -3.22054283e-02 -3.98829482e-03 3.21106995e+02] [ 3.22050596e-02 9.99481270e-01 -1.56634459e-04 -5.05899838e-01] [ 3.99127046e-03 2.81086894e-05 9.99992034e-01 -2.16636301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.38592 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:321.14, Y:-0.50, Z:-2.17 [[ 9.99446303e-01 -3.30330094e-02 -3.98835046e-03 3.21137384e+02] [ 3.30326545e-02 9.99454261e-01 -1.54838206e-04 -5.04041036e-01] [ 3.99128863e-03 2.30066692e-05 9.99992035e-01 -2.16599887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.41591999999997 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:321.17, Y:-0.50, Z:-2.16 [[ 9.99480220e-01 -3.19903311e-02 -3.98863411e-03 3.21168021e+02] [ 3.19900048e-02 9.99488178e-01 -1.45599523e-04 -5.01358417e-01] [ 3.99125042e-03 1.79274189e-05 9.99992035e-01 -2.16384985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.44591999999994 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:321.20, Y:-0.50, Z:-2.16 [[ 9.99460214e-01 -3.26092932e-02 -3.98921224e-03 3.21198359e+02] [ 3.26090478e-02 9.99468176e-01 -1.26552784e-04 -4.97025183e-01] [ 3.99121748e-03 -3.59994036e-06 9.99992035e-01 -2.16471229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.47592 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:321.23, Y:-0.50, Z:-2.17 [[ 9.99478443e-01 -3.20457626e-02 -3.98893320e-03 3.21229283e+02] [ 3.20454759e-02 9.99486403e-01 -1.35792089e-04 -4.95054711e-01] [ 3.99123606e-03 7.89400324e-06 9.99992035e-01 -2.16634558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.50591999999995 meters Centerline goodness : 0.999002 Centerline is valid? [True, True] Translation: X:321.26, Y:-0.49, Z:-2.16 [[ 9.99521640e-01 -3.06688999e-02 -3.98868677e-03 3.21260286e+02] [ 3.06685692e-02 9.99529598e-01 -1.44055679e-04 -4.93797619e-01] [ 3.99122851e-03 2.16594527e-05 9.99992035e-01 -2.16252768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.53592 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:321.29, Y:-0.49, Z:-2.16 [[ 9.99529657e-01 -3.04064487e-02 -3.98910796e-03 3.21290914e+02] [ 3.04061726e-02 9.99537617e-01 -1.29855355e-04 -4.92914639e-01] [ 3.99121190e-03 8.50077343e-06 9.99992035e-01 -2.16292909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.56591999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.32, Y:-0.49, Z:-2.18 [[ 9.99509353e-01 -3.10666831e-02 -3.98920244e-03 3.21322820e+02] [ 3.10664250e-02 9.99517314e-01 -1.26644496e-04 -4.91288104e-01] [ 3.99121134e-03 2.65209914e-06 9.99992035e-01 -2.17987107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.59592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.35, Y:-0.49, Z:-2.18 [[ 9.99509353e-01 -3.10666432e-02 -3.98949428e-03 3.21353797e+02] [ 3.10664250e-02 9.99517315e-01 -1.16664788e-04 -4.90391783e-01] [ 3.99119300e-03 -7.33177823e-06 9.99992035e-01 -2.17974858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.62591999999995 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:321.38, Y:-0.49, Z:-2.17 [[ 9.99458725e-01 -3.26548720e-02 -3.98949428e-03 3.21383046e+02] [ 3.26546664e-02 9.99466687e-01 -1.16664788e-04 -4.89557984e-01] [ 3.99117631e-03 -1.36739646e-05 9.99992035e-01 -2.16565807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.65592 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:321.41, Y:-0.49, Z:-2.16 [[ 9.99484369e-01 -3.18603997e-02 -3.98890039e-03 3.21414183e+02] [ 3.18601062e-02 9.99492329e-01 -1.37106163e-04 -4.88187210e-01] [ 3.99124359e-03 9.94867665e-06 9.99992035e-01 -2.16311281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.68591999999995 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:321.44, Y:-0.49, Z:-2.17 [[ 9.99449754e-01 -3.29283343e-02 -3.98926053e-03 3.21444930e+02] [ 3.29280992e-02 9.99457715e-01 -1.24622833e-04 -4.86888923e-01] [ 3.99120084e-03 -6.80450623e-06 9.99992035e-01 -2.16539465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.71592 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:321.48, Y:-0.48, Z:-2.17 [[ 9.99461765e-01 -3.25617282e-02 -3.98929190e-03 3.21476271e+02] [ 3.25614945e-02 9.99469726e-01 -1.23533298e-04 -4.84090020e-01] [ 3.99119894e-03 -6.43049854e-06 9.99992035e-01 -2.16583594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.74591999999996 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:321.51, Y:-0.48, Z:-2.18 [[ 9.99522181e-01 -3.06512314e-02 -3.98905924e-03 3.21508156e+02] [ 3.06509497e-02 9.99530141e-01 -1.31746063e-04 -4.82790186e-01] [ 3.99122312e-03 9.41465819e-06 9.99992035e-01 -2.17831818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.77592 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:321.54, Y:-0.48, Z:-2.16 [[ 9.99491879e-01 -3.16238337e-02 -3.98960782e-03 3.21537054e+02] [ 3.16236375e-02 9.99499841e-01 -1.12248028e-04 -4.81421992e-01] [ 3.99116210e-03 -1.39749188e-05 9.99992035e-01 -2.16080651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.80591999999996 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:321.57, Y:-0.48, Z:-2.18 [[ 9.99566357e-01 -2.91751040e-02 -3.98881145e-03 3.21569381e+02] [ 2.91747752e-02 9.99574316e-01 -1.40584540e-04 -4.79272329e-01] [ 3.99121504e-03 2.41508993e-05 9.99992035e-01 -2.17675278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.83592 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:321.60, Y:-0.48, Z:-2.16 [[ 9.99525388e-01 -3.05463670e-02 -3.98964503e-03 3.21598094e+02] [ 3.05461693e-02 9.99533351e-01 -1.10483262e-04 -4.77820403e-01] [ 3.99115813e-03 -1.14375473e-05 9.99992035e-01 -2.16055329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.86591999999996 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:321.63, Y:-0.47, Z:-2.16 [[ 9.99579696e-01 -2.87145139e-02 -3.98853882e-03 3.21628401e+02] [ 2.87141412e-02 9.99587653e-01 -1.50687869e-04 -4.74104622e-01] [ 3.99122108e-03 3.60970670e-05 9.99992034e-01 -2.16221011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.89592 meters Centerline goodness : 0.998957 Centerline is valid? [True, True] Translation: X:321.66, Y:-0.47, Z:-2.16 [[ 9.99585460e-01 -2.85130754e-02 -3.98904138e-03 3.21658928e+02] [ 2.85127751e-02 9.99593419e-01 -1.32126262e-04 -4.72140213e-01] [ 3.99118684e-03 1.83328502e-05 9.99992035e-01 -2.16063573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.92591999999996 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:321.69, Y:-0.47, Z:-2.18 [[ 9.99641278e-01 -2.64840710e-02 -3.98871633e-03 3.21691620e+02] [ 2.64837063e-02 9.99649235e-01 -1.44222685e-04 -4.70322290e-01] [ 3.99113683e-03 3.85349571e-05 9.99992035e-01 -2.17733898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.95592 meters Centerline goodness : 0.998658 Centerline is valid? [True, True] Translation: X:321.72, Y:-0.47, Z:-2.16 [[ 9.99599286e-01 -2.80240773e-02 -3.98972915e-03 3.21720604e+02] [ 2.80238768e-02 9.99607248e-01 -1.06158174e-04 -4.66184645e-01] [ 3.99113716e-03 -5.69204309e-06 9.99992035e-01 -2.15976211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.98591999999996 meters Centerline goodness : 0.998711 Centerline is valid? [True, True] Translation: X:321.75, Y:-0.46, Z:-2.16 [[ 9.99616184e-01 -2.74148487e-02 -3.98894050e-03 3.21750154e+02] [ 2.74145245e-02 9.99624142e-01 -1.35941323e-04 -4.62994536e-01] [ 3.99116803e-03 2.65342397e-05 9.99992035e-01 -2.16100014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.01592 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] Translation: X:321.78, Y:-0.46, Z:-2.16 [[ 9.99632663e-01 -2.68072916e-02 -3.98861648e-03 3.21781450e+02] [ 2.68069126e-02 9.99640619e-01 -1.48457064e-04 -4.59801859e-01] [ 3.99116278e-03 4.14800372e-05 9.99992034e-01 -2.15891511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.04591999999997 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:321.81, Y:-0.46, Z:-2.17 [[ 9.99670024e-01 -2.53758067e-02 -3.98891534e-03 3.21812994e+02] [ 2.53754631e-02 9.99677982e-01 -1.36742128e-04 -4.58498305e-01] [ 3.99110077e-03 3.54764326e-05 9.99992035e-01 -2.17491017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.07592 meters Centerline goodness : 0.998660 Centerline is valid? [True, True] Translation: X:321.84, Y:-0.46, Z:-2.16 [[ 9.99627745e-01 -2.69898591e-02 -3.98982358e-03 3.21842316e+02] [ 2.69896718e-02 9.99635707e-01 -1.00788151e-04 -4.55311731e-01] [ 3.99109038e-03 -6.93339672e-06 9.99992036e-01 -2.16225556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.10591999999997 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:321.87, Y:-0.45, Z:-2.18 [[ 9.99646445e-01 -2.62881910e-02 -3.98956639e-03 3.21874119e+02] [ 2.62879576e-02 9.99654406e-01 -1.10926932e-04 -4.52930966e-01] [ 3.99110369e-03 6.01016036e-06 9.99992035e-01 -2.17502138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.13592 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:321.90, Y:-0.45, Z:-2.18 [[ 9.99637311e-01 -2.66331975e-02 -3.98982947e-03 3.21904925e+02] [ 2.66330086e-02 9.99645273e-01 -1.00480994e-04 -4.51141947e-01] [ 3.99109030e-03 -5.81661223e-06 9.99992036e-01 -2.17533951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.16591999999997 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:321.94, Y:-0.45, Z:-2.17 [[ 9.99638632e-01 -2.65835913e-02 -3.98982947e-03 3.21935392e+02] [ 2.65834020e-02 9.99646594e-01 -1.00480994e-04 -4.50093004e-01] [ 3.99109058e-03 -5.61855763e-06 9.99992036e-01 -2.17400321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.19591999999994 meters Centerline goodness : 0.998312 Centerline is valid? [True, True] Translation: X:321.96, Y:-0.45, Z:-2.16 [[ 9.99586916e-01 -2.84618878e-02 -3.98983263e-03 3.21964348e+02] [ 2.84617140e-02 9.99594878e-01 -1.00355395e-04 -4.49121132e-01] [ 3.99107256e-03 -1.32435358e-05 9.99992036e-01 -2.15689322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.22592 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:322.00, Y:-0.45, Z:-2.17 [[ 9.99667133e-01 -2.54894469e-02 -3.98897672e-03 3.21996081e+02] [ 2.54891144e-02 9.99675091e-01 -1.34169541e-04 -4.47170044e-01] [ 3.99110057e-03 3.24493962e-05 9.99992035e-01 -2.17404534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.25591999999995 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:322.03, Y:-0.45, Z:-2.17 [[ 9.99696579e-01 -2.43070033e-02 -3.98983672e-03 3.22026595e+02] [ 2.43067986e-02 9.99704541e-01 -9.97818626e-05 -4.46934798e-01] [ 3.99108329e-03 2.77142906e-06 9.99992036e-01 -2.17337747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.28592 meters Centerline goodness : 0.998362 Centerline is valid? [True, True] Translation: X:322.06, Y:-0.45, Z:-2.16 [[ 9.99680242e-01 -2.49698839e-02 -3.98983672e-03 3.22056302e+02] [ 2.49696845e-02 9.99688204e-01 -9.97818626e-05 -4.47253134e-01] [ 3.99108425e-03 1.24992303e-07 9.99992036e-01 -2.15609405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.31591999999995 meters Centerline goodness : 0.998560 Centerline is valid? [True, True] Translation: X:322.09, Y:-0.45, Z:-2.16 [[ 9.99698519e-01 -2.42271658e-02 -3.98942931e-03 3.22086503e+02] [ 2.42268951e-02 9.99706479e-01 -1.16157946e-04 -4.45955006e-01] [ 3.99107250e-03 1.94714414e-05 9.99992035e-01 -2.15598920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.34592 meters Centerline goodness : 0.997766 Centerline is valid? [True, True] Translation: X:322.12, Y:-0.44, Z:-2.15 [[ 9.99711875e-01 -2.36696776e-02 -3.98915959e-03 3.22117074e+02] [ 2.36693592e-02 9.99719833e-01 -1.27022877e-04 -4.43540741e-01] [ 3.99104855e-03 3.25654271e-05 9.99992035e-01 -2.15323063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.37591999999995 meters Centerline goodness : 0.997519 Centerline is valid? [True, True] Translation: X:322.15, Y:-0.44, Z:-2.15 [[ 9.99762483e-01 -2.14257732e-02 -3.98927127e-03 3.22148114e+02] [ 2.14254551e-02 9.99770441e-01 -1.22446406e-04 -4.40588876e-01] [ 3.99097901e-03 3.69453706e-05 9.99992035e-01 -2.15360341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.40592 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:322.18, Y:-0.44, Z:-2.17 [[ 9.99749816e-01 -2.20087320e-02 -3.99019189e-03 3.22178966e+02] [ 2.20085698e-02 9.99757779e-01 -8.45662470e-05 -4.39488750e-01] [ 3.99108657e-03 -3.27332685e-06 9.99992036e-01 -2.17180980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.43591999999995 meters Centerline goodness : 0.871182 Centerline is valid? [True, False] Translation: X:322.18, Y:-0.43, Z:-2.17 [[ 9.99886560e-01 -1.20252257e-02 -9.06974301e-03 3.22182388e+02] [ 1.19286218e-02 9.99872335e-01 -1.06311492e-02 -4.28032946e-01] [ 9.19642710e-03 1.05217537e-02 9.99902354e-01 -2.17104369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.46592 meters Centerline goodness : 0.862196 Centerline is valid? [False, False] Translation: X:322.18, Y:-0.42, Z:-2.17 [[ 9.99991400e-01 -4.12560154e-03 -4.23203351e-04 3.22179631e+02] [ 4.11600132e-03 9.99779033e-01 -2.06141773e-02 -4.17210042e-01] [ 5.08155718e-04 2.06122581e-02 9.99787416e-01 -2.17010256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.49591999999996 meters Centerline goodness : 0.998214 Centerline is valid? [False, True] Translation: X:322.18, Y:-0.43, Z:-2.17 [[ 9.99991440e-01 4.06187926e-03 -7.88576395e-04 3.22180531e+02] [-4.06979214e-03 9.99938605e-01 -1.03064432e-02 -4.26066964e-01] [ 7.46664452e-04 1.03095644e-02 9.99946576e-01 -2.17130610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.52592 meters Centerline goodness : 0.998759 Centerline is valid? [True, True] Translation: X:322.21, Y:-0.44, Z:-2.17 [[ 9.99999564e-01 -5.90442673e-04 -7.23574486e-04 3.22210081e+02] [ 5.90489920e-04 9.99999824e-01 6.50848276e-05 -4.38331937e-01] [ 7.23535930e-04 -6.55120626e-05 9.99999736e-01 -2.17424799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.55591999999996 meters Centerline goodness : 0.998013 Centerline is valid? [True, True] Translation: X:322.24, Y:-0.44, Z:-2.17 [[ 9.99990387e-01 -4.32447427e-03 -7.23940620e-04 3.22240504e+02] [ 4.32447855e-03 9.99990649e-01 4.34196737e-06 -4.40368699e-01] [ 7.23915074e-04 -7.47259131e-06 9.99999738e-01 -2.17207125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.58592 meters Centerline goodness : 0.998956 Centerline is valid? [True, True] Translation: X:322.27, Y:-0.44, Z:-2.17 [[ 9.99983098e-01 -5.76886058e-03 -7.23934507e-04 3.22270739e+02] [ 5.76886596e-03 9.99983360e-01 5.34075942e-06 -4.41682388e-01] [ 7.23891651e-04 -9.51695029e-06 9.99999738e-01 -2.17457687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.61591999999996 meters Centerline goodness : 0.998460 Centerline is valid? [True, True] Translation: X:322.30, Y:-0.44, Z:-2.17 [[ 9.99977717e-01 -6.63638780e-03 -7.23943322e-04 3.22301066e+02] [ 6.63639240e-03 9.99977979e-01 3.94634184e-06 -4.44564298e-01] [ 7.23901190e-04 -8.75062586e-06 9.99999738e-01 -2.17192079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.64592 meters Centerline goodness : 0.998206 Centerline is valid? [True, True] Translation: X:322.33, Y:-0.45, Z:-2.17 [[ 9.99973923e-01 -7.18528773e-03 -7.23924354e-04 3.22331565e+02] [ 7.18529456e-03 9.99974185e-01 6.83134548e-06 -4.48134254e-01] [ 7.23856581e-04 -1.20327771e-05 9.99999738e-01 -2.17382806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.67591999999996 meters Centerline goodness : 0.998458 Centerline is valid? [True, True] Translation: X:322.36, Y:-0.45, Z:-2.17 [[ 9.99965500e-01 -8.27489856e-03 -7.23900025e-04 3.22362555e+02] [ 8.27490833e-03 9.99965762e-01 1.05041096e-05 -4.48536658e-01] [ 7.23788319e-04 -1.64939535e-05 9.99999738e-01 -2.17339976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.70592 meters Centerline goodness : 0.998559 Centerline is valid? [True, True] Translation: X:322.39, Y:-0.45, Z:-2.17 [[ 9.99960101e-01 -8.90346119e-03 -7.23894709e-04 3.22392695e+02] [ 8.90347171e-03 9.99960363e-01 1.13122889e-05 -4.50108182e-01] [ 7.23765297e-04 -1.77570136e-05 9.99999738e-01 -2.17098965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.73591999999996 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:322.42, Y:-0.46, Z:-2.19 [[ 9.99933956e-01 -1.14699462e-02 -7.23911797e-04 3.22422412e+02] [ 1.14699555e-02 9.99934218e-01 8.69562880e-06 -4.56361989e-01] [ 7.23764438e-04 -1.69982906e-05 9.99999738e-01 -2.18753711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.76592 meters Centerline goodness : 0.997914 Centerline is valid? [True, True] Translation: X:322.46, Y:-0.45, Z:-2.18 [[ 9.99945930e-01 1.03736845e-02 -7.23937815e-04 3.22459937e+02] [-1.03736838e-02 9.99946192e-01 4.60777694e-06 -4.53569765e-01] [ 7.23946661e-04 2.90237423e-06 9.99999738e-01 -2.17657455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.79591999999997 meters Centerline goodness : 0.719014 Centerline is valid? [True, False] Translation: X:322.46, Y:-0.45, Z:-2.18 [[ 9.99997333e-01 2.07352391e-03 -1.01673559e-03 3.22460601e+02] [-2.08217578e-03 9.99960993e-01 -8.58354846e-03 -4.52619912e-01] [ 9.98897738e-04 8.58564260e-03 9.99962644e-01 -2.17660180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.82592 meters Centerline goodness : 0.998309 Centerline is valid? [False, True] Translation: X:322.46, Y:-0.46, Z:-2.18 [[ 9.99997270e-01 2.02731696e-03 -1.16160254e-03 3.22460960e+02] [-2.03659429e-03 9.99965589e-01 -8.04192951e-03 -4.55188435e-01] [ 1.14525903e-03 8.04427327e-03 9.99966988e-01 -2.17691383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.85591999999997 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:322.49, Y:-0.47, Z:-2.18 [[ 9.99997659e-01 1.91493956e-03 -1.00771361e-03 3.22490415e+02] [-1.91488804e-03 9.99998165e-01 5.20861770e-05 -4.65890886e-01] [ 1.00781150e-03 -5.01563963e-05 9.99999491e-01 -2.17956256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.88592 meters Centerline goodness : 0.998806 Centerline is valid? [True, True] Translation: X:322.52, Y:-0.47, Z:-2.18 [[ 9.99968749e-01 7.84123363e-03 -1.00829413e-03 3.22520357e+02] [-7.84121636e-03 9.99969257e-01 2.10845333e-05 -4.68856609e-01] [ 1.00842846e-03 -1.31776220e-05 9.99999491e-01 -2.17891337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.91591999999997 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:322.55, Y:-0.47, Z:-2.19 [[ 9.99983411e-01 5.67110922e-03 -1.00827581e-03 3.22549321e+02] [-5.67108984e-03 9.99983919e-01 2.20734026e-05 -4.72273350e-01] [ 1.00838478e-03 -1.63550137e-05 9.99999491e-01 -2.19139403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.94591999999994 meters Centerline goodness : 0.997461 Centerline is valid? [True, True] Translation: X:322.57, Y:-0.48, Z:-2.17 [[ 9.99984064e-01 5.55468456e-03 -1.00833994e-03 3.22572601e+02] [-5.55466863e-03 9.99984573e-01 1.85962246e-05 -4.81201551e-01] [ 1.00842768e-03 -1.29949341e-05 9.99999491e-01 -2.17010398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.97592 meters Centerline goodness : 0.998956 Centerline is valid? [True, True] Translation: X:322.61, Y:-0.48, Z:-2.18 [[ 9.99957755e-01 9.13616855e-03 -1.00896807e-03 3.22609171e+02] [-9.13618933e-03 9.99958264e-01 -1.59895490e-05 -4.81856931e-01] [ 1.00877988e-03 2.52069968e-05 9.99999491e-01 -2.17768442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.00591999999995 meters Centerline goodness : 0.998507 Centerline is valid? [True, True] Translation: X:322.64, Y:-0.48, Z:-2.18 [[ 9.99956817e-01 9.23837540e-03 -1.00839571e-03 3.22638687e+02] [-9.23836603e-03 9.99957325e-01 1.39521679e-05 -4.84788892e-01] [ 1.00848158e-03 -4.63563674e-06 9.99999491e-01 -2.17524074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.03592 meters Centerline goodness : 0.998558 Centerline is valid? [True, True] Translation: X:322.67, Y:-0.49, Z:-2.17 [[ 9.99911717e-01 1.32492347e-02 -1.00842154e-03 3.22671256e+02] [-1.32492287e-02 9.99912225e-01 1.26003847e-05 -4.86255232e-01] [ 1.00849997e-03 7.61535222e-07 9.99999491e-01 -2.17463019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.06591999999995 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:322.70, Y:-0.49, Z:-2.17 [[ 9.99939224e-01 1.09786613e-02 -1.00814544e-03 3.22699745e+02] [-1.09786396e-02 9.99939733e-01 2.70894391e-05 -4.86895427e-01] [ 1.00838209e-03 -1.60197273e-05 9.99999491e-01 -2.17463019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.09592 meters Centerline goodness : 0.998957 Centerline is valid? [True, True] Translation: X:322.73, Y:-0.49, Z:-2.17 [[ 9.99891621e-01 1.46877431e-02 -1.00836442e-03 3.22729795e+02] [-1.46877349e-02 9.99892129e-01 1.54723812e-05 -4.86344791e-01] [ 1.00848290e-03 -6.60115103e-07 9.99999491e-01 -2.17391531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.12591999999995 meters Centerline goodness : 0.999300 Centerline is valid? [True, True] Translation: X:322.76, Y:-0.49, Z:-2.17 [[ 9.99857645e-01 1.68425636e-02 -1.00840626e-03 3.22759652e+02] [-1.68425588e-02 9.99858154e-01 1.32528731e-05 -4.85890948e-01] [ 1.00848644e-03 3.73315528e-06 9.99999491e-01 -2.17494750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.15592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:322.79, Y:-0.48, Z:-2.19 [[ 9.99778079e-01 2.10422260e-02 -1.00837909e-03 3.22791034e+02] [-2.10422219e-02 9.99778588e-01 1.47037419e-05 -4.84439351e-01] [ 1.00846522e-03 6.51805765e-06 9.99999491e-01 -2.18784973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.18591999999995 meters Centerline goodness : 0.998560 Centerline is valid? [True, True] Translation: X:322.82, Y:-0.48, Z:-2.17 [[ 9.99751289e-01 2.22787837e-02 -1.00829839e-03 3.22820204e+02] [-2.22787758e-02 9.99751797e-01 1.89888250e-05 -4.80034962e-01] [ 1.00847117e-03 3.47955152e-06 9.99999491e-01 -2.17270313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.21592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:322.85, Y:-0.48, Z:-2.19 [[ 9.99716298e-01 2.37972134e-02 -1.00835293e-03 3.22851611e+02] [-2.37972093e-02 9.99716806e-01 1.60803719e-05 -4.77045852e-01] [ 1.00845004e-03 7.92017581e-06 9.99999491e-01 -2.18590497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.24591999999996 meters Centerline goodness : 0.999005 Centerline is valid? [True, True] Translation: X:322.88, Y:-0.48, Z:-2.17 [[ 9.99759804e-01 2.18933414e-02 -1.00829760e-03 3.22881771e+02] [-2.18933334e-02 9.99760312e-01 1.90143065e-05 -4.76535964e-01] [ 1.00847221e-03 3.06525621e-06 9.99999491e-01 -2.17307839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.27592 meters Centerline goodness : 0.998360 Centerline is valid? [True, True] Translation: X:322.91, Y:-0.48, Z:-2.17 [[ 9.99803558e-01 1.97946408e-02 -1.00833574e-03 3.22910305e+02] [-1.97946338e-02 9.99804067e-01 1.69841539e-05 -4.76835340e-01] [ 1.00847437e-03 2.97881923e-06 9.99999491e-01 -2.17212722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.30591999999996 meters Centerline goodness : 0.998606 Centerline is valid? [True, True] Translation: X:322.94, Y:-0.48, Z:-2.17 [[ 9.99836372e-01 1.80613711e-02 -1.00837059e-03 3.22940355e+02] [-1.80613651e-02 9.99836880e-01 1.51067957e-05 -4.77576663e-01] [ 1.00847896e-03 3.10822561e-06 9.99999491e-01 -2.17145007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.33592 meters Centerline goodness : 0.828888 Centerline is valid? [True, False] Translation: X:322.94, Y:-0.48, Z:-2.17 [[ 9.99966623e-01 3.06284778e-03 7.57448661e-03 3.22936321e+02] [-3.08611327e-03 9.99990551e-01 3.06178179e-03 -4.82155300e-01] [-7.56503726e-03 -3.08505532e-03 9.99966626e-01 -2.17328374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.36591999999996 meters Centerline goodness : 0.748718 Centerline is valid? [False, False] Translation: X:322.96, Y:-0.47, Z:-2.17 [[ 9.99999661e-01 -1.34943389e-04 8.11787277e-04 3.22958740e+02] [ 1.42594542e-04 9.99955504e-01 -9.43240835e-03 -4.71198368e-01] [-8.10478314e-04 9.43252091e-03 9.99955184e-01 -2.16964300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.39592 meters Centerline goodness : 0.997612 Centerline is valid? [False, True] Translation: X:322.96, Y:-0.47, Z:-2.17 [[ 9.99999793e-01 -1.29406653e-04 6.30933164e-04 3.22959184e+02] [ 1.35120808e-04 9.99958902e-01 -9.06505767e-03 -4.72882185e-01] [-6.29734155e-04 9.06514104e-03 9.99958712e-01 -2.16953544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.42591999999996 meters Centerline goodness : 0.888331 Centerline is valid? [True, False] Translation: X:322.96, Y:-0.47, Z:-2.17 [[ 9.99997311e-01 -2.29340697e-03 -3.44871384e-04 3.22964682e+02] [ 2.28940665e-03 9.99934836e-01 -1.11839831e-02 -4.72838771e-01] [ 3.70498336e-04 1.11831634e-02 9.99937398e-01 -2.17414249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.45592 meters Centerline goodness : 0.925522 Centerline is valid? [False, False] Translation: X:322.99, Y:-0.47, Z:-2.17 [[ 9.99975965e-01 2.80471444e-03 -6.34059045e-03 3.22985432e+02] [-2.89055275e-03 9.99903752e-01 -1.35695230e-02 -4.70057020e-01] [ 6.30192154e-03 1.35875246e-02 9.99887826e-01 -2.16991119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.48591999999996 meters Centerline goodness : 0.988043 Centerline is valid? [False, True] Translation: X:323.01, Y:-0.46, Z:-2.16 [[ 9.99933978e-01 5.84209716e-03 -9.89494920e-03 3.23006456e+02] [-6.04663279e-03 9.99766026e-01 -2.07685061e-02 -4.64474836e-01] [ 9.77130242e-03 2.08269661e-02 9.99735345e-01 -2.16489683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.51592 meters Centerline goodness : 0.988043 Centerline is valid? [True, True] Translation: X:323.04, Y:-0.48, Z:-2.17 [[ 9.99931019e-01 4.37834425e-03 -1.08989443e-02 3.23035546e+02] [-4.36777395e-03 9.99989968e-01 9.93459857e-04 -4.84353831e-01] [ 1.09031847e-02 -9.45787202e-04 9.99940111e-01 -2.16760922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.54591999999997 meters Centerline goodness : 0.998856 Centerline is valid? [True, True] Translation: X:323.06, Y:-0.51, Z:-2.16 [[ 9.98481331e-01 -5.40120665e-02 -1.08502430e-02 3.23056816e+02] [ 5.40150037e-02 9.98540124e-01 -2.23806583e-05 -5.08989009e-01] [ 1.08356118e-02 -5.63729243e-04 9.99941134e-01 -2.15634989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.57592 meters Centerline goodness : 0.989271 Centerline is valid? [True, True] Translation: X:323.11, Y:-0.48, Z:-2.16 [[ 9.99934960e-01 3.58725564e-03 -1.08262355e-02 3.23114175e+02] [-3.59292990e-03 9.99993418e-01 -5.04717546e-04 -4.81922108e-01] [ 1.08243537e-02 5.43582624e-04 9.99941267e-01 -2.16123307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.60591999999997 meters Centerline goodness : 0.782920 Centerline is valid? [True, False] Translation: X:323.14, Y:-0.47, Z:-2.16 [[ 9.99876314e-01 1.72939806e-03 -1.56322095e-02 3.23135799e+02] [-1.92299015e-03 9.99921545e-01 -1.23776439e-02 -4.74450057e-01] [ 1.56095772e-02 1.24061736e-02 9.99801194e-01 -2.15575294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.63592 meters Centerline goodness : 0.998360 Centerline is valid? [False, True] Translation: X:323.13, Y:-0.48, Z:-2.16 [[ 9.99998777e-01 6.54251905e-04 -1.42046917e-03 3.23127671e+02] [-6.73557065e-04 9.99906839e-01 -1.36330219e-02 -4.76456809e-01] [ 1.41141741e-03 1.36339620e-02 9.99906057e-01 -2.15755589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.66591999999997 meters Centerline goodness : 0.997714 Centerline is valid? [True, True] Translation: X:323.16, Y:-0.49, Z:-2.16 [[ 9.99997460e-01 -1.82520737e-03 -1.32214483e-03 3.23157595e+02] [ 1.82516263e-03 9.99998334e-01 -3.50446821e-05 -4.93104540e-01] [ 1.32220659e-03 3.26314638e-05 9.99999125e-01 -2.15699664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.69591999999994 meters Centerline goodness : 0.998659 Centerline is valid? [True, True] Translation: X:323.19, Y:-0.49, Z:-2.16 [[ 9.99998561e-01 -1.06305105e-03 -1.32186693e-03 3.23187704e+02] [ 1.06305683e-03 9.99999435e-01 3.66725190e-06 -4.94555985e-01] [ 1.32186229e-03 -5.07246629e-06 9.99999126e-01 -2.15952281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.72592 meters Centerline goodness : 0.997265 Centerline is valid? [True, True] Translation: X:323.22, Y:-0.50, Z:-2.15 [[ 9.99999028e-01 -4.43177056e-04 -1.32185852e-03 3.23217692e+02] [ 4.43183821e-04 9.99999902e-01 4.82457918e-06 -4.97230456e-01] [ 1.32185625e-03 -5.41040080e-06 9.99999126e-01 -2.15437423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.75591999999995 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:323.25, Y:-0.50, Z:-2.17 [[ 9.99997483e-01 1.81269747e-03 -1.32184522e-03 3.23247251e+02] [-1.81269022e-03 9.99998357e-01 6.68650483e-06 -4.97791668e-01] [ 1.32185517e-03 -4.29039210e-06 9.99999126e-01 -2.16756213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.78592 meters Centerline goodness : 0.997516 Centerline is valid? [True, True] Translation: X:323.28, Y:-0.50, Z:-2.16 [[ 9.99998735e-01 8.84664444e-04 -1.32182833e-03 3.23275246e+02] [-8.84653146e-04 9.99999609e-01 9.13168333e-06 -4.98299721e-01] [ 1.32183589e-03 -7.96231220e-06 9.99999126e-01 -2.15682164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.81591999999995 meters Centerline goodness : 0.997217 Centerline is valid? [True, True] Translation: X:323.31, Y:-0.50, Z:-2.16 [[ 9.99974254e-01 7.05291172e-03 -1.32190525e-03 3.23305847e+02] [-7.05292103e-03 9.99975128e-01 -2.37957487e-06 -4.96429380e-01] [ 1.32185559e-03 1.17028069e-05 9.99999126e-01 -2.15809679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.84592 meters Centerline goodness : 0.994733 Centerline is valid? [True, True] Translation: X:323.34, Y:-0.50, Z:-2.15 [[ 9.99956698e-01 9.21163645e-03 -1.32184985e-03 3.23336321e+02] [-9.21163694e-03 9.99957572e-01 5.72402790e-06 -4.95368536e-01] [ 1.32184650e-03 6.45262089e-06 9.99999126e-01 -2.15261255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.87591999999995 meters Centerline goodness : 0.997217 Centerline is valid? [True, True] Translation: X:323.37, Y:-0.49, Z:-2.17 [[ 9.99916231e-01 1.28757356e-02 -1.32183047e-03 3.23366634e+02] [-1.28757354e-02 9.99917104e-01 8.65359551e-06 -4.93868658e-01] [ 1.32183231e-03 8.36666870e-06 9.99999126e-01 -2.16670366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.90592 meters Centerline goodness : 0.994686 Centerline is valid? [True, True] Translation: X:323.40, Y:-0.49, Z:-2.16 [[ 9.99887271e-01 1.49565423e-02 -1.32183024e-03 3.23396382e+02] [-1.49565438e-02 9.99888145e-01 8.68836232e-06 -4.89210212e-01] [ 1.32181233e-03 1.10826290e-05 9.99999126e-01 -2.15597645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.93591999999995 meters Centerline goodness : 0.996572 Centerline is valid? [True, True] Translation: X:323.43, Y:-0.49, Z:-2.17 [[ 9.99846227e-01 1.74864458e-02 -1.32183870e-03 3.23426040e+02] [-1.74864514e-02 9.99847100e-01 7.34056219e-06 -4.86572189e-01] [ 1.32176495e-03 1.57748347e-05 9.99999126e-01 -2.16706020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.96592 meters Centerline goodness : 0.996614 Centerline is valid? [True, True] Translation: X:323.45, Y:-0.48, Z:-2.17 [[ 9.99883673e-01 1.51951607e-02 -1.32183299e-03 3.23453685e+02] [-1.51951630e-02 9.99884547e-01 8.25440326e-06 -4.83066654e-01] [ 1.32180581e-03 1.18320247e-05 9.99999126e-01 -2.16754404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.99591999999996 meters Centerline goodness : 0.992704 Centerline is valid? [True, True] Translation: X:323.48, Y:-0.48, Z:-2.16 [[ 9.99932857e-01 1.15123599e-02 -1.32183694e-03 3.23482384e+02] [-1.15123600e-02 9.99933731e-01 7.56365573e-06 -4.81560868e-01] [ 1.32183642e-03 7.65431481e-06 9.99999126e-01 -2.15546745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.02592 meters Centerline goodness : 0.995125 Centerline is valid? [True, True] Translation: X:323.51, Y:-0.48, Z:-2.17 [[ 9.99944747e-01 1.04285485e-02 -1.32186696e-03 3.23513558e+02] [-1.04285550e-02 9.99945621e-01 2.01127843e-06 -4.79631778e-01] [ 1.32181606e-03 1.17739950e-05 9.99999126e-01 -2.16685772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.05591999999996 meters Centerline goodness : 0.994586 Centerline is valid? [True, True] Translation: X:323.54, Y:-0.48, Z:-2.17 [[ 9.99974768e-01 6.97968732e-03 -1.32183909e-03 3.23542849e+02] [-6.97968396e-03 9.99975642e-01 7.15793117e-06 -4.77949882e-01] [ 1.32185686e-03 2.06826855e-06 9.99999126e-01 -2.16844001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.08592 meters Centerline goodness : 0.991850 Centerline is valid? [True, True] Translation: X:323.57, Y:-0.48, Z:-2.16 [[ 9.99989059e-01 4.48722093e-03 -1.32184080e-03 3.23571566e+02] [-4.48721582e-03 9.99989932e-01 6.82665865e-06 -4.78669231e-01] [ 1.32185813e-03 -8.95198992e-07 9.99999126e-01 -2.15535863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.11591999999996 meters Centerline goodness : 0.992049 Centerline is valid? [True, True] Translation: X:323.60, Y:-0.48, Z:-2.16 [[ 9.99991957e-01 3.78676690e-03 -1.32186529e-03 3.23601163e+02] [-3.78676791e-03 9.99992830e-01 1.73876506e-06 -4.79664702e-01] [ 1.32186240e-03 3.26684601e-06 9.99999126e-01 -2.15764641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.14592 meters Centerline goodness : 0.991410 Centerline is valid? [True, True] Translation: X:323.63, Y:-0.48, Z:-2.16 [[ 9.99993569e-01 3.33400602e-03 -1.32183680e-03 3.23629975e+02] [-3.33399847e-03 9.99994442e-01 7.91644528e-06 -4.79574816e-01] [ 1.32185585e-03 -3.50939249e-06 9.99999126e-01 -2.15591140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.17591999999996 meters Centerline goodness : 0.992238 Centerline is valid? [True, True] Translation: X:323.66, Y:-0.48, Z:-2.16 [[ 9.99986281e-01 5.06861377e-03 -1.32188182e-03 3.23660181e+02] [-5.06862130e-03 9.99987154e-01 -2.35090501e-06 -4.79389791e-01] [ 1.32185292e-03 9.05099110e-06 9.99999126e-01 -2.15596732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.20592 meters Centerline goodness : 0.991911 Centerline is valid? [True, True] Translation: X:323.69, Y:-0.48, Z:-2.16 [[ 9.99959107e-01 8.94632627e-03 -1.32186811e-03 3.23690104e+02] [-8.94633308e-03 9.99959981e-01 7.65303109e-07 -4.79396314e-01] [ 1.32182206e-03 1.10606006e-05 9.99999126e-01 -2.15725381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.23591999999996 meters Centerline goodness : 0.994925 Centerline is valid? [True, True] Translation: X:323.72, Y:-0.48, Z:-2.17 [[ 9.99943016e-01 1.05932763e-02 -1.32184819e-03 3.23719967e+02] [-1.05932785e-02 9.99943890e-01 5.29798108e-06 -4.80090086e-01] [ 1.32183015e-03 8.70502691e-06 9.99999126e-01 -2.17032122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.26592 meters Centerline goodness : 0.991974 Centerline is valid? [True, True] Translation: X:323.75, Y:-0.48, Z:-2.16 [[ 9.99954137e-01 9.48559208e-03 -1.32184642e-03 3.23749783e+02] [-9.48559282e-03 9.99955011e-01 5.70853334e-06 -4.82666152e-01] [ 1.32184110e-03 6.83022538e-06 9.99999126e-01 -2.15736816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.29591999999997 meters Centerline goodness : 0.991556 Centerline is valid? [True, True] Translation: X:323.78, Y:-0.48, Z:-2.16 [[ 9.99948276e-01 1.00845304e-02 -1.32183919e-03 3.23778805e+02] [-1.00845294e-02 9.99949150e-01 7.45034755e-06 -4.82715134e-01] [ 1.32184710e-03 5.88016395e-06 9.99999126e-01 -2.15532107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.32592 meters Centerline goodness : 0.992250 Centerline is valid? [True, True] Translation: X:323.81, Y:-0.48, Z:-2.16 [[ 9.99949448e-01 9.96768435e-03 -1.32185753e-03 3.23808050e+02] [-9.96768971e-03 9.99950321e-01 2.53240039e-06 -4.81914979e-01] [ 1.32181710e-03 1.06435933e-05 9.99999126e-01 -2.15676223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.35591999999997 meters Centerline goodness : 0.992495 Centerline is valid? [True, True] Translation: X:323.84, Y:-0.48, Z:-2.16 [[ 9.99966679e-01 8.05566803e-03 -1.32185330e-03 3.23836923e+02] [-8.05567015e-03 9.99967553e-01 3.72307525e-06 -4.81224599e-01] [ 1.32184040e-03 6.92546294e-06 9.99999126e-01 -2.15644913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.38592 meters Centerline goodness : 0.992543 Centerline is valid? [True, True] Translation: X:323.87, Y:-0.48, Z:-2.16 [[ 9.99975384e-01 6.89085200e-03 -1.32185628e-03 3.23865916e+02] [-6.89085434e-03 9.99976258e-01 2.78129688e-06 -4.81117631e-01] [ 1.32184406e-03 6.32749064e-06 9.99999126e-01 -2.15563413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.41591999999997 meters Centerline goodness : 0.993034 Centerline is valid? [True, True] Translation: X:323.90, Y:-0.48, Z:-2.16 [[ 9.99980324e-01 6.13230804e-03 -1.32186250e-03 3.23895858e+02] [-6.13231255e-03 9.99981197e-01 6.47948907e-07 -4.80554114e-01] [ 1.32184162e-03 7.45813785e-06 9.99999126e-01 -2.15528172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.44591999999994 meters Centerline goodness : 0.995079 Centerline is valid? [True, True] Translation: X:323.93, Y:-0.48, Z:-2.17 [[ 9.99981165e-01 5.99357677e-03 -1.32185873e-03 3.23926011e+02] [-5.99357937e-03 9.99982038e-01 1.99941865e-06 -4.79952141e-01] [ 1.32184697e-03 5.92328424e-06 9.99999126e-01 -2.16895200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.47592 meters Centerline goodness : 0.994836 Centerline is valid? [True, True] Translation: X:323.95, Y:-0.48, Z:-2.17 [[ 9.99993321e-01 3.40735925e-03 -1.32185488e-03 3.23954759e+02] [-3.40735764e-03 9.99994195e-01 3.46782680e-06 -4.79431992e-01] [ 1.32185902e-03 1.03622868e-06 9.99999126e-01 -2.16968313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.50591999999995 meters Centerline goodness : 0.994338 Centerline is valid? [True, True] Translation: X:323.98, Y:-0.48, Z:-2.17 [[ 9.99998131e-01 1.41105528e-03 -1.32185531e-03 3.23983778e+02] [-1.41105216e-03 9.99999004e-01 3.29569234e-06 -4.80129410e-01] [ 1.32185864e-03 -1.43047939e-06 9.99999126e-01 -2.16930339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.53592 meters Centerline goodness : 0.993392 Centerline is valid? [True, True] Translation: X:324.01, Y:-0.48, Z:-2.16 [[ 9.99999116e-01 1.43416871e-04 -1.32185571e-03 3.24014159e+02] [-1.43412865e-04 9.99999990e-01 3.12525350e-06 -4.81526457e-01] [ 1.32185615e-03 -2.93567963e-06 9.99999126e-01 -2.15862149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.56591999999995 meters Centerline goodness : 0.992849 Centerline is valid? [True, True] Translation: X:324.04, Y:-0.48, Z:-2.16 [[ 9.99984791e-01 -5.35455614e-03 -1.32183848e-03 3.24043746e+02] [ 5.35457427e-03 9.99985664e-01 1.01747322e-05 -4.84939983e-01] [ 1.32176505e-03 -1.72524598e-05 9.99999126e-01 -2.15805679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.59592 meters Centerline goodness : 0.992393 Centerline is valid? [True, True] Translation: X:324.07, Y:-0.49, Z:-2.16 [[ 9.99976503e-01 -6.72656025e-03 -1.32184646e-03 3.24074390e+02] [ 6.72657462e-03 9.99977376e-01 6.42771230e-06 -4.86761328e-01] [ 1.32177332e-03 -1.53190601e-05 9.99999126e-01 -2.15583720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.62591999999995 meters Centerline goodness : 0.994636 Centerline is valid? [True, True] Translation: X:324.10, Y:-0.49, Z:-2.17 [[ 9.99969537e-01 -7.69265777e-03 -1.32184139e-03 3.24103790e+02] [ 7.69267593e-03 9.99970411e-01 8.65529326e-06 -4.87212894e-01] [ 1.32173569e-03 -1.88235270e-05 9.99999126e-01 -2.16948274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.65592 meters Centerline goodness : 0.994970 Centerline is valid? [True, True] Translation: X:324.13, Y:-0.49, Z:-2.17 [[ 9.99960261e-01 -8.81635793e-03 -1.32185428e-03 3.24134648e+02] [ 8.81636964e-03 9.99961135e-01 3.02908457e-06 -4.90230045e-01] [ 1.32177620e-03 -1.46829201e-05 9.99999126e-01 -2.16883612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.68591999999995 meters Centerline goodness : 0.992600 Centerline is valid? [True, True] Translation: X:324.17, Y:-0.49, Z:-2.16 [[ 9.99972197e-01 -7.33884000e-03 -1.32185428e-03 3.24165997e+02] [ 7.33885042e-03 9.99973070e-01 3.02908457e-06 -4.92612581e-01] [ 1.32179645e-03 -1.27298912e-05 9.99999126e-01 -2.15679641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.71592 meters Centerline goodness : 0.994677 Centerline is valid? [True, True] Translation: X:324.19, Y:-0.50, Z:-2.17 [[ 9.99972785e-01 -7.25826442e-03 -1.32183336e-03 3.24194768e+02] [ 7.25828583e-03 9.99973658e-01 1.14007420e-05 -4.96414085e-01] [ 1.32171579e-03 -2.09946761e-05 9.99999126e-01 -2.16962121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.74591999999996 meters Centerline goodness : 0.994835 Centerline is valid? [True, True] Translation: X:324.22, Y:-0.50, Z:-2.17 [[ 9.99979852e-01 -6.20872384e-03 -1.32185258e-03 3.24223954e+02] [ 6.20873327e-03 9.99980726e-01 3.03620779e-06 -4.98683742e-01] [ 1.32180825e-03 -1.12431767e-05 9.99999126e-01 -2.16975658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.77592 meters Centerline goodness : 0.987329 Centerline is valid? [True, True] Translation: X:324.27, Y:-0.49, Z:-2.15 [[ 9.99898150e-01 1.42106427e-02 -1.32185276e-03 3.24272000e+02] [-1.42106513e-02 9.99899024e-01 2.95237651e-06 -4.93315364e-01] [ 1.32176124e-03 1.58323128e-05 9.99999126e-01 -2.15188717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.80591999999996 meters Centerline goodness : 0.994284 Centerline is valid? [True, True] Translation: X:324.28, Y:-0.51, Z:-2.17 [[ 9.99990031e-01 -4.26520834e-03 -1.32112134e-03 3.24282509e+02] [ 4.26538373e-03 9.99990895e-01 1.29968793e-04 -5.05672427e-01] [ 1.32055497e-03 -1.35602587e-04 9.99999119e-01 -2.16902975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.83592 meters Centerline goodness : 0.992684 Centerline is valid? [True, True] Translation: X:324.31, Y:-0.51, Z:-2.16 [[ 9.99996580e-01 -2.25695779e-03 -1.32139215e-03 3.24313283e+02] [ 2.25696347e-03 9.99997453e-01 2.81413471e-06 -5.07311728e-01] [ 1.32138244e-03 -5.79645891e-06 9.99999127e-01 -2.15681911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.86591999999996 meters Centerline goodness : 0.994135 Centerline is valid? [True, True] Translation: X:324.34, Y:-0.51, Z:-2.17 [[ 9.99998730e-01 -8.91446206e-04 -1.32137824e-03 3.24343624e+02] [ 8.91460016e-04 9.99999603e-01 9.86257700e-06 -5.08705197e-01] [ 1.32136892e-03 -1.10405203e-05 9.99999127e-01 -2.16563893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.89592 meters Centerline goodness : 0.994337 Centerline is valid? [True, True] Translation: X:324.37, Y:-0.51, Z:-2.17 [[ 9.99999125e-01 5.51554902e-05 -1.32139154e-03 3.24373657e+02] [-5.51524508e-05 9.99999998e-01 2.33662916e-06 -5.10298445e-01] [ 1.32139167e-03 -2.26374913e-06 9.99999127e-01 -2.16507288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.92591999999996 meters Centerline goodness : 0.994390 Centerline is valid? [True, True] Translation: X:324.40, Y:-0.51, Z:-2.16 [[ 9.99999113e-01 -1.65624811e-04 -1.32139169e-03 3.24403666e+02] [ 1.65627928e-04 9.99999986e-01 2.24996835e-06 -5.12155643e-01] [ 1.32139130e-03 -2.46882572e-06 9.99999127e-01 -2.16467351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.95592 meters Centerline goodness : 0.994287 Centerline is valid? [True, True] Translation: X:324.43, Y:-0.52, Z:-2.16 [[ 9.99998226e-01 -1.34206318e-03 -1.32139183e-03 3.24433488e+02] [ 1.34206721e-03 9.99999099e-01 2.16337441e-06 -5.15797670e-01] [ 1.32138774e-03 -3.93676723e-06 9.99999127e-01 -2.16461079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.98591999999996 meters Centerline goodness : 0.994335 Centerline is valid? [True, True] Translation: X:324.46, Y:-0.52, Z:-2.16 [[ 9.99998245e-01 -1.32791473e-03 -1.32139197e-03 3.24462809e+02] [ 1.32791864e-03 9.99999118e-01 2.07706317e-06 -5.17488126e-01] [ 1.32138805e-03 -3.83176055e-06 9.99999127e-01 -2.16455327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.01592 meters Centerline goodness : 0.993621 Centerline is valid? [True, True] Translation: X:324.49, Y:-0.52, Z:-2.15 [[ 9.99998809e-01 -7.97307940e-04 -1.32139210e-03 3.24492937e+02] [ 7.97311267e-04 9.99999682e-01 1.99068545e-06 -5.21755056e-01] [ 1.32139009e-03 -3.04424389e-06 9.99999127e-01 -2.15134162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.04591999999997 meters Centerline goodness : 0.995571 Centerline is valid? [True, True] Translation: X:324.52, Y:-0.52, Z:-2.16 [[ 9.99998976e-01 5.49861466e-04 -1.32138168e-03 3.24522449e+02] [-5.49851271e-04 9.99999849e-01 8.07862397e-06 -5.22869288e-01] [ 1.32138592e-03 -7.35205230e-06 9.99999127e-01 -2.16333722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.07592 meters Centerline goodness : 0.993835 Centerline is valid? [True, True] Translation: X:324.55, Y:-0.52, Z:-2.15 [[ 9.99998339e-01 1.25539719e-03 -1.32139099e-03 3.24553302e+02] [-1.25539559e-03 9.99999212e-01 2.03552634e-06 -5.24205192e-01] [ 1.32139250e-03 -3.76654533e-07 9.99999127e-01 -2.15105367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.10591999999997 meters Centerline goodness : 0.994982 Centerline is valid? [True, True] Translation: X:324.58, Y:-0.53, Z:-2.15 [[ 9.99994588e-01 3.01303538e-03 -1.32138548e-03 3.24582353e+02] [-3.01303034e-03 9.99995461e-01 5.80402908e-06 -5.25708524e-01] [ 1.32139697e-03 -1.82262313e-06 9.99999127e-01 -2.15137806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.13592 meters Centerline goodness : 0.995627 Centerline is valid? [True, True] Translation: X:324.61, Y:-0.53, Z:-2.15 [[ 9.99993752e-01 3.27863397e-03 -1.32138691e-03 3.24611636e+02] [-3.27863097e-03 9.99994625e-01 4.43233114e-06 -5.26754435e-01] [ 1.32139434e-03 -9.99633864e-08 9.99999127e-01 -2.14981570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.16591999999997 meters Centerline goodness : 0.997219 Centerline is valid? [True, True] Translation: X:324.64, Y:-0.53, Z:-2.15 [[ 9.99990540e-01 4.14408330e-03 -1.32138858e-03 3.24641139e+02] [-4.14408406e-03 9.99991413e-01 2.15996734e-06 -5.29725905e-01] [ 1.32138618e-03 3.31599844e-06 9.99999127e-01 -2.15004686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.19591999999994 meters Centerline goodness : 0.997465 Centerline is valid? [True, True] Translation: X:324.67, Y:-0.53, Z:-2.15 [[ 9.99991238e-01 3.97205767e-03 -1.32138789e-03 3.24670572e+02] [-3.97205633e-03 9.99992111e-01 3.63635847e-06 -5.31639752e-01] [ 1.32139191e-03 1.61230051e-06 9.99999127e-01 -2.15008594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.22592 meters Centerline goodness : 0.998015 Centerline is valid? [True, True] Translation: X:324.70, Y:-0.53, Z:-2.15 [[ 9.99987203e-01 4.88344715e-03 -1.32138812e-03 3.24699834e+02] [-4.88344923e-03 9.99988076e-01 1.65364971e-06 -5.32744967e-01] [ 1.32138044e-03 4.79930327e-06 9.99999127e-01 -2.15149823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.25591999999995 meters Centerline goodness : 0.997665 Centerline is valid? [True, True] Translation: X:324.73, Y:-0.53, Z:-2.15 [[ 9.99984607e-01 5.38882072e-03 -1.32138780e-03 3.24728413e+02] [-5.38882638e-03 9.99985480e-01 -7.25662183e-07 -5.33005351e-01] [ 1.32136470e-03 7.84638046e-06 9.99999127e-01 -2.15066950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.28592 meters Centerline goodness : 0.997764 Centerline is valid? [True, True] Translation: X:324.76, Y:-0.53, Z:-2.15 [[ 9.99971483e-01 7.43550484e-03 -1.32138574e-03 3.24760037e+02] [-7.43552591e-03 9.99972356e-01 -1.10366810e-05 -5.32449596e-01] [ 1.32126714e-03 2.08615642e-05 9.99999127e-01 -2.15017804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.31591999999995 meters Centerline goodness : 0.995975 Centerline is valid? [True, True] Translation: X:324.81, Y:-0.51, Z:-2.17 [[ 9.97428151e-01 7.16612761e-02 -1.32138548e-03 3.24808659e+02] [-7.16613427e-02 9.97429021e-01 -3.01030380e-06 -5.08197113e-01] [ 1.31777250e-03 9.76948193e-05 9.99999127e-01 -2.16621906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.34592 meters Centerline goodness : 0.998260 Centerline is valid? [True, True] Translation: X:324.82, Y:-0.53, Z:-2.15 [[ 9.99913839e-01 1.30602437e-02 -1.32108791e-03 3.24818566e+02] [-1.30600882e-02 9.99914705e-01 1.26269637e-04 -5.32329103e-01] [ 1.32262434e-03 -1.09005233e-04 9.99999119e-01 -2.15142214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.37591999999995 meters Centerline goodness : 0.998260 Centerline is valid? [True, True] Translation: X:324.85, Y:-0.53, Z:-2.15 [[ 9.99844974e-01 1.75579951e-02 -1.32091034e-03 3.24848521e+02] [-1.75580171e-02 9.99845846e-01 -5.03687631e-06 -5.29837933e-01] [ 1.32061828e-03 2.82286618e-05 9.99999128e-01 -2.15144593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.40592 meters Centerline goodness : 0.998260 Centerline is valid? [True, True] Translation: X:324.88, Y:-0.53, Z:-2.15 [[ 9.99850703e-01 1.72286409e-02 -1.32092076e-03 3.24876818e+02] [-1.72286541e-02 9.99851576e-01 1.37450452e-06 -5.29936111e-01] [ 1.32074839e-03 2.13833877e-05 9.99999128e-01 -2.15140900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.43591999999995 meters Centerline goodness : 0.998112 Centerline is valid? [True, True] Translation: X:324.91, Y:-0.53, Z:-2.15 [[ 9.99827846e-01 1.85076524e-02 -1.32091992e-03 3.24905533e+02] [-1.85076673e-02 9.99828718e-01 9.42444737e-07 -5.27898386e-01] [ 1.32071111e-03 2.35048640e-05 9.99999128e-01 -2.15172034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.46592 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:324.94, Y:-0.52, Z:-2.16 [[ 9.99675889e-01 2.54238558e-02 -1.32090590e-03 3.24935594e+02] [-2.54238847e-02 9.99676761e-01 -5.05587894e-06 -5.24975589e-01] [ 1.32035039e-03 3.86367995e-05 9.99999128e-01 -2.16160559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.49591999999996 meters Centerline goodness : 0.999006 Centerline is valid? [True, True] Translation: X:324.96, Y:-0.52, Z:-2.15 [[ 9.99711330e-01 2.39898330e-02 -1.32091026e-03 3.24964628e+02] [-2.39898584e-02 9.99712202e-01 -3.32346620e-06 -5.23590233e-01] [ 1.32045037e-03 3.50109568e-05 9.99999128e-01 -2.15229484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.52592 meters Centerline goodness : 0.806869 Centerline is valid? [True, False] Translation: X:324.96, Y:-0.53, Z:-2.15 [[ 9.99950330e-01 8.66009390e-03 4.93352265e-03 3.24961846e+02] [-8.67549667e-03 9.99957533e-01 3.10926462e-03 -5.25490140e-01] [-4.90638662e-03 -3.15191095e-03 9.99982996e-01 -2.15375999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.55591999999996 meters Centerline goodness : 0.999603 Centerline is valid? [False, True] Translation: X:324.96, Y:-0.52, Z:-2.15 [[ 9.99975794e-01 4.70676285e-03 5.12425731e-03 3.24961316e+02] [-4.69417753e-03 9.99985943e-01 -2.46529076e-03 -5.19385613e-01] [-5.13578882e-03 2.44117691e-03 9.99983832e-01 -2.15388713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.58592 meters Centerline goodness : 0.998708 Centerline is valid? [True, True] Translation: X:324.99, Y:-0.52, Z:-2.15 [[ 9.99962585e-01 7.00991472e-03 5.06855915e-03 3.24993099e+02] [-7.01059075e-03 9.99975419e-01 1.15621540e-04 -5.16121175e-01] [-5.06762406e-03 -1.51150808e-04 9.99987148e-01 -2.14826651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.61591999999996 meters Centerline goodness : 0.998709 Centerline is valid? [True, True] Translation: X:325.03, Y:-0.51, Z:-2.15 [[ 9.99954564e-01 8.07344725e-03 5.06853123e-03 3.25026295e+02] [-8.07414350e-03 9.99967397e-01 1.16918771e-04 -5.14539376e-01] [-5.06742204e-03 -1.57837507e-04 9.99987148e-01 -2.14844852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.64592 meters Centerline goodness : 0.997865 Centerline is valid? [True, True] Translation: X:325.06, Y:-0.51, Z:-2.15 [[ 9.99963631e-01 6.85866716e-03 5.06905836e-03 3.25055690e+02] [-6.85922386e-03 9.99976471e-01 9.24458020e-05 -5.13336509e-01] [-5.06830504e-03 -1.27212246e-04 9.99987148e-01 -2.14602067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.67591999999996 meters Centerline goodness : 0.998409 Centerline is valid? [True, True] Translation: X:325.09, Y:-0.51, Z:-2.15 [[ 9.99966629e-01 6.40708917e-03 5.06863311e-03 3.25087083e+02] [-6.40773963e-03 9.99979464e-01 1.12101371e-04 -5.09482465e-01] [-5.06781078e-03 -1.44576111e-04 9.99987148e-01 -2.14836937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.70592 meters Centerline goodness : 0.998759 Centerline is valid? [True, True] Translation: X:325.12, Y:-0.51, Z:-2.15 [[ 9.99969793e-01 5.89246378e-03 5.06874937e-03 3.25117887e+02] [-5.89308029e-03 9.99982630e-01 1.06701481e-04 -5.07490658e-01] [-5.06803259e-03 -1.36568805e-04 9.99987148e-01 -2.15006852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.73591999999996 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:325.15, Y:-0.51, Z:-2.16 [[ 9.99972679e-01 5.38070544e-03 5.06848466e-03 3.25149433e+02] [-5.38137774e-03 9.99985513e-01 1.19015042e-04 -5.06985148e-01] [-5.06777085e-03 -1.46287221e-04 9.99987148e-01 -2.16021972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.76592 meters Centerline goodness : 0.998708 Centerline is valid? [True, True] Translation: X:325.18, Y:-0.51, Z:-2.15 [[ 9.99982969e-01 2.89307826e-03 5.06872457e-03 3.25181193e+02] [-2.89366145e-03 9.99995808e-01 1.07726788e-04 -5.05050483e-01] [-5.06839166e-03 -1.22392126e-04 9.99987148e-01 -2.14816031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.79591999999997 meters Centerline goodness : 0.998610 Centerline is valid? [True, True] Translation: X:325.21, Y:-0.50, Z:-2.15 [[ 9.99986207e-01 1.37401368e-03 5.06924028e-03 3.25212254e+02] [-1.37445371e-03 9.99999052e-01 8.33222030e-05 -5.01995723e-01] [-5.06912099e-03 -9.02884898e-05 9.99987148e-01 -2.14904609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.82592 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:325.24, Y:-0.50, Z:-2.15 [[ 9.99986700e-01 9.52562413e-04 5.06869883e-03 3.25243877e+02] [-9.53128327e-04 9.99999540e-01 1.09234303e-04 -4.96887316e-01] [-5.06859245e-03 -1.14063970e-04 9.99987148e-01 -2.14787686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.85591999999997 meters Centerline goodness : 0.998858 Centerline is valid? [True, True] Translation: X:325.27, Y:-0.49, Z:-2.15 [[ 9.99987151e-01 7.61996047e-05 5.06872370e-03 3.25273039e+02] [-7.67482074e-05 9.99999991e-01 1.08038490e-04 -4.94539805e-01] [-5.06871542e-03 -1.08426118e-04 9.99987148e-01 -2.14775038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.88592 meters Centerline goodness : 0.998064 Centerline is valid? [True, True] Translation: X:325.30, Y:-0.49, Z:-2.15 [[ 9.99984701e-01 2.21669217e-03 5.06790271e-03 3.25304296e+02] [-2.21746859e-03 9.99997531e-01 1.47588488e-04 -4.90780553e-01] [-5.06756304e-03 -1.58824146e-04 9.99987147e-01 -2.14971745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.91591999999997 meters Centerline goodness : 0.998560 Centerline is valid? [True, True] Translation: X:325.34, Y:-0.49, Z:-2.15 [[ 9.99980195e-01 3.73151571e-03 5.06801452e-03 3.25337016e+02] [-3.73228378e-03 9.99993025e-01 1.42104601e-04 -4.86858283e-01] [-5.06744890e-03 -1.61017055e-04 9.99987147e-01 -2.14905080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.94591999999994 meters Centerline goodness : 0.997511 Centerline is valid? [True, True] Translation: X:325.37, Y:-0.48, Z:-2.15 [[ 9.99975853e-01 4.75420121e-03 5.06867997e-03 3.25368561e+02] [-4.75481401e-03 9.99988690e-01 1.08854767e-04 -4.82432707e-01] [-5.06810512e-03 -1.32952769e-04 9.99987148e-01 -2.14725909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.97592 meters Centerline goodness : 0.998361 Centerline is valid? [True, True] Translation: X:325.40, Y:-0.48, Z:-2.15 [[ 9.99972916e-01 5.33599356e-03 5.06890773e-03 3.25398325e+02] [-5.33655556e-03 9.99985756e-01 9.73526239e-05 -4.77048834e-01] [-5.06831605e-03 -1.24400495e-04 9.99987148e-01 -2.15058199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.00591999999995 meters Centerline goodness : 0.997567 Centerline is valid? [True, True] Translation: X:325.43, Y:-0.47, Z:-2.15 [[ 9.99980594e-01 3.62256843e-03 5.06831637e-03 3.25429105e+02] [-3.62326103e-03 9.99993428e-01 1.27477629e-04 -4.74418490e-01] [-5.06782126e-03 -1.45838988e-04 9.99987148e-01 -2.14996011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.03592 meters Centerline goodness : 0.996769 Centerline is valid? [True, True] Translation: X:325.46, Y:-0.47, Z:-2.15 [[ 9.99986425e-01 -1.20893337e-03 5.06839500e-03 3.25459445e+02] [ 1.20832325e-03 9.99999262e-01 1.23438206e-04 -4.69087493e-01] [-5.06854049e-03 -1.17312271e-04 9.99987148e-01 -2.15271313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.06591999999995 meters Centerline goodness : 0.998160 Centerline is valid? [True, True] Translation: X:325.49, Y:-0.47, Z:-2.16 [[ 9.99985796e-01 -1.64963546e-03 5.06824308e-03 3.25491586e+02] [ 1.64899122e-03 9.99998632e-01 1.31290162e-04 -4.67024165e-01] [-5.06845273e-03 -1.22930809e-04 9.99987148e-01 -2.16415605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.09592 meters Centerline goodness : 0.996224 Centerline is valid? [True, True] Translation: X:325.52, Y:-0.47, Z:-2.15 [[ 9.99967975e-01 -6.19311388e-03 5.06890779e-03 3.25521223e+02] [ 6.19270527e-03 9.99980820e-01 9.63034436e-05 -4.66127400e-01] [-5.06940699e-03 -6.49101075e-05 9.99987148e-01 -2.15115688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.12591999999995 meters Centerline goodness : 0.995334 Centerline is valid? [True, True] Translation: X:325.55, Y:-0.47, Z:-2.15 [[ 9.99941259e-01 -9.58067577e-03 5.06847685e-03 3.25552690e+02] [ 9.58019423e-03 9.99954102e-01 1.19277627e-04 -4.65304360e-01] [-5.06938698e-03 -7.07136279e-05 9.99987148e-01 -2.15178611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.15592 meters Centerline goodness : 0.997369 Centerline is valid? [True, True] Translation: X:325.59, Y:-0.46, Z:-2.17 [[ 9.99965481e-01 -6.58407322e-03 5.06819103e-03 3.25585799e+02] [ 6.58347453e-03 9.99978320e-01 1.34802861e-04 -4.61834259e-01] [-5.06896871e-03 -1.01431902e-04 9.99987148e-01 -2.16725039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.18591999999995 meters Centerline goodness : 0.986370 Centerline is valid? [True, True] Translation: X:325.65, Y:-0.44, Z:-2.16 [[ 9.99566152e-01 2.90140249e-02 5.06897491e-03 3.25650761e+02] [-2.90148599e-02 9.99578976e-01 9.12660200e-05 -4.43690974e-01] [-5.06419276e-03 -2.38302022e-04 9.99987148e-01 -2.15758356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.21592 meters Centerline goodness : 0.973182 Centerline is valid? [True, True] Translation: X:325.63, Y:-0.50, Z:-2.18 [[ 9.95611338e-01 -9.34463149e-02 5.08420932e-03 3.25628606e+02] [ 9.34515334e-02 9.95623510e-01 -7.98189694e-04 -5.03918234e-01] [-4.98737045e-03 1.26981387e-03 9.99986757e-01 -2.17512964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.24591999999996 meters Centerline goodness : 0.993696 Centerline is valid? [True, True] Translation: X:325.67, Y:-0.47, Z:-2.15 [[ 9.99887616e-01 -1.41132527e-02 5.05684873e-03 3.25668014e+02] [ 1.41118010e-02 9.99900372e-01 3.22634553e-04 -4.68676771e-01] [-5.06089834e-03 -2.51237051e-04 9.99987162e-01 -2.15334273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.27592 meters Centerline goodness : 0.993052 Centerline is valid? [True, True] Translation: X:325.70, Y:-0.47, Z:-2.15 [[ 9.99905207e-01 -1.28049827e-02 5.06062769e-03 3.25701231e+02] [ 1.28043695e-02 9.99918009e-01 1.53546953e-04 -4.68337789e-01] [-5.06217893e-03 -8.87342506e-05 9.99987183e-01 -2.15398511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.30591999999996 meters Centerline goodness : 0.995282 Centerline is valid? [True, True] Translation: X:325.74, Y:-0.48, Z:-2.17 [[ 9.99060711e-01 -4.30358333e-02 5.06095056e-03 3.25736392e+02] [ 4.30356825e-02 9.99073526e-01 1.38740080e-04 -4.83468780e-01] [-5.06223251e-03 7.91916982e-05 9.99987184e-01 -2.16517349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.33592 meters Centerline goodness : 0.993938 Centerline is valid? [True, True] Translation: X:325.77, Y:-0.48, Z:-2.16 [[ 9.99618722e-01 -2.71436996e-02 5.06269430e-03 3.25765345e+02] [ 2.71437604e-02 9.99631539e-01 5.67123272e-05 -4.76357841e-01] [-5.06236827e-03 8.07298571e-05 9.99987183e-01 -2.16166312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.36591999999996 meters Centerline goodness : 0.992947 Centerline is valid? [True, True] Translation: X:325.80, Y:-0.47, Z:-2.15 [[ 9.99843744e-01 -1.69372277e-02 5.06150367e-03 3.25795901e+02] [ 1.69368751e-02 9.99856555e-01 1.12505831e-04 -4.73073769e-01] [-5.06268315e-03 -2.67621956e-05 9.99987184e-01 -2.15482282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.39592 meters Centerline goodness : 0.782481 Centerline is valid? [True, False] Translation: X:325.80, Y:-0.47, Z:-2.15 [[ 9.99976106e-01 -5.15639173e-03 4.60424012e-03 3.25796125e+02] [ 5.19231166e-03 9.99955912e-01 -7.82391899e-03 -4.68980306e-01] [-4.56369394e-03 7.84763869e-03 9.99958793e-01 -2.15406798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.42591999999996 meters Centerline goodness : 0.792867 Centerline is valid? [False, False] Translation: X:325.80, Y:-0.47, Z:-2.15 [[ 9.99989251e-01 -1.12499802e-03 4.49807259e-03 3.25796325e+02] [ 1.13568209e-03 9.99996539e-01 -2.37340815e-03 -4.74767975e-01] [-4.49538694e-03 2.37849102e-03 9.99987067e-01 -2.15428704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.45592 meters Centerline goodness : 0.804598 Centerline is valid? [False, False] Translation: X:325.80, Y:-0.48, Z:-2.15 [[ 9.99989851e-01 -1.23108866e-03 4.33384260e-03 3.25796804e+02] [ 1.23549374e-03 9.99998723e-01 -1.01390697e-03 -4.80996525e-01] [-4.33258885e-03 1.01925112e-03 9.99990095e-01 -2.15459435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.48591999999996 meters Centerline goodness : 0.879325 Centerline is valid? [False, False] Translation: X:325.80, Y:-0.48, Z:-2.15 [[ 9.99990185e-01 -1.33859577e-03 4.22360748e-03 3.25797122e+02] [ 1.34031765e-03 9.99999020e-01 -4.04876181e-04 -4.84051013e-01] [-4.22306138e-03 4.10533183e-04 9.99990999e-01 -2.15480098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.51592 meters Centerline goodness : 0.990911 Centerline is valid? [False, True] Translation: X:325.79, Y:-0.47, Z:-2.15 [[ 9.99936164e-01 2.50772836e-03 1.10172534e-02 3.25792034e+02] [-2.31726560e-03 9.99848237e-01 -1.72665633e-02 -4.70997927e-01] [-1.10588812e-02 1.72399312e-02 9.99790221e-01 -2.15328263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.54591999999997 meters Centerline goodness : 0.991698 Centerline is valid? [True, True] Translation: X:325.81, Y:-0.52, Z:-2.17 [[ 9.97628908e-01 -6.79330886e-02 1.10298185e-02 3.25811067e+02] [ 6.79376012e-02 9.97689572e-01 -3.45315095e-05 -5.18753182e-01] [-1.10019891e-02 7.83789043e-04 9.99939169e-01 -2.16969717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.57592 meters Centerline goodness : 0.993453 Centerline is valid? [True, True] Translation: X:325.85, Y:-0.49, Z:-2.16 [[ 9.99929019e-01 4.50469155e-03 1.10301534e-02 3.25853520e+02] [-4.51204318e-03 9.99989615e-01 6.41708458e-04 -4.88853859e-01] [-1.10271482e-02 -6.91431438e-04 9.99938960e-01 -2.16050474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.60591999999997 meters Centerline goodness : 0.996624 Centerline is valid? [True, True] Translation: X:325.88, Y:-0.51, Z:-2.17 [[ 9.98524393e-01 -5.31733703e-02 1.10285395e-02 3.25879988e+02] [ 5.31761257e-02 9.98585148e-01 4.34501721e-05 -5.13401013e-01] [-1.10152461e-02 5.43068945e-04 9.99939183e-01 -2.16947189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.63592 meters Centerline goodness : 0.989750 Centerline is valid? [True, True] Translation: X:325.93, Y:-0.49, Z:-2.16 [[ 9.99908123e-01 -7.88022183e-03 1.10294210e-02 3.25933545e+02] [ 7.87720780e-03 9.99968924e-01 3.16687811e-04 -4.93492900e-01] [-1.10315738e-02 -2.29777674e-04 9.99939124e-01 -2.16291504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.66591999999997 meters Centerline goodness : 0.991506 Centerline is valid? [True, True] Translation: X:325.94, Y:-0.48, Z:-2.16 [[ 9.99847364e-01 1.35579067e-02 1.10196094e-02 3.25942876e+02] [-1.35464340e-02 9.99907621e-01 -1.11509189e-03 -4.80714620e-01] [-1.10337097e-02 9.65645274e-04 9.99938661e-01 -2.15929239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.69591999999994 meters Centerline goodness : 0.991847 Centerline is valid? [True, True] Translation: X:325.97, Y:-0.48, Z:-2.16 [[ 9.99837005e-01 1.42986577e-02 1.10232329e-02 3.25973619e+02] [-1.42996419e-02 9.99897755e-01 1.04657521e-05 -4.78589379e-01] [-1.10219561e-02 -1.68092328e-04 9.99939242e-01 -2.15925129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.72592 meters Centerline goodness : 0.912933 Centerline is valid? [True, False] Translation: X:325.97, Y:-0.48, Z:-2.16 [[ 9.99841083e-01 1.42226848e-02 1.07481856e-02 3.25974408e+02] [-1.42195476e-02 9.99898829e-01 -3.68244033e-04 -4.77091164e-01] [-1.07523356e-02 2.15351176e-04 9.99942169e-01 -2.15965178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.75591999999995 meters Centerline goodness : 0.993943 Centerline is valid? [False, True] Translation: X:325.97, Y:-0.47, Z:-2.16 [[ 9.99890308e-01 1.01449654e-02 1.07912415e-02 3.25974290e+02] [-1.00819214e-02 9.99931884e-01 -5.88058931e-03 -4.71903965e-01] [-1.08501648e-02 5.77114781e-03 9.99924481e-01 -2.15997638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.78592 meters Centerline goodness : 0.990815 Centerline is valid? [True, True] Translation: X:326.00, Y:-0.48, Z:-2.15 [[ 9.99906431e-01 8.39288880e-03 1.08022373e-02 3.26004421e+02] [-8.39316328e-03 9.99964777e-01 -1.99252642e-05 -4.75269264e-01] [-1.08020240e-02 -7.07415412e-05 9.99941654e-01 -2.14756475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.81591999999995 meters Centerline goodness : 0.993243 Centerline is valid? [True, True] Translation: X:326.04, Y:-0.47, Z:-2.16 [[ 9.99896252e-01 9.52866009e-03 1.08023214e-02 3.26036751e+02] [-9.52944770e-03 9.99954594e-01 2.14409731e-05 -4.70732614e-01] [-1.08016266e-02 -1.24378906e-04 9.99941653e-01 -2.16011637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.84592 meters Centerline goodness : 0.990807 Centerline is valid? [True, True] Translation: X:326.07, Y:-0.46, Z:-2.15 [[ 9.99866668e-01 1.22457623e-02 1.08022027e-02 3.26066057e+02] [-1.22461887e-02 9.99925012e-01 -2.66686727e-05 -4.64363051e-01] [-1.08017192e-02 -1.05620696e-04 9.99941654e-01 -2.14800240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.87591999999995 meters Centerline goodness : 0.991159 Centerline is valid? [True, True] Translation: X:326.10, Y:-0.46, Z:-2.15 [[ 9.99851406e-01 1.34341967e-02 1.08022481e-02 3.26096507e+02] [-1.34348790e-02 9.99909748e-01 -9.40070972e-06 -4.62034898e-01] [-1.08013994e-02 -1.35727583e-04 9.99941654e-01 -2.14975559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.90592 meters Centerline goodness : 0.991215 Centerline is valid? [True, True] Translation: X:326.13, Y:-0.46, Z:-2.15 [[ 9.99838684e-01 1.43497201e-02 1.08023611e-02 3.26129884e+02] [-1.43508842e-02 9.99897020e-01 3.02556171e-05 -4.60656772e-01] [-1.08008145e-02 -1.85274169e-04 9.99941652e-01 -2.14996261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.93591999999995 meters Centerline goodness : 0.992555 Centerline is valid? [True, True] Translation: X:326.16, Y:-0.46, Z:-2.15 [[ 9.99887705e-01 1.03869770e-02 1.08021931e-02 3.26160508e+02] [-1.03873696e-02 9.99946050e-01 -1.97633273e-05 -4.61403607e-01] [-1.08018156e-02 -9.24452640e-05 9.99941654e-01 -2.15460839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.96592 meters Centerline goodness : 0.936203 Centerline is valid? [True, False] Translation: X:326.18, Y:-0.45, Z:-2.15 [[ 9.99953278e-01 5.05488332e-03 -8.23951610e-03 3.26182148e+02] [-5.16447535e-03 9.99897758e-01 -1.33342252e-02 -4.49159623e-01] [ 8.17127073e-03 1.33761550e-02 9.99877147e-01 -2.15090879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.99591999999996 meters Centerline goodness : 0.991417 Centerline is valid? [False, True] Translation: X:326.18, Y:-0.44, Z:-2.15 [[ 9.99964391e-01 9.51648462e-04 -8.38518937e-03 3.26182521e+02] [-1.10667004e-03 9.99828205e-01 -1.85023445e-02 -4.44632743e-01] [ 8.36614110e-03 1.85109653e-02 9.99793655e-01 -2.15085727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.02592 meters Centerline goodness : 0.990776 Centerline is valid? [True, True] Translation: X:326.21, Y:-0.46, Z:-2.15 [[ 9.99962434e-01 -1.68420455e-03 -8.50261319e-03 3.26210208e+02] [ 1.68390775e-03 9.99998581e-01 -4.20664531e-05 -4.60125035e-01] [ 8.50267197e-03 2.77472566e-05 9.99963851e-01 -2.15009627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.05591999999996 meters Centerline goodness : 0.993932 Centerline is valid? [True, True] Translation: X:326.24, Y:-0.46, Z:-2.16 [[ 9.99954351e-01 -4.35967385e-03 -8.50234567e-03 3.26241207e+02] [ 4.35912387e-03 9.99990496e-01 -8.32162800e-05 -4.59635404e-01] [ 8.50262765e-03 4.61497033e-05 9.99963851e-01 -2.16464610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.08592 meters Centerline goodness : 0.991865 Centerline is valid? [True, True] Translation: X:326.27, Y:-0.46, Z:-2.15 [[ 9.99949324e-01 -5.39032394e-03 -8.50252837e-03 3.26271952e+02] [ 5.39005161e-03 9.99985472e-01 -5.49441214e-05 -4.58119946e-01] [ 8.50270101e-03 9.11227038e-06 9.99963851e-01 -2.15111671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.11591999999996 meters Centerline goodness : 0.842998 Centerline is valid? [True, False] Translation: X:326.29, Y:-0.45, Z:-2.15 [[ 9.99907462e-01 -3.28251069e-03 -1.32019744e-02 3.26293022e+02] [ 3.17853906e-03 9.99963832e-01 -7.88874783e-03 -4.49822041e-01] [ 1.32273918e-02 7.84605484e-03 9.99881731e-01 -2.14578231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.14592 meters Centerline goodness : 0.740082 Centerline is valid? [False, False] Translation: X:326.29, Y:-0.45, Z:-2.15 [[ 9.99906683e-01 -3.29960949e-03 -1.32565989e-02 3.26293178e+02] [ 3.19457003e-03 9.99963399e-01 -7.93693755e-03 -4.49871416e-01] [ 1.32823025e-02 7.89384776e-03 9.99880627e-01 -2.14585244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.17591999999996 meters Centerline goodness : 0.771089 Centerline is valid? [False, False] Translation: X:326.32, Y:-0.44, Z:-2.14 [[ 9.99872004e-01 4.78468777e-04 -1.59921074e-02 3.26315200e+02] [-7.10199123e-04 9.99894795e-01 -1.44877579e-02 -4.44346744e-01] [ 1.59834930e-02 1.44972611e-02 9.99767152e-01 -2.14243821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.20592 meters Centerline goodness : 0.993296 Centerline is valid? [False, True] Translation: X:326.31, Y:-0.45, Z:-2.14 [[ 9.99998168e-01 1.81150755e-03 -6.17902213e-04 3.26306999e+02] [-1.81955487e-03 9.99910139e-01 -1.32816751e-02 -4.45453158e-01] [ 5.93786833e-04 1.32827751e-02 9.99911604e-01 -2.14363521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.23591999999996 meters Centerline goodness : 0.994842 Centerline is valid? [True, True] Translation: X:326.34, Y:-0.46, Z:-2.16 [[ 9.99999447e-01 8.84154247e-04 -5.68878844e-04 3.26336123e+02] [-8.84090928e-04 9.99999603e-01 1.11547248e-04 -4.55918509e-01] [ 5.68977244e-04 -1.11044245e-04 9.99999832e-01 -2.15658045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.26592 meters Centerline goodness : 0.993950 Centerline is valid? [True, True] Translation: X:326.37, Y:-0.46, Z:-2.14 [[ 9.99996979e-01 2.39127320e-03 -5.69236648e-04 3.26366661e+02] [-2.39127253e-03 9.99997141e-01 1.85679872e-06 -4.55968308e-01] [ 5.69239461e-04 -4.95593151e-07 9.99999838e-01 -2.14263704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.29591999999997 meters Centerline goodness : 0.995037 Centerline is valid? [True, True] Translation: X:326.40, Y:-0.45, Z:-2.15 [[ 9.99995611e-01 2.90764626e-03 -5.69228302e-04 3.26396336e+02] [-2.90764412e-03 9.99995773e-01 4.59439240e-06 -4.54933583e-01] [ 5.69239255e-04 -2.93925891e-06 9.99999838e-01 -2.14524943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.32592 meters Centerline goodness : 0.995037 Centerline is valid? [True, True] Translation: X:326.43, Y:-0.46, Z:-2.15 [[ 9.99996110e-01 2.73057028e-03 -5.69227978e-04 3.26426309e+02] [-2.73056804e-03 9.99996272e-01 4.71042231e-06 -4.55093039e-01] [ 5.69238718e-04 -3.15608826e-06 9.99999838e-01 -2.14523239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.35591999999997 meters Centerline goodness : 0.996333 Centerline is valid? [True, True] Translation: X:326.46, Y:-0.45, Z:-2.16 [[ 9.99986424e-01 5.17952562e-03 -5.69228186e-04 3.26456112e+02] [-5.17952382e-03 9.99986586e-01 4.63124331e-06 -4.53002873e-01] [ 5.69244538e-04 -1.68284948e-06 9.99999838e-01 -2.15599399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.38592 meters Centerline goodness : 0.996678 Centerline is valid? [True, True] Translation: X:326.49, Y:-0.45, Z:-2.16 [[ 9.99947326e-01 1.02479432e-02 -5.69236074e-04 3.26485520e+02] [-1.02479440e-02 9.99947488e-01 1.38173149e-06 -4.48150346e-01] [ 5.69220342e-04 4.45184072e-06 9.99999838e-01 -2.15567670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.41591999999997 meters Centerline goodness : 0.886035 Centerline is valid? [True, False] Translation: X:326.49, Y:-0.44, Z:-2.15 [[ 9.99998079e-01 -1.77977367e-03 -8.21205903e-04 3.26486078e+02] [ 1.76722899e-03 9.99885454e-01 -1.50318041e-02 -4.36728463e-01] [ 8.47865046e-04 1.50303239e-02 9.99886679e-01 -2.15399146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.44591999999994 meters Centerline goodness : 0.997819 Centerline is valid? [False, True] Translation: X:326.49, Y:-0.43, Z:-2.16 [[ 9.99992212e-01 -3.51454570e-03 -1.79565668e-03 3.26490899e+02] [ 3.48201809e-03 9.99835371e-01 -1.78074890e-02 -4.31065944e-01] [ 1.85794630e-03 1.78010979e-02 9.99839822e-01 -2.15757952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.47592 meters Centerline goodness : 0.997470 Centerline is valid? [True, True] Translation: X:326.52, Y:-0.45, Z:-2.15 [[ 9.99984835e-01 -5.09456132e-03 -2.09190085e-03 3.26521398e+02] [ 5.09449961e-03 9.99987022e-01 -3.48300081e-05 -4.46036574e-01] [ 2.09205114e-03 2.41722919e-05 9.99997811e-01 -2.15111498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.50591999999995 meters Centerline goodness : 0.998613 Centerline is valid? [True, True] Translation: X:326.55, Y:-0.44, Z:-2.16 [[ 9.99983480e-01 -5.35382619e-03 -2.09196189e-03 3.26551559e+02] [ 5.35377257e-03 9.99985668e-01 -3.12276485e-05 -4.43474975e-01] [ 2.09209910e-03 2.00272444e-05 9.99997811e-01 -2.16118719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.53592 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:326.58, Y:-0.44, Z:-2.16 [[ 9.99976932e-01 -6.46220095e-03 -2.09189657e-03 3.26581032e+02] [ 6.46214162e-03 9.99979120e-01 -3.51187530e-05 -4.40194049e-01] [ 2.09207983e-03 2.15998110e-05 9.99997811e-01 -2.16072392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.56591999999995 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:326.61, Y:-0.44, Z:-2.16 [[ 9.99978003e-01 -6.29420161e-03 -2.09189430e-03 3.26610617e+02] [ 6.29414163e-03 9.99980191e-01 -3.52532750e-05 -4.38272216e-01] [ 2.09207476e-03 2.20858205e-05 9.99997811e-01 -2.16053617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.59592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.64, Y:-0.43, Z:-2.16 [[ 9.99985817e-01 -4.89795467e-03 -2.09189201e-03 3.26640268e+02] [ 4.89789136e-03 9.99988005e-01 -3.53890027e-05 -4.33611755e-01] [ 2.09204025e-03 2.51426410e-05 9.99997811e-01 -2.15979338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.62591999999995 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:326.67, Y:-0.43, Z:-2.15 [[ 9.99988668e-01 -4.27645586e-03 -2.09188974e-03 3.26671151e+02] [ 4.27639091e-03 9.99990856e-01 -3.55224156e-05 -4.31384181e-01] [ 2.09202252e-03 2.65762748e-05 9.99997811e-01 -2.15017159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.65592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.70, Y:-0.43, Z:-2.16 [[ 9.99978958e-01 -6.14053230e-03 -2.09200632e-03 3.26700795e+02] [ 6.14048575e-03 9.99981147e-01 -2.86737232e-05 -4.29182631e-01] [ 2.09214295e-03 1.58271848e-05 9.99997811e-01 -2.16111474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.68591999999995 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:326.73, Y:-0.43, Z:-2.15 [[ 9.99966076e-01 -7.96688589e-03 -2.09188483e-03 3.26731104e+02] [ 7.96682847e-03 9.99968264e-01 -3.57774731e-05 -4.28941556e-01] [ 2.09210347e-03 1.91105718e-05 9.99997811e-01 -2.14728941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.71592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:326.76, Y:-0.43, Z:-2.15 [[ 9.99945934e-01 -1.01858742e-02 -2.09202979e-03 3.26760593e+02] [ 1.01858395e-02 9.99948123e-01 -2.72298245e-05 -4.28614834e-01] [ 2.09219862e-03 5.91927257e-06 9.99997811e-01 -2.14762880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.74591999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.79, Y:-0.43, Z:-2.16 [[ 9.99917033e-01 -1.27102400e-02 -2.09201802e-03 3.26791048e+02] [ 1.27102094e-02 9.99919222e-01 -2.79189625e-05 -4.28599295e-01] [ 2.09220389e-03 1.32665900e-06 9.99997811e-01 -2.16317648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.77592 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:326.82, Y:-0.43, Z:-2.15 [[ 9.99843811e-01 -1.75493070e-02 -2.09188558e-03 3.26821914e+02] [ 1.75492708e-02 9.99845999e-01 -3.56831373e-05 -4.31256896e-01] [ 2.09218964e-03 -1.03350258e-06 9.99997811e-01 -2.14924898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.80591999999996 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:326.85, Y:-0.43, Z:-2.16 [[ 9.99793597e-01 -2.02085854e-02 -2.09192149e-03 3.26853144e+02] [ 2.02085595e-02 9.99795786e-01 -3.35474163e-05 -4.31513093e-01] [ 2.09217224e-03 -8.73422787e-06 9.99997811e-01 -2.16456667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.83592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:326.88, Y:-0.43, Z:-2.17 [[ 9.99707718e-01 -2.40853144e-02 -2.09189829e-03 3.26884650e+02] [ 2.40852941e-02 9.99709907e-01 -3.49368486e-05 -4.32876033e-01] [ 2.09213291e-03 -1.54573483e-05 9.99997811e-01 -2.16566339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.86591999999996 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:326.92, Y:-0.43, Z:-2.14 [[ 9.99683707e-01 -2.50621375e-02 -2.09190048e-03 3.26915710e+02] [ 2.50621196e-02 9.99685895e-01 -3.48050998e-05 -4.34427856e-01] [ 2.09211569e-03 -1.76333688e-05 9.99997811e-01 -2.14463869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.89592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.95, Y:-0.44, Z:-2.16 [[ 9.99627437e-01 -2.72141830e-02 -2.09195066e-03 3.26945492e+02] [ 2.72141761e-02 9.99629625e-01 -3.17719501e-05 -4.36099424e-01] [ 2.09204050e-03 -2.51706004e-05 9.99997811e-01 -2.16492503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.92591999999996 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:326.98, Y:-0.44, Z:-2.17 [[ 9.99574636e-01 -2.90890358e-02 -2.09190318e-03 3.26978270e+02] [ 2.90890270e-02 9.99576824e-01 -3.46390338e-05 -4.40914983e-01] [ 2.09202555e-03 -2.62271286e-05 9.99997811e-01 -2.16604210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.95592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.01, Y:-0.44, Z:-2.17 [[ 9.99551074e-01 -2.98876804e-02 -2.09191160e-03 3.27011568e+02] [ 2.98876744e-02 9.99553263e-01 -3.41226913e-05 -4.42321484e-01] [ 2.09199692e-03 -2.84150001e-05 9.99997811e-01 -2.16525050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.98591999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.05, Y:-0.44, Z:-2.17 [[ 9.99553030e-01 -2.98222083e-02 -2.09192797e-03 3.27045121e+02] [ 2.98222044e-02 9.99555219e-01 -3.30881020e-05 -4.43382477e-01] [ 2.09198428e-03 -2.93125907e-05 9.99997811e-01 -2.16652214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.01592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.08, Y:-0.44, Z:-2.17 [[ 9.99538103e-01 -3.03183829e-02 -2.09194399e-03 3.27078090e+02] [ 3.03183822e-02 9.99540292e-01 -3.20420562e-05 -4.43908920e-01] [ 2.09195377e-03 -3.13971013e-05 9.99997811e-01 -2.16598082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.04591999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.11, Y:-0.45, Z:-2.17 [[ 9.99533641e-01 -3.04651270e-02 -2.09195928e-03 3.27110941e+02] [ 3.04651288e-02 9.99535830e-01 -3.10107765e-05 -4.45777581e-01] [ 2.09193300e-03 -3.27354944e-05 9.99997811e-01 -2.16672270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.07592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:327.14, Y:-0.45, Z:-2.17 [[ 9.99542331e-01 -3.01786765e-02 -2.09197412e-03 3.27143289e+02] [ 3.01786798e-02 9.99544519e-01 -2.99746114e-05 -4.46672056e-01] [ 2.09192586e-03 -3.31721244e-05 9.99997811e-01 -2.16539740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.10591999999997 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:327.17, Y:-0.45, Z:-2.15 [[ 9.99469390e-01 -3.25047941e-02 -2.09198660e-03 3.27170800e+02] [ 3.25048044e-02 9.99471579e-01 -2.90767085e-05 -4.52442306e-01] [ 2.09182629e-03 -3.89383352e-05 9.99997811e-01 -2.14594191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.13592 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:327.20, Y:-0.45, Z:-2.15 [[ 9.99594737e-01 -2.83899232e-02 -2.09157377e-03 3.27203664e+02] [ 2.83898624e-02 9.99596925e-01 -5.87383203e-05 -4.50861359e-01] [ 2.09239828e-03 -6.64975687e-07 9.99997811e-01 -2.14569112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.16591999999997 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:327.24, Y:-0.45, Z:-2.15 [[ 9.99622593e-01 -2.73914987e-02 -2.09200606e-03 3.27236135e+02] [ 2.73915040e-02 9.99624782e-01 -2.61043067e-05 -4.51317005e-01] [ 2.09193614e-03 -3.12087376e-05 9.99997811e-01 -2.14863533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.19591999999994 meters Centerline goodness : 0.851905 Centerline is valid? [True, False] Translation: X:327.24, Y:-0.45, Z:-2.15 [[ 9.99912207e-01 -1.29801966e-02 -2.66328046e-03 3.27238167e+02] [ 1.29651718e-02 9.99900361e-01 -5.58322675e-03 -4.45812025e-01] [ 2.73548648e-03 5.54820669e-03 9.99980867e-01 -2.14990239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.22592 meters Centerline goodness : 0.999503 Centerline is valid? [False, True] Translation: X:327.26, Y:-0.44, Z:-2.15 [[ 9.99958770e-01 -6.27463888e-03 -6.56408700e-03 3.27259027e+02] [ 6.22400632e-03 9.99950940e-01 -7.70577047e-03 -4.44146662e-01] [ 6.61211589e-03 7.66459784e-03 9.99948766e-01 -2.14562289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.25591999999995 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:327.29, Y:-0.45, Z:-2.15 [[ 9.99948773e-01 -7.75872156e-03 -6.50027678e-03 3.27287677e+02] [ 7.75915671e-03 9.99969896e-01 4.17273596e-05 -4.54048680e-01] [ 6.49975735e-03 -9.21618882e-05 9.99978872e-01 -2.14982788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.28592 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:327.32, Y:-0.46, Z:-2.15 [[ 9.99950359e-01 -7.55139221e-03 -6.50047716e-03 3.27317423e+02] [ 7.55166325e-03 9.99971486e-01 1.71500231e-05 -4.55315403e-01] [ 6.50016229e-03 -6.62385862e-05 9.99978872e-01 -2.14687861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.31591999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.35, Y:-0.46, Z:-2.16 [[ 9.99954344e-01 -7.00376252e-03 -6.50052383e-03 3.27347199e+02] [ 7.00398508e-03 9.99975472e-01 1.14739735e-05 -4.55874240e-01] [ 6.50028402e-03 -5.70030216e-05 9.99978871e-01 -2.16155884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.34592 meters Centerline goodness : 0.998310 Centerline is valid? [True, True] Translation: X:327.38, Y:-0.46, Z:-2.14 [[ 9.99948376e-01 -7.80981174e-03 -6.50016082e-03 3.27375277e+02] [ 7.81033196e-03 9.99969497e-01 5.46509577e-05 -4.58193807e-01] [ 6.49953573e-03 -1.05416550e-04 9.99978872e-01 -2.14053696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.37591999999995 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:327.41, Y:-0.46, Z:-2.16 [[ 9.99951617e-01 -7.38288695e-03 -6.50055474e-03 3.27406237e+02] [ 7.38308483e-03 9.99972745e-01 6.44380376e-06 -4.58991222e-01] [ 6.50032999e-03 -5.44376391e-05 9.99978871e-01 -2.16176707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.40592 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:327.43, Y:-0.46, Z:-2.15 [[ 9.99942123e-01 -8.57310785e-03 -6.50017207e-03 3.27434494e+02] [ 8.57363477e-03 9.99963244e-01 5.32000413e-05 -4.60724257e-01] [ 6.49947707e-03 -1.08927063e-04 9.99978872e-01 -2.14869455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.43591999999995 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:327.47, Y:-0.46, Z:-2.16 [[ 9.99946885e-01 -7.99822440e-03 -6.50042845e-03 3.27465704e+02] [ 7.99852964e-03 9.99968011e-01 2.09607455e-05 -4.61770045e-01] [ 6.50005286e-03 -7.29535018e-05 9.99978872e-01 -2.16097490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.46592 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:327.50, Y:-0.46, Z:-2.15 [[ 9.99951670e-01 -7.37599168e-03 -6.50016485e-03 3.27496485e+02] [ 7.37649318e-03 9.99972792e-01 5.31806918e-05 -4.64734437e-01] [ 6.49959573e-03 -1.01126543e-04 9.99978872e-01 -2.14956642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.49591999999996 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:327.52, Y:-0.47, Z:-2.15 [[ 9.99947173e-01 -7.96271077e-03 -6.49976801e-03 3.27524640e+02] [ 7.96354449e-03 9.99968285e-01 1.02398252e-04 -4.66567534e-01] [ 6.49874650e-03 -1.54154034e-04 9.99978871e-01 -2.14828048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.52592 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:327.55, Y:-0.47, Z:-2.14 [[ 9.99943418e-01 -8.42084201e-03 -6.50005369e-03 3.27553555e+02] [ 8.42144073e-03 9.99964537e-01 6.47447939e-05 -4.69039312e-01] [ 6.49927797e-03 -1.19480947e-04 9.99978872e-01 -2.14448639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.55591999999996 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:327.58, Y:-0.47, Z:-2.15 [[ 9.99953360e-01 -7.14316940e-03 -6.50017879e-03 3.27583751e+02] [ 7.14363104e-03 9.99974483e-01 4.78051547e-05 -4.71239043e-01] [ 6.49967144e-03 -9.42378040e-05 9.99978872e-01 -2.14654973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.58592 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:327.61, Y:-0.47, Z:-2.15 [[ 9.99948089e-01 -7.84665708e-03 -6.49999365e-03 3.27612009e+02] [ 7.84730325e-03 9.99969207e-01 7.39129374e-05 -4.72027071e-01] [ 6.49921352e-03 -1.24916522e-04 9.99978872e-01 -2.14513012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.61591999999996 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:327.64, Y:-0.47, Z:-2.15 [[ 9.99947319e-01 -7.94406908e-03 -6.50011211e-03 3.27641825e+02] [ 7.94460259e-03 9.99968440e-01 5.62608509e-05 -4.72245471e-01] [ 6.49946002e-03 -1.07898695e-04 9.99978872e-01 -2.14789275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.64592 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:327.67, Y:-0.47, Z:-2.15 [[ 9.99904410e-01 -1.22032466e-02 -6.50006605e-03 3.27669692e+02] [ 1.22039163e-02 9.99925527e-01 6.33735251e-05 -4.73641366e-01] [ 6.49880861e-03 -1.42693729e-04 9.99978872e-01 -2.14544174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.67591999999996 meters Centerline goodness : 0.998608 Centerline is valid? [True, True] Translation: X:327.70, Y:-0.48, Z:-2.14 [[ 9.99899754e-01 -1.25787772e-02 -6.50048888e-03 3.27700148e+02] [ 1.25790124e-02 9.99920881e-01 -4.71028258e-06 -4.75328933e-01] [ 6.50003382e-03 -7.70599195e-05 9.99978872e-01 -2.14351606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.70592 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:327.73, Y:-0.48, Z:-2.15 [[ 9.99887579e-01 -1.35119992e-02 -6.50034374e-03 3.27729904e+02] [ 1.35124044e-02 9.99908703e-01 1.84218465e-05 -4.76534004e-01] [ 6.49950136e-03 -1.06255049e-04 9.99978872e-01 -2.14581729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.73591999999996 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:327.76, Y:-0.48, Z:-2.16 [[ 9.99846332e-01 -1.62806334e-02 -6.50026741e-03 3.27760587e+02] [ 1.62811742e-02 9.99867452e-01 3.02878755e-05 -4.79532734e-01] [ 6.49891271e-03 -1.36115207e-04 9.99978873e-01 -2.15812090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.76592 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:327.79, Y:-0.48, Z:-2.14 [[ 9.99812690e-01 -1.82299687e-02 -6.50018623e-03 3.27789600e+02] [ 1.82306311e-02 9.99833807e-01 4.26585956e-05 -4.81018644e-01] [ 6.49832828e-03 -1.61153102e-04 9.99978873e-01 -2.14251887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.79591999999997 meters Centerline goodness : 0.998358 Centerline is valid? [True, True] Translation: X:327.82, Y:-0.48, Z:-2.14 [[ 9.99764262e-01 -2.07163296e-02 -6.50030664e-03 3.27818534e+02] [ 2.07169239e-02 9.99785381e-01 2.40948858e-05 -4.83103416e-01] [ 6.49841240e-03 -1.58755564e-04 9.99978872e-01 -2.14101815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.82592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:327.85, Y:-0.49, Z:-2.16 [[ 9.99750744e-01 -2.13587477e-02 -6.50034121e-03 3.27850049e+02] [ 2.13593211e-02 9.99771864e-01 1.88025764e-05 -4.85246827e-01] [ 6.49845665e-03 -1.57640765e-04 9.99978872e-01 -2.15746410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.85591999999997 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:327.88, Y:-0.49, Z:-2.16 [[ 9.99746025e-01 -2.15785448e-02 -6.50016409e-03 3.27878986e+02] [ 2.15792906e-02 9.99767139e-01 4.46104529e-05 -4.88795350e-01] [ 6.49768783e-03 -1.84868053e-04 9.99978873e-01 -2.15859360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.88592 meters Centerline goodness : 0.993142 Centerline is valid? [True, True] Translation: X:327.91, Y:-0.49, Z:-2.13 [[ 9.99795333e-01 -1.91582932e-02 -6.50016937e-03 3.27909446e+02] [ 1.91589828e-02 9.99816449e-01 4.38287343e-05 -4.92763915e-01] [ 6.49813657e-03 -1.68356397e-04 9.99978873e-01 -2.13318999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.91591999999997 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:327.94, Y:-0.49, Z:-2.16 [[ 9.99777218e-01 -2.00814468e-02 -6.50000777e-03 3.27937599e+02] [ 2.00823122e-02 9.99798328e-01 6.78958604e-05 -4.94142167e-01] [ 6.49733345e-03 -1.98415920e-04 9.99978872e-01 -2.15658751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.94591999999994 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:327.97, Y:-0.49, Z:-2.16 [[ 9.99786335e-01 -1.96222241e-02 -6.50017505e-03 3.27966530e+02] [ 1.96229117e-02 9.99807451e-01 4.20184402e-05 -4.94815847e-01] [ 6.49809896e-03 -1.69561824e-04 9.99978873e-01 -2.15646919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.97592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:328.00, Y:-0.50, Z:-2.15 [[ 9.99825193e-01 -1.75308346e-02 -6.50018005e-03 3.27995161e+02] [ 1.75314729e-02 9.99846311e-01 4.12296072e-05 -4.96174487e-01] [ 6.49845826e-03 -1.55180131e-04 9.99978873e-01 -2.15374012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.00591999999995 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:328.02, Y:-0.50, Z:-2.15 [[ 9.99835433e-01 -1.69367642e-02 -6.50018502e-03 3.28023649e+02] [ 1.69373848e-02 9.99856551e-01 4.04313855e-05 -4.96659570e-01] [ 6.49856780e-03 -1.50520866e-04 9.99978873e-01 -2.15455677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.03592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:328.05, Y:-0.50, Z:-2.15 [[ 9.99865419e-01 -1.50628938e-02 -6.50018992e-03 3.28052106e+02] [ 1.50634696e-02 9.99886539e-01 3.96275068e-05 -4.97658308e-01] [ 6.49885550e-03 -1.37537587e-04 9.99978873e-01 -2.15484327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.06591999999995 meters Centerline goodness : 0.997616 Centerline is valid? [True, True] Translation: X:328.08, Y:-0.50, Z:-2.14 [[ 9.99890341e-01 -1.33061406e-02 -6.50019471e-03 3.28081095e+02] [ 1.33066740e-02 9.99911462e-01 3.88256622e-05 -4.97719154e-01] [ 6.49910257e-03 -1.25317377e-04 9.99978873e-01 -2.13959712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.09592 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:328.11, Y:-0.50, Z:-2.15 [[ 9.99900996e-01 -1.24797121e-02 -6.50033607e-03 3.28112077e+02] [ 1.24800737e-02 9.99922121e-01 1.50757654e-05 -4.96916827e-01] [ 6.49964169e-03 -9.61989463e-05 9.99978872e-01 -2.15415679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.12591999999995 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:328.14, Y:-0.50, Z:-2.15 [[ 9.99913071e-01 -1.14716542e-02 -6.50019452e-03 3.28140474e+02] [ 1.14721487e-02 9.99934192e-01 3.87941848e-05 -4.96084955e-01] [ 6.49932172e-03 -1.13362011e-04 9.99978873e-01 -2.15479042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.15592 meters Centerline goodness : 0.997717 Centerline is valid? [True, True] Translation: X:328.18, Y:-0.49, Z:-2.15 [[ 9.99890078e-01 1.33259016e-02 -6.50019927e-03 3.28176094e+02] [-1.33259362e-02 9.99911205e-01 3.79808419e-05 -4.85993533e-01] [ 6.50012822e-03 4.86445741e-05 9.99978873e-01 -2.14611535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.18591999999995 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:328.20, Y:-0.50, Z:-2.15 [[ 9.99934869e-01 -9.38183141e-03 -6.49911394e-03 3.28201170e+02] [ 9.38338074e-03 9.99955953e-01 2.07938563e-04 -4.96008918e-01] [ 6.49687683e-03 -2.68908680e-04 9.99978859e-01 -2.15306744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.21592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:328.23, Y:-0.50, Z:-2.15 [[ 9.99933078e-01 -9.57019537e-03 -6.50004224e-03 3.28229643e+02] [ 9.57062412e-03 9.99954200e-01 3.48590275e-05 -4.96052855e-01] [ 6.49941093e-03 -9.70661557e-05 9.99978874e-01 -2.15286613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.24591999999996 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:328.26, Y:-0.50, Z:-2.15 [[ 9.99931043e-01 -9.78050631e-03 -6.50004854e-03 3.28258074e+02] [ 9.78093160e-03 9.99952165e-01 3.36418580e-05 -4.96895109e-01] [ 6.49940858e-03 -9.72160684e-05 9.99978874e-01 -2.15292984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.27592 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:328.29, Y:-0.50, Z:-2.15 [[ 9.99926567e-01 -1.02278950e-02 -6.50005264e-03 3.28286693e+02] [ 1.02283245e-02 9.99947689e-01 3.28303288e-05 -4.97260111e-01] [ 6.49937683e-03 -9.93125657e-05 9.99978874e-01 -2.15269437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.30591999999996 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:328.32, Y:-0.50, Z:-2.15 [[ 9.99920242e-01 -1.08286403e-02 -6.50005666e-03 3.28315650e+02] [ 1.08290771e-02 9.99941363e-01 3.20144527e-05 -4.97261181e-01] [ 6.49932884e-03 -1.02401514e-04 9.99978874e-01 -2.15325593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.33592 meters Centerline goodness : 0.906574 Centerline is valid? [True, False] Translation: X:328.34, Y:-0.49, Z:-2.15 [[ 9.99919413e-01 -7.64611497e-03 -1.01343635e-02 3.28337329e+02] [ 7.57502486e-03 9.99946565e-01 -7.03467880e-03 -4.91387667e-01] [ 1.01876100e-02 6.95734384e-03 9.99923901e-01 -2.14900381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.36591999999996 meters Centerline goodness : 0.988507 Centerline is valid? [False, True] Translation: X:328.36, Y:-0.49, Z:-2.14 [[ 9.99907325e-01 -3.96963638e-04 -1.36082201e-02 3.28358440e+02] [ 2.73932683e-04 9.99959086e-01 -9.04160126e-03 -4.89632187e-01] [ 1.36112526e-02 9.03703559e-03 9.99866524e-01 -2.14491155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.39592 meters Centerline goodness : 0.998511 Centerline is valid? [True, True] Translation: X:328.38, Y:-0.53, Z:-2.13 [[ 9.98245736e-01 -5.75302347e-02 -1.39900834e-02 3.28383922e+02] [ 5.75360244e-02 9.98343431e-01 1.13728527e-05 -5.25516557e-01] [ 1.39662536e-02 -8.16286684e-04 9.99902134e-01 -2.13219240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.42591999999996 meters Centerline goodness : 0.989722 Centerline is valid? [True, True] Translation: X:328.42, Y:-0.50, Z:-2.14 [[ 9.99829789e-01 -1.20583545e-02 -1.39638559e-02 3.28417508e+02] [ 1.20512172e-02 9.99927204e-01 -5.95167659e-04 -5.04705351e-01] [ 1.39700161e-02 4.26784895e-04 9.99902323e-01 -2.13995477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.45592 meters Centerline goodness : 0.985890 Centerline is valid? [True, True] Translation: X:328.44, Y:-0.50, Z:-2.14 [[ 9.99901798e-01 9.84450758e-04 -1.39794391e-02 3.28440978e+02] [-9.87791791e-04 9.99999485e-01 -2.32093470e-04 -5.00581158e-01] [ 1.39792034e-02 2.45879453e-04 9.99902256e-01 -2.14200924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.48591999999996 meters Centerline goodness : 0.997758 Centerline is valid? [True, True] Translation: X:328.47, Y:-0.53, Z:-2.13 [[ 9.98344728e-01 -5.57928771e-02 -1.39627786e-02 3.28470552e+02] [ 5.57898026e-02 9.98442350e-01 -6.09910739e-04 -5.25091014e-01] [ 1.39750581e-02 -1.70079488e-04 9.99902330e-01 -2.12891496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.51592 meters Centerline goodness : 0.998212 Centerline is valid? [True, True] Translation: X:328.50, Y:-0.53, Z:-2.13 [[ 9.98347227e-01 -5.57480415e-02 -1.39631756e-02 3.28499740e+02] [ 5.57450878e-02 9.98444853e-01 -6.00958490e-04 -5.26921966e-01] [ 1.39749631e-02 -1.78413209e-04 9.99902330e-01 -2.12549869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.54591999999997 meters Centerline goodness : 0.998859 Centerline is valid? [True, True] Translation: X:328.53, Y:-0.53, Z:-2.13 [[ 9.98365876e-01 -5.54135732e-02 -1.39611276e-02 3.28529570e+02] [ 5.54099422e-02 9.98463479e-01 -6.47050423e-04 -5.26716107e-01] [ 1.39755315e-02 -1.27592213e-04 9.99902329e-01 -2.12827588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.57592 meters Centerline goodness : 0.998208 Centerline is valid? [True, True] Translation: X:328.56, Y:-0.53, Z:-2.12 [[ 9.98131199e-01 -5.94907668e-02 -1.39627238e-02 3.28558301e+02] [ 5.94880373e-02 9.98228831e-01 -6.11095308e-04 -5.29151304e-01] [ 1.39743480e-02 -2.20661744e-04 9.99902330e-01 -2.12348606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.60591999999997 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:328.59, Y:-0.53, Z:-2.14 [[ 9.98161030e-01 -5.89889863e-02 -1.39591352e-02 3.28588627e+02] [ 5.89850772e-02 9.98258625e-01 -6.91940851e-04 -5.28715496e-01] [ 1.39756440e-02 -1.32712277e-04 9.99902327e-01 -2.13988879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.63592 meters Centerline goodness : 0.997915 Centerline is valid? [True, True] Translation: X:328.62, Y:-0.53, Z:-2.12 [[ 9.98121541e-01 -5.96526576e-02 -1.39624229e-02 3.28618042e+02] [ 5.96498527e-02 9.98219171e-01 -6.17618949e-04 -5.30437299e-01] [ 1.39744008e-02 -2.16397690e-04 9.99902330e-01 -2.12473914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.66591999999997 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:328.65, Y:-0.53, Z:-2.14 [[ 9.98103182e-01 -5.99590284e-02 -1.39625464e-02 3.28648655e+02] [ 5.99562925e-02 9.98200814e-01 -6.14830521e-04 -5.31605395e-01] [ 1.39742899e-02 -2.23478219e-04 9.99902330e-01 -2.13950871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.69591999999994 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:328.68, Y:-0.53, Z:-2.14 [[ 9.98153098e-01 -5.91222939e-02 -1.39623881e-02 3.28676990e+02] [ 5.91194261e-02 9.98250726e-01 -6.18406338e-04 -5.30906475e-01] [ 1.39745256e-02 -2.08184168e-04 9.99902330e-01 -2.13793979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.72592 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:328.70, Y:-0.53, Z:-2.14 [[ 9.98148872e-01 -5.91936037e-02 -1.39623097e-02 3.28704881e+02] [ 5.91907183e-02 9.98246500e-01 -6.20170697e-04 -5.30516257e-01] [ 1.39745369e-02 -2.07416458e-04 9.99902330e-01 -2.13691954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.75591999999995 meters Centerline goodness : 0.998065 Centerline is valid? [True, True] Translation: X:328.73, Y:-0.53, Z:-2.12 [[ 9.98168796e-01 -5.88567137e-02 -1.39621920e-02 3.28734034e+02] [ 5.88537584e-02 9.98266421e-01 -6.22808612e-04 -5.30928071e-01] [ 1.39746439e-02 -2.00059354e-04 9.99902330e-01 -2.12475794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.78592 meters Centerline goodness : 0.998310 Centerline is valid? [True, True] Translation: X:328.76, Y:-0.54, Z:-2.12 [[ 9.98158233e-01 -5.90358845e-02 -1.39608556e-02 3.28763900e+02] [ 5.90325297e-02 9.98255846e-01 -6.52629019e-04 -5.36209324e-01] [ 1.39750343e-02 -1.72717597e-04 9.99902330e-01 -2.12417890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.81591999999995 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:328.79, Y:-0.54, Z:-2.14 [[ 9.98210386e-01 -5.81477572e-02 -1.39593407e-02 3.28794223e+02] [ 5.81438430e-02 9.98307980e-01 -6.86423995e-04 -5.36902380e-01] [ 1.39756352e-02 -1.26454151e-04 9.99902328e-01 -2.13724064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.84592 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:328.82, Y:-0.54, Z:-2.14 [[ 9.98153748e-01 -5.91114082e-02 -1.39619870e-02 3.28823020e+02] [ 5.91084116e-02 9.98251372e-01 -6.27546603e-04 -5.37937389e-01] [ 1.39746679e-02 -1.98882883e-04 9.99902330e-01 -2.13703694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.87591999999995 meters Centerline goodness : 0.998457 Centerline is valid? [True, True] Translation: X:328.85, Y:-0.54, Z:-2.12 [[ 9.98157862e-01 -5.90419099e-02 -1.39619079e-02 3.28850883e+02] [ 5.90388820e-02 9.98255486e-01 -6.29302437e-04 -5.39275906e-01] [ 1.39747064e-02 -1.96152258e-04 9.99902330e-01 -2.11823632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.90592 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:328.88, Y:-0.54, Z:-2.14 [[ 9.98231925e-01 -5.77771017e-02 -1.39582008e-02 3.28882458e+02] [ 5.77728068e-02 9.98329503e-01 -7.11060436e-04 -5.37781801e-01] [ 1.39759667e-02 -9.66012093e-05 9.99902327e-01 -2.13578062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.93591999999995 meters Centerline goodness : 0.998659 Centerline is valid? [True, True] Translation: X:328.91, Y:-0.54, Z:-2.12 [[ 9.98490549e-01 -5.31195861e-02 -1.39618467e-02 3.28911790e+02] [ 5.31159651e-02 9.98588152e-01 -6.30299457e-04 -5.39157799e-01] [ 1.39756160e-02 -1.12248913e-04 9.99902330e-01 -2.12024302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.96592 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:328.94, Y:-0.54, Z:-2.12 [[ 9.98568363e-01 -5.16360167e-02 -1.39623217e-02 3.28941437e+02] [ 5.16323976e-02 9.98665966e-01 -6.19795923e-04 -5.38148850e-01] [ 1.39756993e-02 -1.01999546e-04 9.99902330e-01 -2.12289633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.99591999999996 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:328.97, Y:-0.54, Z:-2.13 [[ 9.98644178e-01 -5.01483266e-02 -1.39625067e-02 3.28971897e+02] [ 5.01446191e-02 9.98741777e-01 -6.15717994e-04 -5.35461339e-01] [ 1.39758160e-02 -8.52613901e-05 9.99902330e-01 -2.13215146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.02592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:329.00, Y:-0.54, Z:-2.13 [[ 9.98690523e-01 -4.92170136e-02 -1.39615640e-02 3.29001002e+02] [ 4.92129259e-02 9.98788107e-01 -6.36400099e-04 -5.35961834e-01] [ 1.39759658e-02 -5.15226665e-05 9.99902330e-01 -2.13221965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.05591999999996 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:329.03, Y:-0.54, Z:-2.12 [[ 9.98612581e-01 -5.07739076e-02 -1.39614809e-02 3.29029077e+02] [ 5.07699466e-02 9.98710171e-01 -6.38216634e-04 -5.37606359e-01] [ 1.39758778e-02 -7.14924815e-05 9.99902330e-01 -2.11775341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.08592 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:329.06, Y:-0.54, Z:-2.12 [[ 9.98531695e-01 -5.23409846e-02 -1.39598095e-02 3.29059450e+02] [ 5.23366685e-02 9.98629270e-01 -6.74572983e-04 -5.38513446e-01] [ 1.39759822e-02 -5.70274189e-05 9.99902330e-01 -2.11733916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.11591999999996 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:329.09, Y:-0.54, Z:-2.13 [[ 9.98651809e-01 -4.99950111e-02 -1.39665380e-02 3.29087427e+02] [ 4.99924906e-02 9.98749453e-01 -5.29750311e-04 -5.38289834e-01] [ 1.39755571e-02 -1.69185914e-04 9.99902323e-01 -2.13138095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.14592 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:329.12, Y:-0.54, Z:-2.12 [[ 9.98618462e-01 -5.06583163e-02 -1.39607323e-02 3.29117821e+02] [ 5.06541270e-02 9.98716042e-01 -6.53736076e-04 -5.37465117e-01] [ 1.39759244e-02 -5.43357901e-05 9.99902331e-01 -2.11913355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.17591999999996 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:329.15, Y:-0.54, Z:-2.13 [[ 9.98717614e-01 -4.86639880e-02 -1.39622597e-02 3.29147979e+02] [ 4.86600601e-02 9.98815205e-01 -6.21099427e-04 -5.37020022e-01] [ 1.39759424e-02 -5.91014576e-05 9.99902330e-01 -2.13173135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.20592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.18, Y:-0.54, Z:-2.13 [[ 9.98861674e-01 -4.56120105e-02 -1.39606498e-02 3.29176827e+02] [ 4.56073052e-02 9.98959230e-01 -6.55391074e-04 -5.36806809e-01] [ 1.39760137e-02 1.79374076e-05 9.99902331e-01 -2.13250339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.23591999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.21, Y:-0.54, Z:-2.13 [[ 9.98923687e-01 -4.42331322e-02 -1.39605642e-02 3.29205452e+02] [ 4.42282669e-02 9.99021235e-01 -6.57209221e-04 -5.36382204e-01] [ 1.39759706e-02 3.90502975e-05 9.99902331e-01 -2.13213304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.26592 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:329.23, Y:-0.54, Z:-2.12 [[ 9.98981776e-01 -4.29012357e-02 -1.39604780e-02 3.29234024e+02] [ 4.28962147e-02 9.99079316e-01 -6.59036446e-04 -5.35206591e-01] [ 1.39758983e-02 5.95137377e-05 9.99902331e-01 -2.11814174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.29591999999997 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:329.26, Y:-0.53, Z:-2.12 [[ 9.99021134e-01 -4.19754625e-02 -1.39582964e-02 3.29262225e+02] [ 4.19697065e-02 9.99118635e-01 -7.05176276e-04 -5.33156624e-01] [ 1.39755942e-02 1.18660398e-04 9.99902330e-01 -2.11755346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.32592 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:329.29, Y:-0.53, Z:-2.12 [[ 9.99081766e-01 -4.05080231e-02 -1.39543962e-02 3.29292261e+02] [ 4.05009696e-02 9.99179189e-01 -7.87808843e-04 -5.30403264e-01] [ 1.39748548e-02 2.21918874e-04 9.99902322e-01 -2.11632985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.35591999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.32, Y:-0.53, Z:-2.13 [[ 9.99267899e-01 -3.56213146e-02 -1.39566356e-02 3.29323822e+02] [ 3.56144481e-02 9.99365330e-01 -7.40297810e-04 -5.27126816e-01] [ 1.39741482e-02 2.42697962e-04 9.99902327e-01 -2.13094034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.38592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.35, Y:-0.52, Z:-2.13 [[ 9.99352795e-01 -3.31525507e-02 -1.39606343e-02 3.29352703e+02] [ 3.31466335e-02 9.99450285e-01 -6.55081812e-04 -5.23918930e-01] [ 1.39746776e-02 1.91909811e-04 9.99902331e-01 -2.13100222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.41591999999997 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:329.38, Y:-0.52, Z:-2.12 [[ 9.99336469e-01 -3.36411225e-02 -1.39605483e-02 3.29380005e+02] [ 3.36352275e-02 9.99433960e-01 -6.56910457e-04 -5.21232732e-01] [ 1.39747452e-02 1.86908360e-04 9.99902331e-01 -2.11646180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.44591999999994 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:329.41, Y:-0.52, Z:-2.12 [[ 9.99421792e-01 -3.10055006e-02 -1.39549441e-02 3.29409856e+02] [ 3.09976918e-02 9.99519155e-01 -7.75569397e-04 -5.15400643e-01] [ 1.39722808e-02 3.42549901e-04 9.99902324e-01 -2.11700107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.47592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.44, Y:-0.51, Z:-2.13 [[ 9.99520059e-01 -2.76552156e-02 -1.39585645e-02 3.29440631e+02] [ 2.76481500e-02 9.99617472e-01 -6.98941327e-04 -5.11311411e-01] [ 1.39725544e-02 3.12677390e-04 9.99902330e-01 -2.13072233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.50591999999995 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:329.47, Y:-0.51, Z:-2.12 [[ 9.99479122e-01 -2.90962000e-02 -1.39604881e-02 3.29469693e+02] [ 2.90898446e-02 9.99576584e-01 -6.58137517e-04 -5.07178166e-01] [ 1.39737264e-02 2.51686278e-04 9.99902331e-01 -2.11702601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.53592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.50, Y:-0.50, Z:-2.13 [[ 9.99549847e-01 -2.65569274e-02 -1.39582663e-02 3.29500268e+02] [ 2.65496664e-02 9.99647247e-01 -7.05266714e-04 -4.99024984e-01] [ 1.39720722e-02 3.34361922e-04 9.99902330e-01 -2.13000769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.56591999999995 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:329.53, Y:-0.49, Z:-2.11 [[ 9.99427514e-01 -3.08179833e-02 -1.39605162e-02 3.29529229e+02] [ 3.08118048e-02 9.99524987e-01 -6.57494577e-04 -4.94390299e-01] [ 1.39741474e-02 2.26969471e-04 9.99902331e-01 -2.10989042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.59592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:329.56, Y:-0.49, Z:-2.11 [[ 9.99450917e-01 -3.00510894e-02 -1.39569448e-02 3.29560052e+02] [ 3.00437772e-02 9.99548315e-01 -7.33336074e-04 -4.89695281e-01] [ 1.39726782e-02 3.13614071e-04 9.99902328e-01 -2.11226133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.62591999999995 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:329.59, Y:-0.48, Z:-2.11 [[ 9.99395626e-01 -3.18356621e-02 -1.39597274e-02 3.29589352e+02] [ 3.18293494e-02 9.99493091e-01 -6.74202452e-04 -4.83009614e-01] [ 1.39741147e-02 2.29465941e-04 9.99902331e-01 -2.11227130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.65592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:329.62, Y:-0.48, Z:-2.11 [[ 9.99358350e-01 -3.29848307e-02 -1.39602687e-02 3.29616766e+02] [ 3.29787904e-02 9.99455832e-01 -6.62731100e-04 -4.79530844e-01] [ 1.39745320e-02 2.01913084e-04 9.99902331e-01 -2.11314122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.68591999999995 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:329.65, Y:-0.48, Z:-2.11 [[ 9.99358060e-01 -3.29950486e-02 -1.39569071e-02 3.29646341e+02] [ 3.29880193e-02 9.99455478e-01 -7.33624602e-04 -4.76596139e-01] [ 1.39735132e-02 2.72742939e-04 9.99902328e-01 -2.11394593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.71592 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:329.68, Y:-0.47, Z:-2.11 [[ 9.99368415e-01 -3.26789103e-02 -1.39592075e-02 3.29675200e+02] [ 3.26725271e-02 9.99465876e-01 -6.85142338e-04 -4.70629694e-01] [ 1.39741412e-02 2.28627029e-04 9.99902331e-01 -2.11126027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.74591999999996 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:329.71, Y:-0.47, Z:-2.13 [[ 9.99445354e-01 -3.02347160e-02 -1.39587559e-02 3.29705935e+02] [ 3.02279616e-02 9.99542789e-01 -6.94660932e-04 -4.67014242e-01] [ 1.39733767e-02 2.72330902e-04 9.99902331e-01 -2.12734747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.77592 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:329.73, Y:-0.46, Z:-2.11 [[ 9.99326161e-01 -3.39460965e-02 -1.39601632e-02 3.29734216e+02] [ 3.39401165e-02 9.99423647e-01 -6.65123148e-04 -4.63625224e-01] [ 1.39746956e-02 1.90865396e-04 9.99902331e-01 -2.11219118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.80591999999996 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:329.76, Y:-0.46, Z:-2.11 [[ 9.99277899e-01 -3.53391061e-02 -1.39581098e-02 3.29762754e+02] [ 3.53326617e-02 9.99375356e-01 -7.08103192e-04 -4.61402134e-01] [ 1.39744147e-02 2.14414698e-04 9.99902330e-01 -2.11216895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.83592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.79, Y:-0.46, Z:-2.13 [[ 9.99278378e-01 -3.53247034e-02 -1.39602315e-02 3.29793493e+02] [ 3.53188765e-02 9.99375873e-01 -6.63794017e-04 -4.59618474e-01] [ 1.39749669e-02 1.70255317e-04 9.99902331e-01 -2.12589487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.86591999999996 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:329.82, Y:-0.46, Z:-2.11 [[ 9.98974064e-01 -4.30805971e-02 -1.39600180e-02 3.29821911e+02] [ 4.30754648e-02 9.99071598e-01 -6.68254137e-04 -4.59536441e-01] [ 1.39758463e-02 6.62342863e-05 9.99902331e-01 -2.11436591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.89592 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:329.85, Y:-0.46, Z:-2.11 [[ 9.98829587e-01 -4.63103262e-02 -1.39574490e-02 3.29850494e+02] [ 4.63047595e-02 9.98927098e-01 -7.21906714e-04 -4.60869455e-01] [ 1.39759058e-02 7.47654651e-05 9.99902329e-01 -2.11126437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.92591999999996 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:329.88, Y:-0.46, Z:-2.11 [[ 9.98684546e-01 -4.93395644e-02 -1.39565488e-02 3.29878747e+02] [ 4.93340292e-02 9.98782061e-01 -7.40823107e-04 -4.62092404e-01] [ 1.39761025e-02 5.13158017e-05 9.99902328e-01 -2.11112485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.95592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:329.91, Y:-0.46, Z:-2.11 [[ 9.98603084e-01 -5.09620525e-02 -1.39552606e-02 3.29908713e+02] [ 5.09562977e-02 9.98700589e-01 -7.67864002e-04 -4.62295367e-01] [ 1.39762589e-02 5.56829457e-05 9.99902326e-01 -2.11183547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.98591999999996 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:329.94, Y:-0.46, Z:-2.11 [[ 9.98538239e-01 -5.22167115e-02 -1.39571021e-02 3.29937490e+02] [ 5.22116210e-02 9.98635777e-01 -7.29101774e-04 -4.62403780e-01] [ 1.39761327e-02 -6.86921531e-07 9.99902329e-01 -2.11113652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.01592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.97, Y:-0.46, Z:-2.13 [[ 9.98640525e-01 -5.02222161e-02 -1.39582116e-02 3.29969165e+02] [ 5.02172583e-02 9.98738068e-01 -7.05673644e-04 -4.63794535e-01] [ 1.39760378e-02 3.77118151e-06 9.99902330e-01 -2.12555879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.04591999999997 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:330.00, Y:-0.46, Z:-2.11 [[ 9.98574162e-01 -5.15242667e-02 -1.39603765e-02 3.29998018e+02] [ 5.15200763e-02 9.98671741e-01 -6.59872623e-04 -4.64380940e-01] [ 1.39758330e-02 -6.03079113e-05 9.99902331e-01 -2.11229071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.07592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:330.03, Y:-0.46, Z:-2.13 [[ 9.98729756e-01 -4.84155866e-02 -1.39572433e-02 3.30029827e+02] [ 4.84101712e-02 9.98827277e-01 -7.25788734e-04 -4.64539592e-01] [ 1.39760148e-02 4.91942692e-05 9.99902330e-01 -2.12519891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.10591999999997 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:330.06, Y:-0.47, Z:-2.11 [[ 9.98631651e-01 -5.03977974e-02 -1.39602106e-02 3.30059227e+02] [ 5.03934485e-02 9.98729223e-01 -6.63341850e-04 -4.65585482e-01] [ 1.39759012e-02 -4.10689845e-05 9.99902331e-01 -2.10985033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.13592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:330.09, Y:-0.46, Z:-2.11 [[ 9.98625515e-01 -5.05195437e-02 -1.39591028e-02 3.30087508e+02] [ 5.05148821e-02 9.98723072e-01 -6.86553978e-04 -4.64254142e-01] [ 1.39759624e-02 -1.95321106e-05 9.99902331e-01 -2.10945289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.16591999999997 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:330.12, Y:-0.47, Z:-2.11 [[ 9.98657489e-01 -4.98835234e-02 -1.39590261e-02 3.30116650e+02] [ 4.98787773e-02 9.98755042e-01 -6.88157078e-04 -4.65261180e-01] [ 1.39759754e-02 -9.02593407e-06 9.99902331e-01 -2.10717161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.19591999999994 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:330.15, Y:-0.46, Z:-2.12 [[ 9.99005709e-01 -4.23413395e-02 -1.39572118e-02 3.30147490e+02] [ 4.23353275e-02 9.99103194e-01 -7.26051699e-04 -4.64862579e-01] [ 1.39754369e-02 1.34446661e-04 9.99902330e-01 -2.12184926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.22592 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:330.18, Y:-0.46, Z:-2.11 [[ 9.99298050e-01 -3.47638677e-02 -1.39599515e-02 3.30178707e+02] [ 3.47579151e-02 9.99395537e-01 -6.68872313e-04 -4.60590495e-01] [ 1.39747658e-02 1.83183990e-04 9.99902331e-01 -2.11140836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.25591999999995 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:330.21, Y:-0.46, Z:-2.11 [[ 9.99125939e-01 -3.93999492e-02 -1.39643026e-02 3.30205843e+02] [ 3.93957200e-02 9.99223520e-01 -5.77916253e-04 -4.60683503e-01] [ 1.39762295e-02 2.72773638e-05 9.99902327e-01 -2.10837759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.28592 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:330.24, Y:-0.46, Z:-2.11 [[ 9.99337144e-01 -3.36221032e-02 -1.39580325e-02 3.30237256e+02] [ 3.36154935e-02 9.99434589e-01 -7.07954979e-04 -4.57521602e-01] [ 1.39739434e-02 2.38279556e-04 9.99902331e-01 -2.10705155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.31591999999995 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:330.27, Y:-0.46, Z:-2.11 [[ 9.99415843e-01 -3.11941972e-02 -1.39604441e-02 3.30266095e+02] [ 3.11880500e-02 9.99513318e-01 -6.57879937e-04 -4.55875726e-01] [ 1.39741719e-02 2.22096603e-04 9.99902332e-01 -2.10584104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.34592 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:330.30, Y:-0.45, Z:-2.11 [[ 9.99501989e-01 -2.83000644e-02 -1.39599833e-02 3.30295304e+02] [ 2.82935016e-02 9.99599436e-01 -6.67428983e-04 -4.53699489e-01] [ 1.39732797e-02 2.72119786e-04 9.99902332e-01 -2.10588818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.37591999999995 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:330.32, Y:-0.45, Z:-2.10 [[ 9.99586471e-01 -2.51384773e-02 -1.39622369e-02 3.30323969e+02] [ 2.51322549e-02 9.99683942e-01 -6.20965379e-04 -4.49756710e-01] [ 1.39734341e-02 2.69806096e-04 9.99902330e-01 -2.10295702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.40592 meters Centerline goodness : 0.999405 Centerline is valid? [True, True] Translation: X:330.36, Y:-0.45, Z:-2.10 [[ 9.99609720e-01 -2.41992029e-02 -1.39572984e-02 3.30355557e+02] [ 2.41914794e-02 9.99707083e-01 -7.21952503e-04 -4.45860486e-01] [ 1.39706807e-02 3.84023043e-04 9.99902332e-01 -2.10188716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.43591999999995 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:330.39, Y:-0.44, Z:-2.10 [[ 9.99702865e-01 -1.99820820e-02 -1.39605866e-02 3.30385279e+02] [ 1.99748842e-02 9.99800268e-01 -6.54841685e-04 -4.39745390e-01] [ 1.39708833e-02 3.75786009e-04 9.99902332e-01 -2.10203196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.46592 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:330.41, Y:-0.44, Z:-2.10 [[ 9.99698153e-01 -2.02156073e-02 -1.39617918e-02 3.30414991e+02] [ 2.02087729e-02 9.99795583e-01 -6.30430460e-04 -4.35411484e-01] [ 1.39716823e-02 3.48089487e-04 9.99902331e-01 -2.10060163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.49591999999996 meters Centerline goodness : 0.998411 Centerline is valid? [True, True] Translation: X:330.46, Y:-0.43, Z:-2.10 [[ 9.99857500e-01 -9.48700529e-03 -1.39633608e-02 3.30455680e+02] [ 9.47956537e-03 9.99954889e-01 -5.98908537e-04 -4.25052938e-01] [ 1.39684127e-02 4.66456602e-04 9.99902328e-01 -2.10031494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.52592 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:330.47, Y:-0.42, Z:-2.10 [[ 9.99652462e-01 -2.23365608e-02 -1.40011938e-02 3.30473324e+02] [ 2.23408991e-02 9.99750399e-01 1.53498140e-04 -4.23411388e-01] [ 1.39942704e-02 -4.66244050e-04 9.99901967e-01 -2.09878436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.55591999999996 meters Centerline goodness : 0.947846 Centerline is valid? [True, False] Translation: X:330.47, Y:-0.41, Z:-2.10 [[ 9.99897459e-01 -9.86971098e-03 -1.03759415e-02 3.30469234e+02] [ 9.78238668e-03 9.99916588e-01 -8.43336923e-03 -4.10464619e-01] [ 1.04583109e-02 8.33100299e-03 9.99910605e-01 -2.09744464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.58592 meters Centerline goodness : 0.999454 Centerline is valid? [False, True] Translation: X:330.45, Y:-0.40, Z:-2.10 [[ 9.99986853e-01 -2.72193147e-03 -4.34577279e-03 3.30446282e+02] [ 2.67188307e-03 9.99930520e-01 -1.14811367e-02 -4.03860093e-01] [ 4.37672171e-03 1.14693744e-02 9.99924646e-01 -2.10091282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.61591999999996 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:330.48, Y:-0.41, Z:-2.10 [[ 9.99985276e-01 -2.65332912e-03 -4.73374135e-03 3.30476566e+02] [ 2.65315137e-03 9.99996479e-01 -4.38299218e-05 -4.08669729e-01] [ 4.73384098e-03 3.12699441e-05 9.99988795e-01 -2.10384222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.64592 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:330.50, Y:-0.40, Z:-2.10 [[ 9.99986827e-01 -1.99150186e-03 -4.73062730e-03 3.30504320e+02] [ 1.99088711e-03 9.99998009e-01 -1.34658216e-04 -3.96993723e-01] [ 4.73088605e-03 1.25238298e-04 9.99988801e-01 -2.10354413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.67591999999996 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:330.53, Y:-0.39, Z:-2.10 [[ 9.99964692e-01 -6.94557845e-03 -4.73009215e-03 3.30533405e+02] [ 6.94494607e-03 9.99975872e-01 -1.50104354e-04 -3.92985138e-01] [ 4.73102058e-03 1.17248819e-04 9.99988802e-01 -2.10388761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.70592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:330.56, Y:-0.39, Z:-2.11 [[ 9.99326160e-01 -3.63985137e-02 -4.73016357e-03 3.30560941e+02] [ 3.63982207e-02 9.99337354e-01 -1.48060149e-04 -3.92704998e-01] [ 4.73241832e-03 -2.42091575e-05 9.99988802e-01 -2.10916370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.73591999999996 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:330.59, Y:-0.38, Z:-2.10 [[ 9.99836452e-01 -1.74564377e-02 -4.72671050e-03 3.30592903e+02] [ 1.74554655e-02 9.99847611e-01 -2.46852898e-04 -3.78778634e-01] [ 4.73029937e-03 1.64305594e-04 9.99988799e-01 -2.09965372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.76592 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:330.62, Y:-0.37, Z:-2.10 [[ 9.99748475e-01 -2.19229168e-02 -4.73000646e-03 3.30621137e+02] [ 2.19224431e-02 9.99759663e-01 -1.51991431e-04 -3.74582570e-01] [ 4.73220176e-03 4.82599036e-05 9.99988802e-01 -2.09883153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.79591999999997 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:330.65, Y:-0.37, Z:-2.10 [[ 9.99600013e-01 -2.78827447e-02 -4.72939140e-03 3.30651540e+02] [ 2.78822541e-02 9.99611200e-01 -1.69642995e-04 -3.70183454e-01] [ 4.73228272e-03 3.77090468e-05 9.99988802e-01 -2.10343614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.82592 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:330.68, Y:-0.37, Z:-2.10 [[ 9.99526041e-01 -3.04191174e-02 -4.72982383e-03 3.30681857e+02] [ 3.04187140e-02 9.99537231e-01 -1.57217044e-04 -3.68281311e-01] [ 4.73241742e-03 1.32673710e-05 9.99988802e-01 -2.09893003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.85591999999997 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:330.71, Y:-0.37, Z:-2.10 [[ 9.99436528e-01 -3.32303692e-02 -4.72955295e-03 3.30712775e+02] [ 3.32299603e-02 9.99447719e-01 -1.65041368e-04 -3.66770250e-01] [ 4.73242529e-03 7.78551547e-06 9.99988802e-01 -2.09868062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.88592 meters Centerline goodness : 0.998708 Centerline is valid? [True, True] Translation: X:330.74, Y:-0.37, Z:-2.10 [[ 9.99244283e-01 -3.85810083e-02 -4.72945345e-03 3.30742323e+02] [ 3.85806456e-02 9.99255476e-01 -1.67922395e-04 -3.68055751e-01] [ 4.73241088e-03 -1.46698747e-05 9.99988802e-01 -2.09544142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.91591999999997 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:330.77, Y:-0.37, Z:-2.11 [[ 9.99189689e-01 -3.99700609e-02 -4.72858801e-03 3.30774554e+02] [ 3.99695942e-02 9.99200878e-01 -1.93188332e-04 -3.67775463e-01] [ 4.73253104e-03 4.03204489e-06 9.99988802e-01 -2.11341348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.94591999999994 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:330.81, Y:-0.37, Z:-2.11 [[ 9.99153765e-01 -4.08580851e-02 -4.72972078e-03 3.30806353e+02] [ 4.08577872e-02 9.99164959e-01 -1.59624282e-04 -3.67879002e-01] [ 4.73229321e-03 -3.37567225e-05 9.99988802e-01 -2.11279096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.97592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.84, Y:-0.37, Z:-2.11 [[ 9.99016047e-01 -4.40972398e-02 -4.72979018e-03 3.30838260e+02] [ 4.40969881e-02 9.99027242e-01 -1.57540500e-04 -3.71413853e-01] [ 4.73213635e-03 -5.11840140e-05 9.99988802e-01 -2.11349956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.00591999999995 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:330.87, Y:-0.37, Z:-2.10 [[ 9.99026132e-01 -4.38681571e-02 -4.72985840e-03 3.30869206e+02] [ 4.38679127e-02 9.99037328e-01 -1.55465014e-04 -3.74606966e-01] [ 4.73212506e-03 -5.21754033e-05 9.99988802e-01 -2.09682919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.03592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.90, Y:-0.38, Z:-2.11 [[ 9.98934900e-01 -4.58987383e-02 -4.72979835e-03 3.30900762e+02] [ 4.58985079e-02 9.98946096e-01 -1.57295076e-04 -3.80887344e-01] [ 4.73203324e-03 -5.99631459e-05 9.99988802e-01 -2.11140496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.06591999999995 meters Centerline goodness : 0.998610 Centerline is valid? [True, True] Translation: X:330.93, Y:-0.38, Z:-2.09 [[ 9.98923189e-01 -4.61528964e-02 -4.72991615e-03 3.30930575e+02] [ 4.61526860e-02 9.98934385e-01 -1.53669124e-04 -3.82609742e-01] [ 4.73196816e-03 -6.47946833e-05 9.99988802e-01 -2.09236249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.09592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:330.96, Y:-0.38, Z:-2.11 [[ 9.98938162e-01 -4.58276949e-02 -4.72972468e-03 3.30962200e+02] [ 4.58274529e-02 9.98949358e-01 -1.59586819e-04 -3.83075252e-01] [ 4.73206893e-03 -5.73338714e-05 9.99988802e-01 -2.11147295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.12591999999995 meters Centerline goodness : 0.998511 Centerline is valid? [True, True] Translation: X:330.99, Y:-0.38, Z:-2.09 [[ 9.98947327e-01 -4.56274542e-02 -4.72997492e-03 3.30991213e+02] [ 4.56272468e-02 9.98958523e-01 -1.51789020e-04 -3.83972280e-01] [ 4.73197451e-03 -6.41864968e-05 9.99988802e-01 -2.09342981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.15592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:331.02, Y:-0.38, Z:-2.11 [[ 9.99222586e-01 -3.91390419e-02 -4.72858224e-03 3.31023719e+02] [ 3.91385575e-02 9.99233774e-01 -1.94958171e-04 -3.81090989e-01] [ 4.73258955e-03 9.73671958e-06 9.99988801e-01 -2.11122485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.18591999999995 meters Centerline goodness : 0.998856 Centerline is valid? [True, True] Translation: X:331.05, Y:-0.38, Z:-2.10 [[ 9.99285143e-01 -3.75077355e-02 -4.73001521e-03 3.31053360e+02] [ 3.75074472e-02 9.99296337e-01 -1.49673186e-04 -3.79502902e-01] [ 4.73230078e-03 -2.78446048e-05 9.99988802e-01 -2.09540214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.21592 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:331.08, Y:-0.38, Z:-2.10 [[ 9.99475800e-01 -3.20274603e-02 -4.72938766e-03 3.31084218e+02] [ 3.20270170e-02 9.99486989e-01 -1.69456874e-04 -3.77525239e-01] [ 4.73238871e-03 1.78998661e-05 9.99988802e-01 -2.09869710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.24591999999996 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:331.12, Y:-0.38, Z:-2.11 [[ 9.99543296e-01 -2.98467543e-02 -4.72973740e-03 3.31115475e+02] [ 2.98463391e-02 9.99554486e-01 -1.58360947e-04 -3.76178663e-01] [ 4.73235680e-03 1.71232770e-05 9.99988802e-01 -2.11102434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.27592 meters Centerline goodness : 0.998510 Centerline is valid? [True, True] Translation: X:331.14, Y:-0.37, Z:-2.09 [[ 9.99564776e-01 -2.91184620e-02 -4.73005796e-03 3.31144997e+02] [ 2.91180871e-02 9.99575968e-01 -1.48124479e-04 -3.72683140e-01] [ 4.73236542e-03 1.03297719e-05 9.99988802e-01 -2.09491049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.30591999999996 meters Centerline goodness : 0.998659 Centerline is valid? [True, True] Translation: X:331.18, Y:-0.37, Z:-2.10 [[ 9.99589994e-01 -2.82396208e-02 -4.72941265e-03 3.31175958e+02] [ 2.82391379e-02 9.99601182e-01 -1.68856082e-04 -3.69807526e-01] [ 4.73229491e-03 3.52323142e-05 9.99988802e-01 -2.09808807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.33592 meters Centerline goodness : 0.998608 Centerline is valid? [True, True] Translation: X:331.21, Y:-0.37, Z:-2.10 [[ 9.99564115e-01 -2.91411543e-02 -4.73005199e-03 3.31205322e+02] [ 2.91407798e-02 9.99575306e-01 -1.48096394e-04 -3.68247330e-01] [ 4.73235887e-03 1.01944379e-05 9.99988802e-01 -2.09662085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.36591999999996 meters Centerline goodness : 0.998064 Centerline is valid? [True, True] Translation: X:331.24, Y:-0.37, Z:-2.09 [[ 9.99538253e-01 -3.00152195e-02 -4.72936990e-03 3.31236396e+02] [ 3.00147488e-02 9.99549441e-01 -1.70489858e-04 -3.66666082e-01] [ 4.73235633e-03 2.84602857e-05 9.99988802e-01 -2.09428423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.39592 meters Centerline goodness : 0.998611 Centerline is valid? [True, True] Translation: X:331.27, Y:-0.36, Z:-2.09 [[ 9.99510769e-01 -3.09169255e-02 -4.72939253e-03 3.31266410e+02] [ 3.09164684e-02 9.99521957e-01 -1.69743617e-04 -3.64199872e-01] [ 4.73237962e-03 2.34444587e-05 9.99988802e-01 -2.09473854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.42591999999996 meters Centerline goodness : 0.998659 Centerline is valid? [True, True] Translation: X:331.30, Y:-0.36, Z:-2.09 [[ 9.99517412e-01 -3.07013939e-02 -4.72941542e-03 3.31296985e+02] [ 3.07009380e-02 9.99528601e-01 -1.68984069e-04 -3.63086220e-01] [ 4.73237402e-03 2.37050294e-05 9.99988802e-01 -2.09493976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.45592 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:331.33, Y:-0.36, Z:-2.10 [[ 9.99452285e-01 -3.27529176e-02 -4.73046540e-03 3.31327444e+02] [ 3.27526513e-02 9.99463479e-01 -1.33763500e-04 -3.64104586e-01] [ 4.73230855e-03 -2.12450483e-05 9.99988802e-01 -2.09539866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.48591999999996 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:331.36, Y:-0.37, Z:-2.10 [[ 9.99424634e-01 -3.35861998e-02 -4.72955666e-03 3.31357816e+02] [ 3.35857977e-02 9.99435824e-01 -1.64440168e-04 -3.67653270e-01] [ 4.73241128e-03 5.49962095e-06 9.99988802e-01 -2.09525365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.51592 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:331.39, Y:-0.37, Z:-2.10 [[ 9.99411231e-01 -3.39825989e-02 -4.73012512e-03 3.31388403e+02] [ 3.39822931e-02 9.99422425e-01 -1.45029420e-04 -3.68131537e-01] [ 4.73232159e-03 -1.57964675e-05 9.99988802e-01 -2.09686727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.54591999999997 meters Centerline goodness : 0.997568 Centerline is valid? [True, True] Translation: X:331.42, Y:-0.37, Z:-2.09 [[ 9.99378104e-01 -3.49432298e-02 -4.73035639e-03 3.31418467e+02] [ 3.49429724e-02 9.99389298e-01 -1.37083385e-04 -3.68026251e-01] [ 4.73225769e-03 -2.82945790e-05 9.99988802e-01 -2.08578315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.57592 meters Centerline goodness : 0.998858 Centerline is valid? [True, True] Translation: X:331.45, Y:-0.37, Z:-2.09 [[ 9.99389140e-01 -3.46261413e-02 -4.73043526e-03 3.31448305e+02] [ 3.46258932e-02 9.99400335e-01 -1.34372944e-04 -3.68197540e-01] [ 4.73225140e-03 -2.95046845e-05 9.99988802e-01 -2.09165281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.60591999999997 meters Centerline goodness : 0.998858 Centerline is valid? [True, True] Translation: X:331.48, Y:-0.37, Z:-2.09 [[ 9.99449194e-01 -3.28472097e-02 -4.72961140e-03 3.31479702e+02] [ 3.28468072e-02 9.99460385e-01 -1.62779842e-04 -3.68089178e-01] [ 4.73240609e-03 7.33754813e-06 9.99988802e-01 -2.08972435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.63592 meters Centerline goodness : 0.998164 Centerline is valid? [True, True] Translation: X:331.51, Y:-0.37, Z:-2.09 [[ 9.99520691e-01 -3.05943925e-02 -4.72974394e-03 3.31509792e+02] [ 3.05939868e-02 9.99531882e-01 -1.58128507e-04 -3.67775431e-01] [ 4.73236770e-03 1.33509913e-05 9.99988802e-01 -2.09127495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.66591999999997 meters Centerline goodness : 0.947706 Centerline is valid? [True, False] Translation: X:331.51, Y:-0.36, Z:-2.09 [[ 9.99867154e-01 -1.56802571e-02 -4.45009212e-03 3.31509228e+02] [ 1.56561397e-02 9.99862834e-01 -5.40358518e-03 -3.60908806e-01] [ 4.53421132e-03 5.33319607e-03 9.99975499e-01 -2.09099479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.69591999999994 meters Centerline goodness : 0.999901 Centerline is valid? [False, True] Translation: X:331.51, Y:-0.35, Z:-2.09 [[ 9.99977070e-01 -6.41438223e-03 -2.17146919e-03 3.31507273e+02] [ 6.37630517e-03 9.99833281e-01 -1.71100177e-02 -3.49974518e-01] [ 2.28085736e-03 1.70957794e-02 9.99851255e-01 -2.08974488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.72592 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:331.54, Y:-0.37, Z:-2.08 [[ 9.99973501e-01 -6.91311121e-03 -2.28158427e-03 3.31537781e+02] [ 6.91309578e-03 9.99976104e-01 -1.46516916e-05 -3.68457097e-01] [ 2.28163104e-03 -1.12150726e-06 9.99997397e-01 -2.07960032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.75591999999995 meters Centerline goodness : 0.839861 Centerline is valid? [True, False] Translation: X:331.56, Y:-0.36, Z:-2.08 [[ 9.99961762e-01 -4.79264747e-03 -7.31475310e-03 3.31559280e+02] [ 4.73909070e-03 9.99961967e-01 -7.32160155e-03 -3.62451887e-01] [ 7.34956475e-03 7.28665631e-03 9.99946443e-01 -2.07506925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.78592 meters Centerline goodness : 0.933277 Centerline is valid? [False, False] Translation: X:331.56, Y:-0.36, Z:-2.08 [[ 9.99961482e-01 -4.72663670e-03 -7.39555079e-03 3.31559511e+02] [ 4.67254222e-03 9.99962330e-01 -7.31472413e-03 -3.62239051e-01] [ 7.42984625e-03 7.27988636e-03 9.99945899e-01 -2.07528085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.81591999999995 meters Centerline goodness : 0.998860 Centerline is valid? [False, True] Translation: X:331.56, Y:-0.36, Z:-2.08 [[ 9.99961514e-01 -2.73921986e-03 -8.33464384e-03 3.31564886e+02] [ 2.69677456e-03 9.99983361e-01 -5.09961914e-03 -3.63297890e-01] [ 8.34847413e-03 5.07694622e-03 9.99952263e-01 -2.08014973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.84592 meters Centerline goodness : 0.997569 Centerline is valid? [True, True] Translation: X:331.59, Y:-0.37, Z:-2.08 [[ 9.99961264e-01 -2.81692215e-03 -8.33880957e-03 3.31593358e+02] [ 2.81707449e-03 9.99996032e-01 6.52407467e-06 -3.69164704e-01] [ 8.33875810e-03 -3.00148697e-05 9.99965232e-01 -2.07734870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.87591999999995 meters Centerline goodness : 0.997074 Centerline is valid? [True, True] Translation: X:331.62, Y:-0.37, Z:-2.08 [[ 9.99959725e-01 -3.31853291e-03 -8.33876576e-03 3.31621776e+02] [ 3.31834580e-03 9.99994494e-01 -3.62735833e-05 -3.69920247e-01] [ 8.33884022e-03 8.60121401e-06 9.99965231e-01 -2.07657174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.90592 meters Centerline goodness : 0.998661 Centerline is valid? [True, True] Translation: X:331.65, Y:-0.37, Z:-2.08 [[ 9.99964350e-01 -1.32842393e-03 -8.33874743e-03 3.31653207e+02] [ 1.32804929e-03 9.99999117e-01 -5.04647720e-05 -3.69452980e-01] [ 8.33880711e-03 3.93887053e-05 9.99965231e-01 -2.07952434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.93591999999995 meters Centerline goodness : 0.998562 Centerline is valid? [True, True] Translation: X:331.68, Y:-0.37, Z:-2.08 [[ 9.99964019e-01 -1.55697771e-03 -8.33881623e-03 3.31682964e+02] [ 1.55709339e-03 9.99998788e-01 7.38016595e-06 -3.69194725e-01] [ 8.33879463e-03 -2.03642161e-05 9.99965231e-01 -2.08162317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.96592 meters Centerline goodness : 0.997616 Centerline is valid? [True, True] Translation: X:331.71, Y:-0.37, Z:-2.08 [[ 9.99964899e-01 8.15401134e-04 -8.33878273e-03 3.31712658e+02] [-8.15593221e-04 9.99999667e-01 -1.96348417e-05 -3.68676209e-01] [ 8.33876394e-03 2.64352072e-05 9.99965232e-01 -2.07699349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.99591999999996 meters Centerline goodness : 0.997817 Centerline is valid? [True, True] Translation: X:331.74, Y:-0.37, Z:-2.08 [[ 9.99957275e-01 3.98896867e-03 -8.33881469e-03 3.31741902e+02] [-3.98906455e-03 9.99992044e-01 5.13391325e-06 -3.69049096e-01] [ 8.33876882e-03 2.81303762e-05 9.99965231e-01 -2.07610518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.02592 meters Centerline goodness : 0.997817 Centerline is valid? [True, True] Translation: X:331.77, Y:-0.37, Z:-2.08 [[ 9.99958137e-01 3.76696082e-03 -8.33877925e-03 3.31770201e+02] [-3.76725065e-03 9.99992904e-01 -1.90500664e-05 -3.69098163e-01] [ 8.33864832e-03 5.04635405e-05 9.99965232e-01 -2.07586650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.05591999999996 meters Centerline goodness : 0.998362 Centerline is valid? [True, True] Translation: X:331.80, Y:-0.37, Z:-2.08 [[ 9.99948370e-01 5.80715398e-03 -8.33877580e-03 3.31798291e+02] [-5.80753170e-03 9.99983136e-01 -2.10839574e-05 -3.68607687e-01] [ 8.33851274e-03 6.95105737e-05 9.99965232e-01 -2.07880380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.08592 meters Centerline goodness : 0.998263 Centerline is valid? [True, True] Translation: X:331.83, Y:-0.37, Z:-2.08 [[ 9.99931513e-01 8.21180986e-03 -8.33875906e-03 3.31828250e+02] [-8.21233666e-03 9.99966278e-01 -2.89348914e-05 -3.67066964e-01] [ 8.33824025e-03 9.74136064e-05 9.99965232e-01 -2.07648892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.11591999999996 meters Centerline goodness : 0.998014 Centerline is valid? [True, True] Translation: X:331.86, Y:-0.36, Z:-2.08 [[ 9.99898925e-01 1.15153667e-02 -8.33883893e-03 3.31855835e+02] [-1.15157197e-02 9.99933692e-01 5.67346005e-06 -3.64010618e-01] [ 8.33835133e-03 9.03548454e-05 9.99965231e-01 -2.07619398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.14592 meters Centerline goodness : 0.997968 Centerline is valid? [True, True] Translation: X:331.88, Y:-0.36, Z:-2.08 [[ 9.99893281e-01 1.19954972e-02 -8.33879906e-03 3.31884255e+02] [-1.19959872e-02 9.99928046e-01 -8.74620735e-06 -3.62914034e-01] [ 8.33809413e-03 1.08777401e-04 9.99965232e-01 -2.07564476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.17591999999996 meters Centerline goodness : 0.997702 Centerline is valid? [True, True] Translation: X:331.91, Y:-0.36, Z:-2.07 [[ 9.99881458e-01 1.29434248e-02 -8.33887781e-03 3.31913548e+02] [-1.29437529e-02 9.99916226e-01 1.46221228e-05 -3.58389473e-01] [ 8.33836849e-03 9.33159842e-05 9.99965231e-01 -2.07357194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.20592 meters Centerline goodness : 0.996028 Centerline is valid? [True, True] Translation: X:331.93, Y:-0.36, Z:-2.07 [[ 9.99965179e-01 -3.20517516e-04 -8.33895221e-03 3.31934449e+02] [ 3.20814839e-04 9.99999948e-01 3.43171514e-05 -3.60625393e-01] [ 8.33894078e-03 -3.69912160e-05 9.99965230e-01 -2.07107564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.23591999999996 meters Centerline goodness : 0.997367 Centerline is valid? [True, True] Translation: X:331.97, Y:-0.35, Z:-2.07 [[ 9.99876421e-01 1.33278621e-02 -8.33735950e-03 3.31974848e+02] [-1.33314724e-02 9.99911061e-01 -3.77597266e-04 -3.52293203e-01] [ 8.33158542e-03 4.88699881e-04 9.99965172e-01 -2.07263413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.26592 meters Centerline goodness : 0.997221 Centerline is valid? [True, True] Translation: X:332.00, Y:-0.35, Z:-2.07 [[ 9.99909642e-01 1.05442021e-02 -8.33831643e-03 3.32002584e+02] [-1.05440602e-02 9.99944408e-01 6.09765937e-05 -3.48654773e-01] [ 8.33849584e-03 2.69486265e-05 9.99965234e-01 -2.07291254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.29591999999997 meters Centerline goodness : 0.997868 Centerline is valid? [True, True] Translation: X:332.03, Y:-0.35, Z:-2.07 [[ 9.99918289e-01 9.68970732e-03 -8.33820644e-03 3.32032108e+02] [-9.68985059e-03 9.99953052e-01 2.32164631e-05 -3.45521677e-01] [ 8.33803994e-03 5.75814086e-05 9.99965236e-01 -2.07225129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.32592 meters Centerline goodness : 0.997614 Centerline is valid? [True, True] Translation: X:332.06, Y:-0.34, Z:-2.07 [[ 9.99933030e-01 8.02544682e-03 -8.33826865e-03 3.32060118e+02] [-8.02538892e-03 9.99967795e-01 4.04039736e-05 -3.41309208e-01] [ 8.33832438e-03 2.65165811e-05 9.99965235e-01 -2.07235210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.35591999999997 meters Centerline goodness : 0.997570 Centerline is valid? [True, True] Translation: X:332.09, Y:-0.33, Z:-2.07 [[ 9.99956268e-01 4.23500088e-03 -8.33822912e-03 3.32089055e+02] [-4.23488696e-03 9.99991032e-01 3.13186188e-05 -3.34897765e-01] [ 8.33828698e-03 3.99420861e-06 9.99965236e-01 -2.07174271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.38592 meters Centerline goodness : 0.856569 Centerline is valid? [True, False] Translation: X:332.08, Y:-0.32, Z:-2.07 [[ 9.99981078e-01 6.13510551e-03 -4.52731161e-04 3.32083390e+02] [-6.14260372e-03 9.99800426e-01 -1.90099176e-02 -3.16457515e-01] [ 3.36012957e-04 1.90123388e-02 9.99819193e-01 -2.06865953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.41591999999997 meters Centerline goodness : 0.996976 Centerline is valid? [False, True] Translation: X:332.08, Y:-0.31, Z:-2.07 [[ 9.99997521e-01 -2.17088458e-03 -4.95504429e-04 3.32083581e+02] [ 2.15528364e-03 9.99560395e-01 -2.95697667e-02 -3.07476507e-01] [ 5.59479154e-04 2.95686255e-02 9.99562596e-01 -2.06718879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.44591999999994 meters Centerline goodness : 0.997072 Centerline is valid? [True, True] Translation: X:332.12, Y:-0.33, Z:-2.07 [[ 9.99991906e-01 -3.99861681e-03 -4.46559802e-04 3.32115226e+02] [ 3.99845372e-03 9.99991939e-01 -3.65507196e-04 -3.34546395e-01] [ 4.48017726e-04 3.63718689e-04 9.99999833e-01 -2.07306360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.47592 meters Centerline goodness : 0.996972 Centerline is valid? [True, True] Translation: X:332.14, Y:-0.34, Z:-2.07 [[ 9.99961826e-01 -8.72621174e-03 -4.45894245e-04 3.32144154e+02] [ 8.72621269e-03 9.99961926e-01 1.78112526e-07 -3.35379772e-01] [ 4.45875714e-04 -4.06907375e-06 9.99999901e-01 -2.07216991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.50591999999995 meters Centerline goodness : 0.996623 Centerline is valid? [True, True] Translation: X:332.18, Y:-0.34, Z:-2.07 [[ 9.99937937e-01 -1.11320922e-02 -4.45899037e-04 3.32175886e+02] [ 1.11320923e-02 9.99938036e-01 -2.45279592e-06 -3.35695978e-01] [ 4.45898712e-04 -2.51114552e-06 9.99999901e-01 -2.07110671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.53592 meters Centerline goodness : 0.996677 Centerline is valid? [True, True] Translation: X:332.21, Y:-0.34, Z:-2.07 [[ 9.99870981e-01 -1.60568779e-02 -4.45894225e-04 3.32207180e+02] [ 1.60568793e-02 9.99871080e-01 -4.58409371e-07 -3.36676455e-01] [ 4.45844101e-04 -6.70131950e-06 9.99999901e-01 -2.07026084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.56591999999995 meters Centerline goodness : 0.900074 Centerline is valid? [True, False] Translation: X:332.21, Y:-0.33, Z:-2.07 [[ 9.99981519e-01 -4.80293425e-03 3.72747213e-03 3.32205343e+02] [ 4.83615142e-03 9.99948216e-01 -8.95419465e-03 -3.27878948e-01] [-3.68427270e-03 8.97205579e-03 9.99952963e-01 -2.07075139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.59592 meters Centerline goodness : 0.996630 Centerline is valid? [False, True] Translation: X:332.21, Y:-0.34, Z:-2.07 [[ 9.99993707e-01 -7.78275847e-04 3.46121942e-03 3.32206021e+02] [ 7.86974768e-04 9.99996534e-01 -2.51260187e-03 -3.38104448e-01] [-3.45925193e-03 2.51530995e-03 9.99990853e-01 -2.07200713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.62591999999995 meters Centerline goodness : 0.997867 Centerline is valid? [True, True] Translation: X:332.24, Y:-0.34, Z:-2.07 [[ 9.99990978e-01 -2.38184278e-03 3.51733148e-03 3.32237255e+02] [ 2.38212180e-03 9.99997160e-01 -7.51413705e-05 -3.44388422e-01] [-3.51714251e-03 8.35194045e-05 9.99993811e-01 -2.07465995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.65592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:332.27, Y:-0.35, Z:-2.09 [[ 9.99992391e-01 -1.68593207e-03 3.51786947e-03 3.32270033e+02] [ 1.68612472e-03 9.99998577e-01 -5.17962369e-05 -3.47416043e-01] [-3.51777714e-03 5.77274094e-05 9.99993811e-01 -2.09142600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.68591999999995 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:332.30, Y:-0.35, Z:-2.09 [[ 9.99990066e-01 -2.73815202e-03 3.51715779e-03 3.32301981e+02] [ 2.73845817e-03 9.99996247e-01 -8.22345614e-05 -3.53593459e-01] [-3.51691942e-03 9.18653340e-05 9.99993811e-01 -2.09169081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.71592 meters Centerline goodness : 0.998015 Centerline is valid? [True, True] Translation: X:332.33, Y:-0.36, Z:-2.08 [[ 9.99985143e-01 -4.16457212e-03 3.51712256e-03 3.32331968e+02] [ 4.16489230e-03 9.99991323e-01 -8.37146752e-05 -3.59236137e-01] [-3.51674341e-03 9.83618681e-05 9.99993811e-01 -2.07561442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.74591999999996 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:332.36, Y:-0.37, Z:-2.09 [[ 9.99976951e-01 -5.80727916e-03 3.51747238e-03 3.32363343e+02] [ 5.80755800e-03 9.99983134e-01 -6.90631713e-05 -3.68313375e-01] [-3.51701198e-03 8.94895043e-05 9.99993811e-01 -2.09298394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.77592 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:332.39, Y:-0.37, Z:-2.08 [[ 9.99974991e-01 -6.13569094e-03 3.51709404e-03 3.32393630e+02] [ 6.13602698e-03 9.99981171e-01 -8.47621089e-05 -3.72425327e-01] [-3.51650774e-03 1.06340973e-04 9.99993811e-01 -2.07736293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.80591999999996 meters Centerline goodness : 0.997715 Centerline is valid? [True, True] Translation: X:332.42, Y:-0.38, Z:-2.08 [[ 9.99952313e-01 -9.11048166e-03 3.51720644e-03 3.32424048e+02] [ 9.11081981e-03 9.99958492e-01 -8.01294569e-05 -3.78238762e-01] [-3.51633043e-03 1.12170270e-04 9.99993811e-01 -2.07777277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.83592 meters Centerline goodness : 0.931539 Centerline is valid? [True, False] Translation: X:332.45, Y:-0.38, Z:-2.07 [[ 9.99997428e-01 -2.25967764e-03 -1.95800134e-04 3.32445046e+02] [ 2.25937924e-03 9.99996306e-01 -1.51102117e-03 -3.80329425e-01] [ 1.99213832e-04 1.51057490e-03 9.99998839e-01 -2.07379591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.86591999999996 meters Centerline goodness : 0.997567 Centerline is valid? [False, True] Translation: X:332.45, Y:-0.39, Z:-2.07 [[ 9.99996963e-01 -2.45691874e-03 -1.93273360e-04 3.32445056e+02] [ 2.45696735e-03 9.99996950e-01 2.51678551e-04 -3.88690850e-01] [ 1.92654416e-04 -2.52152653e-04 9.99999950e-01 -2.07410705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.89592 meters Centerline goodness : 0.997813 Centerline is valid? [True, True] Translation: X:332.48, Y:-0.39, Z:-2.07 [[ 9.99996060e-01 -2.79981153e-03 -2.00430157e-04 3.32475195e+02] [ 2.79981280e-03 9.99996080e-01 6.06279935e-06 -3.91792729e-01] [ 2.00412397e-04 -6.62394239e-06 9.99999980e-01 -2.07318408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.92591999999996 meters Centerline goodness : 0.997668 Centerline is valid? [True, True] Translation: X:332.51, Y:-0.40, Z:-2.08 [[ 9.99999858e-01 -4.94728527e-04 -2.00431562e-04 3.32508565e+02] [ 4.94729742e-04 9.99999878e-01 6.01502567e-06 -3.96782374e-01] [ 2.00428562e-04 -6.11418427e-06 9.99999980e-01 -2.07701560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.95592 meters Centerline goodness : 0.997419 Centerline is valid? [True, True] Translation: X:332.54, Y:-0.40, Z:-2.07 [[ 9.99982963e-01 5.83391509e-03 -2.00325432e-04 3.32535672e+02] [-5.83391327e-03 9.99982983e-01 9.70301035e-06 -3.99604913e-01] [ 2.00378630e-04 -8.53416384e-06 9.99999980e-01 -2.07495121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.98591999999996 meters Centerline goodness : 0.998213 Centerline is valid? [True, True] Translation: X:332.57, Y:-0.40, Z:-2.08 [[ 9.99957748e-01 9.19036492e-03 -2.00432006e-04 3.32566244e+02] [-9.19036392e-03 9.99957768e-01 5.90040799e-06 -4.02189385e-01] [ 2.00477768e-04 -4.05811561e-06 9.99999980e-01 -2.07793143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.01592 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:332.60, Y:-0.40, Z:-2.08 [[ 9.99894676e-01 1.45119777e-02 -2.00411001e-04 3.32596394e+02] [-1.45119767e-02 9.99894696e-01 6.65377920e-06 -4.04204600e-01] [ 2.00486456e-04 -3.74471862e-06 9.99999980e-01 -2.08020310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.04591999999997 meters Centerline goodness : 0.997371 Centerline is valid? [True, True] Translation: X:332.63, Y:-0.40, Z:-2.07 [[ 9.99824156e-01 1.87514517e-02 -2.00424565e-04 3.32628602e+02] [-1.87514508e-02 9.99824176e-01 6.16252228e-06 -4.03510924e-01] [ 2.00504882e-04 -2.40318727e-06 9.99999980e-01 -2.07035409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.07592 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:332.66, Y:-0.41, Z:-2.08 [[ 9.99824520e-01 1.87320286e-02 -2.00336416e-04 3.32656098e+02] [-1.87320271e-02 9.99824540e-01 9.41570391e-06 -4.05620340e-01] [ 2.00477641e-04 -5.66134446e-06 9.99999980e-01 -2.07578254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.10591999999997 meters Centerline goodness : 0.997121 Centerline is valid? [True, True] Translation: X:332.70, Y:-0.38, Z:-2.09 [[ 9.96671170e-01 8.15263066e-02 -2.00428771e-04 3.32695972e+02] [-8.15263070e-02 9.96671190e-01 5.90235974e-06 -3.80629552e-01] [ 2.00242779e-04 1.04575057e-05 9.99999980e-01 -2.08901023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.13592 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:332.72, Y:-0.41, Z:-2.09 [[ 9.99756924e-01 2.20466285e-02 -2.00178546e-04 3.32715786e+02] [-2.20466259e-02 9.99756943e-01 1.53659140e-05 -4.08276114e-01] [ 2.00468658e-04 -1.09489174e-05 9.99999980e-01 -2.08960275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.16591999999997 meters Centerline goodness : 0.996676 Centerline is valid? [True, True] Translation: X:332.75, Y:-0.41, Z:-2.07 [[ 9.99703089e-01 2.43658335e-02 -2.00435561e-04 3.32746941e+02] [-2.43658330e-02 9.99703109e-01 4.94200408e-06 -4.08461343e-01] [ 2.00496470e-04 -5.67573309e-08 9.99999980e-01 -2.06756559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.19591999999994 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:332.78, Y:-0.41, Z:-2.07 [[ 9.99701952e-01 2.44124241e-02 -2.00400460e-04 3.32776352e+02] [-2.44124233e-02 9.99701972e-01 6.37466240e-06 -4.08704695e-01] [ 2.00496356e-04 -1.48050160e-06 9.99999980e-01 -2.07367123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.22592 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:332.80, Y:-0.41, Z:-2.07 [[ 9.99682145e-01 2.52104927e-02 -2.00422647e-04 3.32804930e+02] [-2.52104921e-02 9.99682165e-01 5.44982928e-06 -4.09378235e-01] [ 2.00496338e-04 -3.95343468e-07 9.99999980e-01 -2.07306088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.25591999999995 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:332.83, Y:-0.41, Z:-2.09 [[ 9.99619510e-01 2.75825187e-02 -2.00430671e-04 3.32834074e+02] [-2.75825182e-02 9.99619530e-01 5.10977150e-06 -4.09702474e-01] [ 2.00495354e-04 4.20555360e-07 9.99999980e-01 -2.08904416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.28592 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:332.86, Y:-0.41, Z:-2.08 [[ 9.99609498e-01 2.79430164e-02 -2.00440685e-04 3.32863666e+02] [-2.79430160e-02 9.99609518e-01 4.68100203e-06 -4.09037815e-01] [ 2.00493217e-04 9.21743166e-07 9.99999980e-01 -2.07580121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.31591999999995 meters Centerline goodness : 0.869360 Centerline is valid? [True, False] Translation: X:332.86, Y:-0.41, Z:-2.08 [[ 9.99918196e-01 1.23320214e-02 3.39439569e-03 3.32862973e+02] [-1.23468138e-02 9.99914217e-01 4.37196038e-03 -4.13958338e-01] [-3.34018940e-03 -4.41351271e-03 9.99984682e-01 -2.07705931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.34592 meters Centerline goodness : 0.998810 Centerline is valid? [False, True] Translation: X:332.86, Y:-0.41, Z:-2.08 [[ 9.99959787e-01 8.28763305e-03 3.42636427e-03 3.32862883e+02] [-8.28411402e-03 9.99965145e-01 -1.03996666e-03 -4.09056292e-01] [-3.43486371e-03 1.01154045e-03 9.99993589e-01 -2.07757378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.37591999999995 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:332.90, Y:-0.41, Z:-2.08 [[ 9.99940202e-01 1.03844128e-02 3.42861437e-03 3.32895485e+02] [-1.03844557e-02 9.99946080e-01 -5.27090585e-06 -4.09325119e-01] [-3.42848424e-03 -3.03337036e-05 9.99994122e-01 -2.08045688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.40592 meters Centerline goodness : 0.998462 Centerline is valid? [True, True] Translation: X:332.93, Y:-0.41, Z:-2.08 [[ 9.99935962e-01 1.07850021e-02 3.42858641e-03 3.32926535e+02] [-1.07850058e-02 9.99941840e-01 -1.74239167e-05 -4.06520565e-01] [-3.42857492e-03 -1.95545234e-05 9.99994122e-01 -2.07949053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.43591999999995 meters Centerline goodness : 0.998708 Centerline is valid? [True, True] Translation: X:332.96, Y:-0.40, Z:-2.08 [[ 9.99945757e-01 9.83505713e-03 3.42859649e-03 3.32956892e+02] [-9.83506961e-03 9.99951634e-01 -1.32181969e-05 -4.04441740e-01] [-3.42856067e-03 -2.05030053e-05 9.99994122e-01 -2.07530877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.46592 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:332.99, Y:-0.40, Z:-2.08 [[ 9.99937186e-01 1.06709215e-02 3.42861665e-03 3.32988181e+02] [-1.06709682e-02 9.99943064e-01 -4.68618368e-06 -4.02839438e-01] [-3.42847144e-03 -3.19007698e-05 9.99994122e-01 -2.07856612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.49591999999996 meters Centerline goodness : 0.998957 Centerline is valid? [True, True] Translation: X:333.02, Y:-0.40, Z:-2.08 [[ 9.99943363e-01 1.00755056e-02 3.42858450e-03 3.33019406e+02] [-1.00755049e-02 9.99949241e-01 -1.74563573e-05 -4.01280361e-01] [-3.42858635e-03 -1.70893514e-05 9.99994122e-01 -2.07855590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.52592 meters Centerline goodness : 0.765878 Centerline is valid? [True, False] Translation: X:333.02, Y:-0.40, Z:-2.08 [[ 9.99975882e-01 5.97512721e-03 3.54023398e-03 3.33019191e+02] [-5.95524345e-03 9.99966583e-01 -5.60067991e-03 -3.95779141e-01] [-3.57358045e-03 5.57946188e-03 9.99978049e-01 -2.07878787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.55591999999996 meters Centerline goodness : 0.999454 Centerline is valid? [False, True] Translation: X:333.02, Y:-0.39, Z:-2.08 [[ 9.99991285e-01 -2.16383905e-03 3.57041630e-03 3.33019174e+02] [ 2.21993994e-03 9.99872956e-01 -1.57842772e-02 -3.87601207e-01] [-3.53580807e-03 1.57920657e-02 9.99869046e-01 -2.07834081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.58592 meters Centerline goodness : 0.998512 Centerline is valid? [True, True] Translation: X:333.05, Y:-0.40, Z:-2.08 [[ 9.99988622e-01 -3.37871037e-03 3.36741396e-03 3.33051601e+02] [ 3.37869084e-03 9.99994292e-01 1.14903013e-05 -4.00177935e-01] [-3.36743356e-03 -1.12719904e-07 9.99994330e-01 -2.07665032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.61591999999996 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:333.08, Y:-0.39, Z:-2.08 [[ 9.99994049e-01 -7.52279081e-04 3.36704172e-03 3.33083359e+02] [ 7.52146051e-04 9.99999716e-01 4.07755062e-05 -3.94536126e-01] [-3.36707143e-03 -3.82427564e-05 9.99994331e-01 -2.07898110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.64592 meters Centerline goodness : 0.999405 Centerline is valid? [True, True] Translation: X:333.12, Y:-0.39, Z:-2.08 [[ 9.99994186e-01 5.38915039e-04 3.36703687e-03 3.33115140e+02] [-5.39056685e-04 9.99999854e-01 4.11610559e-05 -3.91478583e-01] [-3.36701419e-03 -4.29758403e-05 9.99994331e-01 -2.07782789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.67591999999996 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:333.15, Y:-0.39, Z:-2.08 [[ 9.99989631e-01 3.06610225e-03 3.36706245e-03 3.33146353e+02] [-3.06625135e-03 9.99995298e-01 3.91211544e-05 -3.86414866e-01] [-3.36692667e-03 -4.94450085e-05 9.99994331e-01 -2.08072601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.70592 meters Centerline goodness : 0.998364 Centerline is valid? [True, True] Translation: X:333.18, Y:-0.38, Z:-2.08 [[ 9.99991889e-01 2.21042643e-03 3.36693586e-03 3.33178298e+02] [-2.21060480e-03 9.99997555e-01 4.92568843e-05 -3.84504850e-01] [-3.36681875e-03 -5.66994493e-05 9.99994331e-01 -2.07654040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.73591999999996 meters Centerline goodness : 0.873383 Centerline is valid? [True, False] Translation: X:333.16, Y:-0.37, Z:-2.08 [[ 9.99989699e-01 3.07438171e-04 4.52857829e-03 3.33156126e+02] [-2.36470354e-04 9.99877295e-01 -1.56633107e-02 -3.71468080e-01] [-4.53283811e-03 1.56620785e-02 9.99867068e-01 -2.07667978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.76592 meters Centerline goodness : 0.972720 Centerline is valid? [False, True] Translation: X:333.16, Y:-0.37, Z:-2.08 [[ 9.99980385e-01 4.47506485e-03 4.38205975e-03 3.33156524e+02] [-4.42614092e-03 9.99928471e-01 -1.11113634e-02 -3.72916189e-01] [-4.43147038e-03 1.10917498e-02 9.99928665e-01 -2.07712293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.79591999999997 meters Centerline goodness : 0.929432 Centerline is valid? [True, False] Translation: X:333.16, Y:-0.36, Z:-2.08 [[ 9.99989357e-01 4.54347206e-04 4.59128699e-03 3.33156032e+02] [-3.74283353e-04 9.99848120e-01 -1.74240534e-02 -3.63513566e-01] [-4.59850623e-03 1.74221495e-02 9.99837648e-01 -2.07594770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.82592 meters Centerline goodness : 0.998959 Centerline is valid? [False, True] Translation: X:333.16, Y:-0.36, Z:-2.08 [[ 9.99991697e-01 -1.55654730e-03 3.76599120e-03 3.33161001e+02] [ 1.63366578e-03 9.99787246e-01 -2.05619380e-02 -3.58037073e-01] [-3.73318435e-03 2.05679197e-02 9.99781488e-01 -2.07990299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.85591999999997 meters Centerline goodness : 0.989581 Centerline is valid? [True, True] Translation: X:333.19, Y:-0.39, Z:-2.09 [[ 9.98450948e-01 -5.55137128e-02 3.73250136e-03 3.33192513e+02] [ 5.55152506e-02 9.98457791e-01 -3.09577517e-04 -3.94457623e-01] [-3.70955926e-03 5.16308713e-04 9.99992986e-01 -2.09327155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.88592 meters Centerline goodness : 0.890956 Centerline is valid? [True, False] Translation: X:333.19, Y:-0.38, Z:-2.09 [[ 9.99118845e-01 -4.18383547e-02 3.32937470e-03 3.33191818e+02] [ 4.18633673e-02 9.99092619e-01 -7.83567740e-03 -3.83010145e-01] [-2.99852184e-03 7.96815179e-03 9.99963758e-01 -2.09238664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.91591999999997 meters Centerline goodness : 0.908491 Centerline is valid? [False, False] Translation: X:333.19, Y:-0.37, Z:-2.09 [[ 9.99619046e-01 -2.74438275e-02 2.93234229e-03 3.33192665e+02] [ 2.74832559e-02 9.99518847e-01 -1.43786603e-02 -3.72121371e-01] [-2.53632591e-03 1.44537730e-02 9.99892322e-01 -2.09247486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.94591999999994 meters Centerline goodness : 0.908491 Centerline is valid? [False, False] Translation: X:333.19, Y:-0.37, Z:-2.09 [[ 9.99919878e-01 -1.21124728e-02 3.67768567e-03 3.33191785e+02] [ 1.21795728e-02 9.99748952e-01 -1.88066559e-02 -3.66042914e-01] [-3.44896729e-03 1.88499417e-02 9.99816375e-01 -2.09210401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.97592 meters Centerline goodness : 0.999403 Centerline is valid? [False, True] Translation: X:333.19, Y:-0.36, Z:-2.09 [[ 9.99921825e-01 -1.19966620e-02 3.52488065e-03 3.33192183e+02] [ 1.20646520e-02 9.99728267e-01 -1.99458432e-02 -3.61350799e-01] [-3.28463928e-03 1.99868104e-02 9.99794848e-01 -2.09150154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.00591999999995 meters Centerline goodness : 0.957462 Centerline is valid? [True, True] Translation: X:333.22, Y:-0.34, Z:-2.11 [[ 9.97402458e-01 7.19597239e-02 3.18367583e-03 3.33221253e+02] [-7.19596512e-02 9.97407534e-01 -1.37502499e-04 -3.38730595e-01] [-3.18531690e-03 -9.19508724e-05 9.99994923e-01 -2.11228690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.03592 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:333.25, Y:-0.37, Z:-2.09 [[ 9.99878508e-01 -1.52597473e-02 3.17963751e-03 3.33251854e+02] [ 1.52595012e-02 9.99883562e-01 1.01640281e-04 -3.73700246e-01] [-3.18081829e-03 -5.31082495e-05 9.99994940e-01 -2.09498409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.06591999999995 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:333.29, Y:-0.37, Z:-2.11 [[ 9.99932534e-01 -1.11721354e-02 3.17983547e-03 3.33286421e+02] [ 1.11719072e-02 9.99937588e-01 8.95266647e-05 -3.70325316e-01] [-3.18063721e-03 -5.39957979e-05 9.99994940e-01 -2.10605650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.09592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:333.32, Y:-0.37, Z:-2.11 [[ 9.99937677e-01 -1.07017245e-02 3.18045874e-03 3.33319093e+02] [ 1.07016216e-02 9.99942735e-01 4.93962374e-05 -3.65150692e-01] [-3.18080524e-03 -1.53570930e-05 9.99994941e-01 -2.10508985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.12591999999995 meters Centerline goodness : 0.998808 Centerline is valid? [True, True] Translation: X:333.35, Y:-0.36, Z:-2.09 [[ 9.99888609e-01 -1.45826439e-02 3.18048306e-03 3.33348034e+02] [ 1.45825657e-02 9.99893668e-01 4.77774117e-05 -3.63476146e-01] [-3.18084159e-03 -1.39248655e-06 9.99994941e-01 -2.09111991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.15592 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:333.38, Y:-0.36, Z:-2.09 [[ 9.99891703e-01 -1.43690656e-02 3.17989245e-03 3.33380085e+02] [ 1.43688580e-02 9.99896759e-01 8.81103515e-05 -3.61593639e-01] [-3.18083022e-03 -4.24093864e-05 9.99994940e-01 -2.09117067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.18591999999995 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:333.41, Y:-0.36, Z:-2.10 [[ 9.99922032e-01 -1.20754853e-02 3.17987962e-03 3.33411441e+02] [ 1.20752631e-02 9.99927087e-01 8.90462387e-05 -3.58075344e-01] [-3.18072305e-03 -5.06414127e-05 9.99994940e-01 -2.09530197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.21592 meters Centerline goodness : 0.998761 Centerline is valid? [True, True] Translation: X:333.44, Y:-0.35, Z:-2.09 [[ 9.99922608e-01 -1.20277345e-02 3.17974336e-03 3.33443605e+02] [ 1.20274793e-02 9.99927662e-01 9.93614650e-05 -3.54358824e-01] [-3.18070844e-03 -6.11094779e-05 9.99994940e-01 -2.09348678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.24591999999996 meters Centerline goodness : 0.983093 Centerline is valid? [True, True] Translation: X:333.49, Y:-0.32, Z:-2.11 [[ 9.98059010e-01 6.21940485e-02 3.17994189e-03 3.33488541e+02] [-6.21946298e-02 9.98064036e-01 8.41522072e-05 -3.20349101e-01] [-3.16855187e-03 -2.81764177e-04 9.99994940e-01 -2.10823673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.27592 meters Centerline goodness : 0.998364 Centerline is valid? [True, True] Translation: X:333.50, Y:-0.35, Z:-2.09 [[ 9.99845166e-01 -1.73064288e-02 3.18310539e-03 3.33502761e+02] [ 1.73070279e-02 9.99850209e-01 -1.60760633e-04 -3.51978806e-01] [-3.17984640e-03 2.15825835e-04 9.99994921e-01 -2.09128413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.30591999999996 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:333.54, Y:-0.35, Z:-2.11 [[ 9.99908252e-01 -1.31673862e-02 3.17930983e-03 3.33537961e+02] [ 1.31671556e-02 9.99913305e-01 9.34598865e-05 -3.49661779e-01] [-3.18026482e-03 -5.15888446e-05 9.99994942e-01 -2.10688264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.33592 meters Centerline goodness : 0.997077 Centerline is valid? [True, True] Translation: X:333.57, Y:-0.35, Z:-2.09 [[ 9.99829122e-01 -1.82103110e-02 3.17999546e-03 3.33567040e+02] [ 1.82102604e-02 9.99834178e-01 4.48863483e-05 -3.48029663e-01] [-3.18028554e-03 1.30298671e-05 9.99994943e-01 -2.08725971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.36591999999996 meters Centerline goodness : 0.764173 Centerline is valid? [True, False] Translation: X:333.57, Y:-0.33, Z:-2.08 [[ 9.99909435e-01 -1.31446852e-02 -2.88768389e-03 3.33572695e+02] [ 1.30889430e-02 9.99742415e-01 -1.85414100e-02 -3.28478395e-01] [ 3.13066106e-03 1.85019341e-02 9.99823923e-01 -2.08273894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.39592 meters Centerline goodness : 1.000000 Centerline is valid? [False, True] Translation: X:333.60, Y:-0.33, Z:-2.08 [[ 9.99980591e-01 -1.12931465e-03 -6.12717223e-03 3.33595625e+02] [ 1.03400095e-03 9.99878761e-01 -1.55368334e-02 -3.27942747e-01] [ 6.14397535e-03 1.55301963e-02 9.99860523e-01 -2.08076194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.42591999999996 meters Centerline goodness : 0.956122 Centerline is valid? [True, True] Translation: X:333.64, Y:-0.30, Z:-2.09 [[ 9.96404546e-01 8.45036588e-02 -6.09202770e-03 3.33636842e+02] [-8.45051416e-02 9.96423043e-01 1.40563826e-05 -2.98927049e-01] [ 6.07142460e-03 5.00801820e-04 9.99981443e-01 -2.08928766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.45592 meters Centerline goodness : 0.998756 Centerline is valid? [True, True] Translation: X:333.65, Y:-0.34, Z:-2.07 [[ 9.99942241e-01 -8.85512280e-03 -6.09104223e-03 3.33649251e+02] [ 8.85733008e-03 9.99960717e-01 3.35501881e-04 -3.40311883e-01] [ 6.08783205e-03 -3.89432875e-04 9.99981393e-01 -2.06913413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.48591999999996 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:333.68, Y:-0.34, Z:-2.08 [[ 9.99976373e-01 -3.18521068e-03 -6.09156415e-03 3.33683924e+02] [ 3.18455978e-03 9.99994922e-01 -1.16549350e-04 -3.38068109e-01] [ 6.09190446e-03 9.71476466e-05 9.99981439e-01 -2.08475381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.51592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.71, Y:-0.34, Z:-2.08 [[ 9.99971932e-01 -4.36243972e-03 -6.09132136e-03 3.33713096e+02] [ 4.36259099e-03 9.99990484e-01 1.15476885e-05 -3.37677521e-01] [ 6.09121302e-03 -3.81213081e-05 9.99981448e-01 -2.08394265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.54591999999997 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:333.74, Y:-0.34, Z:-2.09 [[ 9.99964713e-01 -5.78523403e-03 -6.09132271e-03 3.33741915e+02] [ 5.78540707e-03 9.99983264e-01 1.07885775e-05 -3.37794151e-01] [ 6.09115835e-03 -4.60289782e-05 9.99981448e-01 -2.08539773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.57592 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:333.77, Y:-0.34, Z:-2.07 [[ 9.99957735e-01 -6.88649731e-03 -6.09132396e-03 3.33772193e+02] [ 6.88668613e-03 9.99976286e-01 1.00244356e-05 -3.35967860e-01] [ 6.09111048e-03 -5.19730481e-05 9.99981448e-01 -2.07175862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.60591999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.80, Y:-0.34, Z:-2.08 [[ 9.99961498e-01 -6.31657738e-03 -6.09132521e-03 3.33802506e+02] [ 6.31675094e-03 9.99980049e-01 9.25449955e-06 -3.35047336e-01] [ 6.09114523e-03 -4.77315275e-05 9.99981448e-01 -2.08386608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.63592 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:333.83, Y:-0.33, Z:-2.08 [[ 9.99959388e-01 -6.64212083e-03 -6.09132458e-03 3.33831612e+02] [ 6.64230285e-03 9.99977940e-01 9.65224081e-06 -3.34891188e-01] [ 6.09112609e-03 -5.01122714e-05 9.99981448e-01 -2.08388758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.66591999999997 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:333.86, Y:-0.34, Z:-2.07 [[ 9.99954311e-01 -7.36686516e-03 -6.09132569e-03 3.33860028e+02] [ 7.36705600e-03 9.99972863e-01 8.89299463e-06 -3.35066823e-01] [ 6.09109488e-03 -5.37677258e-05 9.99981448e-01 -2.07094158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.69591999999994 meters Centerline goodness : 0.998712 Centerline is valid? [True, True] Translation: X:333.89, Y:-0.34, Z:-2.07 [[ 9.99957119e-01 -6.97527328e-03 -6.09137605e-03 3.33888684e+02] [ 6.97520964e-03 9.99975672e-01 -3.16931556e-05 -3.35274974e-01] [ 6.09144893e-03 -1.07968284e-05 9.99981447e-01 -2.06808737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.72592 meters Centerline goodness : 0.999257 Centerline is valid? [True, True] Translation: X:333.92, Y:-0.34, Z:-2.07 [[ 9.99967336e-01 -5.31248971e-03 -6.09139246e-03 3.33918456e+02] [ 5.31231952e-03 9.99985889e-01 -4.41188420e-05 -3.35034224e-01] [ 6.09154089e-03 1.17579778e-05 9.99981446e-01 -2.06720049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.75591999999995 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:333.95, Y:-0.34, Z:-2.07 [[ 9.99963866e-01 -5.92979641e-03 -6.09136284e-03 3.33947242e+02] [ 5.92975888e-03 9.99982419e-01 -2.42214505e-05 -3.36749613e-01] [ 6.09139938e-03 -1.18997376e-05 9.99981447e-01 -2.06575027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.78592 meters Centerline goodness : 0.991220 Centerline is valid? [True, True] Translation: X:333.98, Y:-0.34, Z:-2.05 [[ 9.99955317e-01 -7.22905956e-03 -6.09132940e-03 3.33978247e+02] [ 7.22919524e-03 9.99973869e-01 2.56025040e-07 -3.36001175e-01] [ 6.09116838e-03 -4.42914231e-05 9.99981448e-01 -2.05313995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.81591999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.01, Y:-0.34, Z:-2.08 [[ 9.99954048e-01 -7.40257231e-03 -6.09128393e-03 3.34005812e+02] [ 7.40289461e-03 9.99972598e-01 3.03664437e-05 -3.38884582e-01] [ 6.09089222e-03 -7.54581813e-05 9.99981447e-01 -2.08293122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.84592 meters Centerline goodness : 0.995786 Centerline is valid? [True, True] Translation: X:334.03, Y:-0.34, Z:-2.06 [[ 9.99912032e-01 -1.17823864e-02 -6.09131218e-03 3.34032526e+02] [ 1.17826509e-02 9.99930582e-01 7.54052776e-06 -3.41728113e-01] [ 6.09080049e-03 -7.93116695e-05 9.99981448e-01 -2.05899224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.87591999999995 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:334.06, Y:-0.34, Z:-2.07 [[ 9.99924510e-01 -1.06709576e-02 -6.09142985e-03 3.34062748e+02] [ 1.06707252e-02 9.99943064e-01 -7.06464666e-05 -3.43238590e-01] [ 6.09183689e-03 5.64115961e-06 9.99981445e-01 -2.06832400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.90592 meters Centerline goodness : 0.999009 Centerline is valid? [True, True] Translation: X:334.09, Y:-0.35, Z:-2.07 [[ 9.99939830e-01 -9.12314034e-03 -6.09140772e-03 3.34092938e+02] [ 9.12295229e-03 9.99958383e-01 -5.86586815e-05 -3.45390735e-01] [ 6.09168937e-03 3.08353001e-06 9.99981445e-01 -2.06663337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.93591999999995 meters Centerline goodness : 0.998759 Centerline is valid? [True, True] Translation: X:334.12, Y:-0.35, Z:-2.07 [[ 9.99945154e-01 -8.51968823e-03 -6.09136242e-03 3.34120741e+02] [ 8.51963367e-03 9.99963707e-01 -3.49054345e-05 -3.47887201e-01] [ 6.09143872e-03 -1.69926563e-05 9.99981447e-01 -2.06557656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.96592 meters Centerline goodness : 0.999009 Centerline is valid? [True, True] Translation: X:334.15, Y:-0.35, Z:-2.06 [[ 9.99958920e-01 -6.71213690e-03 -6.09141116e-03 3.34149726e+02] [ 6.71190304e-03 9.99977473e-01 -5.88342315e-05 -3.47779392e-01] [ 6.09166885e-03 1.79468535e-05 9.99981445e-01 -2.06350763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.99591999999996 meters Centerline goodness : 0.998364 Centerline is valid? [True, True] Translation: X:334.18, Y:-0.35, Z:-2.07 [[ 9.99974931e-01 -3.61008723e-03 -6.09138191e-03 3.34179383e+02] [ 3.60987311e-03 9.99993483e-01 -4.61459197e-05 -3.46506330e-01] [ 6.09150880e-03 2.41556471e-05 9.99981446e-01 -2.06501342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.02592 meters Centerline goodness : 0.995194 Centerline is valid? [True, True] Translation: X:334.21, Y:-0.35, Z:-2.06 [[ 9.99981380e-01 3.68069498e-04 -6.09132118e-03 3.34209435e+02] [-3.68202453e-04 9.99999932e-01 -2.07054803e-05 -3.45459056e-01] [ 6.09131315e-03 2.29479341e-05 9.99981448e-01 -2.05684815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.05591999999996 meters Centerline goodness : 0.998413 Centerline is valid? [True, True] Translation: X:334.24, Y:-0.35, Z:-2.06 [[ 9.99971712e-01 4.41256596e-03 -6.09133281e-03 3.34239634e+02] [-4.41280508e-03 9.99990263e-01 -2.58176220e-05 -3.45418028e-01] [ 6.09115958e-03 5.26967560e-05 9.99981447e-01 -2.06486716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.08592 meters Centerline goodness : 0.910371 Centerline is valid? [True, False] Translation: X:334.26, Y:-0.33, Z:-2.06 [[ 9.99926261e-01 -2.16228442e-03 -1.19497327e-02 3.34262152e+02] [ 1.95259339e-03 9.99844402e-01 -1.75316530e-02 -3.31012678e-01] [ 1.19857818e-02 1.75070272e-02 9.99774897e-01 -2.05842113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.11591999999996 meters Centerline goodness : 0.996732 Centerline is valid? [False, True] Translation: X:334.26, Y:-0.33, Z:-2.06 [[ 9.99925275e-01 2.09508502e-03 -1.20438922e-02 3.34262402e+02] [-2.24990049e-03 9.99914838e-01 -1.28551268e-02 -3.32918533e-01] [ 1.20159339e-02 1.28812638e-02 9.99844833e-01 -2.05891642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.14592 meters Centerline goodness : 0.998067 Centerline is valid? [True, True] Translation: X:334.29, Y:-0.34, Z:-2.06 [[ 9.99924132e-01 2.47712713e-03 -1.20662198e-02 3.34292004e+02] [-2.47970388e-03 9.99996906e-01 -1.98594041e-04 -3.41043063e-01] [ 1.20656906e-02 2.28499627e-04 9.99927181e-01 -2.06301712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.17591999999996 meters Centerline goodness : 0.997472 Centerline is valid? [True, True] Translation: X:334.32, Y:-0.34, Z:-2.06 [[ 9.99926227e-01 1.39308354e-03 -1.20664454e-02 3.34320578e+02] [-1.39391789e-03 9.99999027e-01 -6.07360243e-05 -3.39532802e-01] [ 1.20663490e-02 7.75511777e-05 9.99927196e-01 -2.06132375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.20592 meters Centerline goodness : 0.998215 Centerline is valid? [True, True] Translation: X:334.35, Y:-0.34, Z:-2.06 [[ 9.99926938e-01 7.20888698e-04 -1.20664221e-02 3.34348671e+02] [-7.21822421e-04 9.99999737e-01 -7.30269913e-05 -3.37019984e-01] [ 1.20663663e-02 8.17314698e-05 9.99927195e-01 -2.06226457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.23591999999996 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:334.38, Y:-0.33, Z:-2.08 [[ 9.99924980e-01 2.10641205e-03 -1.20663394e-02 3.34379859e+02] [-2.10791218e-03 9.99997772e-01 -1.11607542e-04 -3.30544936e-01] [ 1.20660775e-02 1.37033953e-04 9.99927193e-01 -2.07587268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.26592 meters Centerline goodness : 0.998315 Centerline is valid? [True, True] Translation: X:334.41, Y:-0.33, Z:-2.06 [[ 9.99927085e-01 -4.72748471e-04 -1.20665213e-02 3.34407755e+02] [ 4.72475612e-04 9.99999888e-01 -2.54635777e-05 -3.28800746e-01] [ 1.20665320e-02 1.97605840e-05 9.99927197e-01 -2.05997244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.29591999999997 meters Centerline goodness : 0.825103 Centerline is valid? [True, False] Translation: X:334.43, Y:-0.32, Z:-2.05 [[ 9.99854914e-01 -2.04208035e-03 -1.69109397e-02 3.34430939e+02] [ 1.82181735e-03 9.99913446e-01 -1.30300606e-02 -3.15020049e-01] [ 1.69360844e-02 1.29973614e-02 9.99772093e-01 -2.05458835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.32592 meters Centerline goodness : 0.997369 Centerline is valid? [False, True] Translation: X:334.45, Y:-0.30, Z:-2.05 [[ 9.99777182e-01 -3.46702813e-03 -2.08222660e-02 3.34452689e+02] [ 2.93249301e-03 9.99666755e-01 -2.56472166e-02 -3.03495502e-01] [ 2.09042467e-02 2.55804408e-02 9.99454178e-01 -2.04847706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.35591999999997 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:334.48, Y:-0.32, Z:-2.07 [[ 9.99774188e-01 -3.64377585e-03 -2.09355368e-02 3.34482545e+02] [ 3.64811340e-03 9.99993331e-01 1.68997898e-04 -3.24869856e-01] [ 2.09347814e-02 -2.45334948e-04 9.99780813e-01 -2.07078906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.38592 meters Centerline goodness : 0.998113 Centerline is valid? [True, True] Translation: X:334.51, Y:-0.32, Z:-2.05 [[ 9.99745188e-01 -8.44456744e-03 -2.09343911e-02 3.34509984e+02] [ 8.44449284e-03 9.99964340e-01 -9.19648606e-05 -3.23300564e-01] [ 2.09344212e-02 -8.48388893e-05 9.99780847e-01 -2.05208699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.41591999999997 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:334.54, Y:-0.32, Z:-2.07 [[ 9.99760220e-01 -6.42514030e-03 -2.09336868e-02 3.34541534e+02] [ 6.42151757e-03 9.99979353e-01 -2.40273623e-04 -3.22456263e-01] [ 2.09347983e-02 1.05789973e-04 9.99780837e-01 -2.06999067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.44591999999994 meters Centerline goodness : 0.998612 Centerline is valid? [True, True] Translation: X:334.57, Y:-0.32, Z:-2.06 [[ 9.99746514e-01 -8.28610922e-03 -2.09343535e-02 3.34571074e+02] [ 8.28586838e-03 9.99965667e-01 -9.82453703e-05 -3.21945351e-01] [ 2.09344489e-02 -7.52388313e-05 9.99780848e-01 -2.05615654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.47592 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:334.60, Y:-0.32, Z:-2.07 [[ 9.99720426e-01 -1.09922813e-02 -2.09341535e-02 3.34601810e+02] [ 1.09917736e-02 9.99939579e-01 -1.39319324e-04 -3.19780020e-01] [ 2.09344201e-02 -9.08231020e-05 9.99780847e-01 -2.06938607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.50591999999995 meters Centerline goodness : 0.998166 Centerline is valid? [True, True] Translation: X:334.63, Y:-0.32, Z:-2.06 [[ 9.99706460e-01 -1.21962355e-02 -2.09343246e-02 3.34632006e+02] [ 1.21967039e-02 9.99925612e-01 -1.05310765e-04 -3.20762871e-01] [ 2.09340517e-02 -1.50049906e-04 9.99780847e-01 -2.05522487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.53592 meters Centerline goodness : 0.998165 Centerline is valid? [True, True] Translation: X:334.66, Y:-0.32, Z:-2.05 [[ 9.99637753e-01 -1.69148509e-02 -2.09344574e-02 3.34660493e+02] [ 1.69168904e-02 9.99856896e-01 -7.96788011e-05 -3.23379810e-01] [ 2.09328094e-02 -2.74495984e-04 9.99780847e-01 -2.05383997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.56591999999995 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:334.69, Y:-0.32, Z:-2.07 [[ 9.99603948e-01 -1.88072336e-02 -2.09340733e-02 3.34689543e+02] [ 1.88081740e-02 9.99823099e-01 -1.51980346e-04 -3.23720727e-01] [ 2.09332284e-02 -2.41811539e-04 9.99780847e-01 -2.06822566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.59592 meters Centerline goodness : 0.998008 Centerline is valid? [True, True] Translation: X:334.72, Y:-0.33, Z:-2.05 [[ 9.99551650e-01 -2.14068755e-02 -2.09342948e-02 3.34719147e+02] [ 2.14092707e-02 9.99770789e-01 -1.09721236e-04 -3.26167041e-01] [ 2.09318452e-02 -3.38515943e-04 9.99780848e-01 -2.05334344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.62591999999995 meters Centerline goodness : 0.998315 Centerline is valid? [True, True] Translation: X:334.75, Y:-0.33, Z:-2.05 [[ 9.99447261e-01 -2.58251313e-02 -2.09340486e-02 3.34748194e+02] [ 2.58275361e-02 9.99666401e-01 -1.55528253e-04 -3.29886096e-01] [ 2.09310816e-02 -3.85232612e-04 9.99780847e-01 -2.05207391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.65592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:334.78, Y:-0.33, Z:-2.07 [[ 9.99429334e-01 -2.65103173e-02 -2.09334752e-02 3.34780090e+02] [ 2.65106409e-02 9.99648497e-01 -2.62103875e-04 -3.31094594e-01] [ 2.09330655e-02 -2.93005542e-04 9.99780836e-01 -2.06727960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.68591999999995 meters Centerline goodness : 0.995390 Centerline is valid? [True, True] Translation: X:334.81, Y:-0.33, Z:-2.05 [[ 9.99552181e-01 -2.13820679e-02 -2.09342788e-02 3.34811476e+02] [ 2.13844065e-02 9.99771321e-01 -1.12166052e-04 -3.31218431e-01] [ 2.09318900e-02 -3.35551308e-04 9.99780848e-01 -2.04563558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.71592 meters Centerline goodness : 0.997364 Centerline is valid? [True, True] Translation: X:334.84, Y:-0.34, Z:-2.05 [[ 9.99369282e-01 -2.86833098e-02 -2.09357559e-02 3.34836270e+02] [ 2.86925788e-02 9.99588273e-01 1.42424637e-04 -3.36350601e-01] [ 2.09230509e-02 -7.43035634e-04 9.99780813e-01 -2.04824189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.74591999999996 meters Centerline goodness : 0.998265 Centerline is valid? [True, True] Translation: X:334.87, Y:-0.34, Z:-2.05 [[ 9.99427874e-01 -2.65659758e-02 -2.09325836e-02 3.34865773e+02] [ 2.65646998e-02 9.99647039e-01 -3.39070590e-04 -3.36779252e-01] [ 2.09342029e-02 -2.17191199e-04 9.99780832e-01 -2.04908504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.77592 meters Centerline goodness : 0.998115 Centerline is valid? [True, True] Translation: X:334.89, Y:-0.34, Z:-2.05 [[ 9.99474480e-01 -2.47500729e-02 -2.09331644e-02 3.34894536e+02] [ 2.47502176e-02 9.99693635e-01 -2.52208196e-04 -3.39694359e-01] [ 2.09329934e-02 -2.66024718e-04 9.99780845e-01 -2.04801957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.80591999999996 meters Centerline goodness : 0.998811 Centerline is valid? [True, True] Translation: X:334.92, Y:-0.34, Z:-2.05 [[ 9.99501035e-01 -2.36536165e-02 -2.09329394e-02 3.34923678e+02] [ 2.36528248e-02 9.99720192e-01 -2.85439957e-04 -3.41160828e-01] [ 2.09338339e-02 -2.09825617e-04 9.99780841e-01 -2.05084122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.83592 meters Centerline goodness : 0.998811 Centerline is valid? [True, True] Translation: X:334.95, Y:-0.34, Z:-2.05 [[ 9.99501267e-01 -2.36436787e-02 -2.09330748e-02 3.34952007e+02] [ 2.36432985e-02 9.99720423e-01 -2.65688238e-04 -3.40970164e-01] [ 2.09335043e-02 -2.29371206e-04 9.99780844e-01 -2.05025170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.86591999999996 meters Centerline goodness : 0.998018 Centerline is valid? [True, True] Translation: X:334.98, Y:-0.34, Z:-2.05 [[ 9.99489583e-01 -2.41325352e-02 -2.09331055e-02 3.34980265e+02] [ 2.41323579e-02 9.99708738e-01 -2.61117973e-04 -3.42966352e-01] [ 2.09333100e-02 -2.44180501e-04 9.99780844e-01 -2.04629190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.89592 meters Centerline goodness : 0.996725 Centerline is valid? [True, True] Translation: X:335.01, Y:-0.34, Z:-2.04 [[ 9.99530742e-01 -2.23639758e-02 -2.09320106e-02 3.35010056e+02] [ 2.23597927e-02 9.99749894e-01 -4.33894753e-04 -3.43343188e-01] [ 2.09364790e-02 -3.43442736e-05 9.99780807e-01 -2.04422097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.92591999999996 meters Centerline goodness : 0.997166 Centerline is valid? [True, True] Translation: X:335.04, Y:-0.34, Z:-2.04 [[ 9.99580451e-01 -2.00186072e-02 -2.09326858e-02 3.35039913e+02] [ 2.00161109e-02 9.99799604e-01 -3.28787036e-04 -3.43441708e-01] [ 2.09350728e-02 -9.03418651e-05 9.99780833e-01 -2.04323630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.95592 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:335.07, Y:-0.34, Z:-2.06 [[ 9.99621074e-01 -1.78747501e-02 -2.09332859e-02 3.35070038e+02] [ 1.78737170e-02 9.99840224e-01 -2.36465898e-04 -3.42511209e-01] [ 2.09341680e-02 -1.37779333e-04 9.99780847e-01 -2.06028521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.98591999999996 meters Centerline goodness : 0.993751 Centerline is valid? [True, True] Translation: X:335.10, Y:-0.34, Z:-2.04 [[ 9.99632053e-01 -1.72490424e-02 -2.09339444e-02 3.35099235e+02] [ 1.72500549e-02 9.99851198e-01 -1.32222001e-04 -3.42717437e-01] [ 2.09331101e-02 -2.28938341e-04 9.99780852e-01 -2.03606796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.01592 meters Centerline goodness : 0.997320 Centerline is valid? [True, True] Translation: X:335.13, Y:-0.34, Z:-2.04 [[ 9.99640474e-01 -1.67537688e-02 -2.09340476e-02 3.35127128e+02] [ 1.67550084e-02 9.99859618e-01 -1.16190044e-04 -3.42772753e-01] [ 2.09330555e-02 -2.34601873e-04 9.99780852e-01 -2.04293637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.04591999999997 meters Centerline goodness : 0.997520 Centerline is valid? [True, True] Translation: X:335.16, Y:-0.34, Z:-2.04 [[ 9.99644538e-01 -1.65104702e-02 -2.09332977e-02 3.35155852e+02] [ 1.65093285e-02 9.99863686e-01 -2.27367934e-04 -3.42058093e-01] [ 2.09341982e-02 -1.18307576e-04 9.99780849e-01 -2.04242329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.07592 meters Centerline goodness : 0.996823 Centerline is valid? [True, True] Translation: X:335.18, Y:-0.34, Z:-2.04 [[ 9.99645831e-01 -1.64325811e-02 -2.09328219e-02 3.35184792e+02] [ 1.64299938e-02 9.99864975e-01 -2.95588737e-04 -3.41800389e-01] [ 2.09348528e-02 -4.84420854e-05 9.99780841e-01 -2.03959867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.10591999999997 meters Centerline goodness : 0.995083 Centerline is valid? [True, True] Translation: X:335.22, Y:-0.34, Z:-2.04 [[ 9.99646183e-01 -1.64109231e-02 -2.09329872e-02 3.35215701e+02] [ 1.64088206e-02 9.99865329e-01 -2.72208014e-04 -3.42378280e-01] [ 2.09346353e-02 -7.13739287e-05 9.99780844e-01 -2.03664599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.13592 meters Centerline goodness : 0.997125 Centerline is valid? [True, True] Translation: X:335.24, Y:-0.35, Z:-2.04 [[ 9.99576765e-01 -2.02004855e-02 -2.09339605e-02 3.35242511e+02] [ 2.02021224e-02 9.99795907e-01 -1.33302423e-04 -3.45998707e-01] [ 2.09323808e-02 -2.89664427e-04 9.99780852e-01 -2.03853795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.16591999999997 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:335.28, Y:-0.35, Z:-2.06 [[ 9.99594798e-01 -1.92891229e-02 -2.09324846e-02 3.35275395e+02] [ 1.92864468e-02 9.99813945e-01 -3.29734166e-04 -3.47347839e-01] [ 2.09349503e-02 -7.41126930e-05 9.99780837e-01 -2.05817593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.19591999999994 meters Centerline goodness : 0.996328 Centerline is valid? [True, True] Translation: X:335.30, Y:-0.35, Z:-2.04 [[ 9.99549659e-01 -2.15001309e-02 -2.09337744e-02 3.35304902e+02] [ 2.15016781e-02 9.99768801e-01 -1.51193557e-04 -3.48690687e-01] [ 2.09321852e-02 -2.98985811e-04 9.99780853e-01 -2.03606550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.22592 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:335.34, Y:-0.35, Z:-2.06 [[ 9.99571693e-01 -2.04502686e-02 -2.09336292e-02 3.35335886e+02] [ 2.04511786e-02 9.99790838e-01 -1.70632208e-04 -3.48257483e-01] [ 2.09327402e-02 -2.57558265e-04 9.99780853e-01 -2.05588967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.25591999999995 meters Centerline goodness : 0.997669 Centerline is valid? [True, True] Translation: X:335.37, Y:-0.35, Z:-2.04 [[ 9.99629375e-01 -1.74037899e-02 -2.09337289e-02 3.35365520e+02] [ 1.74043096e-02 9.99848521e-01 -1.57375218e-04 -3.49588098e-01] [ 2.09332968e-02 -2.07020209e-04 9.99780853e-01 -2.04059403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.28592 meters Centerline goodness : 0.997670 Centerline is valid? [True, True] Translation: X:335.39, Y:-0.35, Z:-2.04 [[ 9.99639665e-01 -1.68022359e-02 -2.09338022e-02 3.35394218e+02] [ 1.68028256e-02 9.99858812e-01 -1.47732066e-04 -3.50383470e-01] [ 2.09333288e-02 -2.04068195e-04 9.99780853e-01 -2.03587020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.31591999999995 meters Centerline goodness : 0.998464 Centerline is valid? [True, True] Translation: X:335.42, Y:-0.35, Z:-2.04 [[ 9.99656645e-01 -1.57605618e-02 -2.09331302e-02 3.35422503e+02] [ 1.57591545e-02 9.99875790e-01 -2.32197040e-04 -3.50868775e-01] [ 2.09341897e-02 -9.77711200e-05 9.99780851e-01 -2.03716615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.34592 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] Translation: X:335.45, Y:-0.35, Z:-2.04 [[ 9.99673661e-01 -1.46418271e-02 -2.09329659e-02 3.35450550e+02] [ 1.46397548e-02 9.99892801e-01 -2.52247452e-04 -3.51202615e-01] [ 2.09344152e-02 -5.42883529e-05 9.99780850e-01 -2.03721853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.37591999999995 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:335.48, Y:-0.35, Z:-2.05 [[ 9.99704197e-01 -1.23829358e-02 -2.09327750e-02 3.35481987e+02] [ 1.23799024e-02 9.99923328e-01 -2.74496711e-04 -3.53345951e-01] [ 2.09345691e-02 1.52698016e-05 9.99780848e-01 -2.05089024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.40592 meters Centerline goodness : 0.998412 Centerline is valid? [True, True] Translation: X:335.51, Y:-0.35, Z:-2.04 [[ 9.99688861e-01 -1.35633897e-02 -2.09335824e-02 3.35510010e+02] [ 1.35625677e-02 9.99908008e-01 -1.81246931e-04 -3.54807708e-01] [ 2.09341150e-02 -1.02722590e-04 9.99780852e-01 -2.03512281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.43591999999995 meters Centerline goodness : 0.998811 Centerline is valid? [True, True] Translation: X:335.54, Y:-0.36, Z:-2.04 [[ 9.99673506e-01 -1.46528812e-02 -2.09326048e-02 3.35539698e+02] [ 1.46499826e-02 9.99892641e-01 -2.91826024e-04 -3.57496378e-01] [ 2.09346335e-02 -1.49315498e-05 9.99780846e-01 -2.03676669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.46592 meters Centerline goodness : 0.998611 Centerline is valid? [True, True] Translation: X:335.57, Y:-0.36, Z:-2.03 [[ 9.99662809e-01 -1.53640322e-02 -2.09335874e-02 3.35569349e+02] [ 1.53635589e-02 9.99881957e-01 -1.83445699e-04 -3.59046147e-01] [ 2.09339348e-02 -1.38230559e-04 9.99780852e-01 -2.03483719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.49591999999996 meters Centerline goodness : 0.998465 Centerline is valid? [True, True] Translation: X:335.60, Y:-0.36, Z:-2.03 [[ 9.99644418e-01 -1.65173341e-02 -2.09335933e-02 3.35598511e+02] [ 1.65171272e-02 9.99863566e-01 -1.82796998e-04 -3.62065711e-01] [ 2.09337566e-02 -1.63030825e-04 9.99780852e-01 -2.03479540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.52592 meters Centerline goodness : 0.996826 Centerline is valid? [True, True] Translation: X:335.63, Y:-0.36, Z:-2.03 [[ 9.99740119e-01 -9.02692841e-03 -2.09334312e-02 3.35631828e+02] [ 9.02472410e-03 9.99959256e-01 -1.99770089e-04 -3.63282408e-01] [ 2.09343816e-02 1.07997310e-05 9.99780852e-01 -2.03070062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.55591999999996 meters Centerline goodness : 0.997369 Centerline is valid? [True, True] Translation: X:335.66, Y:-0.37, Z:-2.03 [[ 9.99652985e-01 -1.59850496e-02 -2.09377156e-02 3.35656399e+02] [ 1.59940932e-02 9.99872051e-01 2.64527936e-04 -3.68961770e-01] [ 2.09308081e-02 -5.99315914e-04 9.99780747e-01 -2.03083836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.58592 meters Centerline goodness : 0.998266 Centerline is valid? [True, True] Translation: X:335.69, Y:-0.37, Z:-2.03 [[ 9.99670227e-01 -1.48758214e-02 -2.09319774e-02 3.35685891e+02] [ 1.48729442e-02 9.99889349e-01 -2.93133220e-04 -3.71111293e-01] [ 2.09340219e-02 -1.82835809e-05 9.99780859e-01 -2.03462699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.61591999999996 meters Centerline goodness : 0.995221 Centerline is valid? [True, True] Translation: X:335.72, Y:-0.37, Z:-2.03 [[ 9.99720505e-01 -1.09893658e-02 -2.09319439e-02 3.35719686e+02] [ 1.09855685e-02 9.99939613e-01 -2.96395763e-04 -3.73686526e-01] [ 2.09339371e-02 6.63636189e-05 9.99780859e-01 -2.02500033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.64592 meters Centerline goodness : 0.998216 Centerline is valid? [True, True] Translation: X:335.75, Y:-0.38, Z:-2.03 [[ 9.99686666e-01 -1.37207508e-02 -2.09358853e-02 3.35746144e+02] [ 1.37253210e-02 9.99905801e-01 7.46094575e-05 -3.82830962e-01] [ 2.09328895e-02 -3.61937826e-04 9.99780818e-01 -2.02918871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.67591999999996 meters Centerline goodness : 0.998608 Centerline is valid? [True, True] Translation: X:335.78, Y:-0.38, Z:-2.03 [[ 9.99714234e-01 -1.15475642e-02 -2.09309183e-02 3.35776288e+02] [ 1.15422373e-02 9.99933316e-01 -3.75291212e-04 -3.84075031e-01] [ 2.09338562e-02 1.33594340e-04 9.99780854e-01 -2.02996434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.70592 meters Centerline goodness : 0.998462 Centerline is valid? [True, True] Translation: X:335.81, Y:-0.39, Z:-2.03 [[ 9.99723006e-01 -1.07597565e-02 -2.09317663e-02 3.35805305e+02] [ 1.07558727e-02 9.99942109e-01 -2.98121852e-04 -3.88859468e-01] [ 2.09337623e-02 7.28998616e-05 9.99780862e-01 -2.03062271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.73591999999996 meters Centerline goodness : 0.998016 Centerline is valid? [True, True] Translation: X:335.84, Y:-0.39, Z:-2.03 [[ 9.99780878e-01 -2.50874486e-04 -2.09316051e-02 3.35840753e+02] [ 2.44390328e-04 9.99999921e-01 -3.12335804e-04 -3.88410304e-01] [ 2.09316818e-02 3.07151883e-04 9.99780861e-01 -2.02899007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.76592 meters Centerline goodness : 0.998562 Centerline is valid? [True, True] Translation: X:335.86, Y:-0.40, Z:-2.03 [[ 9.99744833e-01 -8.47518480e-03 -2.09389524e-02 3.35863964e+02] [ 8.48492633e-03 9.99963932e-01 3.76434856e-04 -3.95391525e-01] [ 2.09350068e-02 -5.54004271e-04 9.99780685e-01 -2.02884518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.79591999999997 meters Centerline goodness : 0.998461 Centerline is valid? [True, True] Translation: X:335.89, Y:-0.40, Z:-2.03 [[ 9.99750417e-01 -7.81098129e-03 -2.09306440e-02 3.35893301e+02] [ 7.80589408e-03 9.99969481e-01 -3.24741289e-04 -3.96006114e-01] [ 2.09325418e-02 1.61277848e-04 9.99780877e-01 -2.02871347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.82592 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:335.92, Y:-0.40, Z:-2.03 [[ 9.99748305e-01 -8.07573459e-03 -2.09310731e-02 3.35922859e+02] [ 8.07144921e-03 9.99967384e-01 -2.89212284e-04 -3.97290566e-01] [ 2.09327260e-02 1.20195396e-04 9.99780879e-01 -2.02804192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.85591999999997 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:335.95, Y:-0.40, Z:-2.04 [[ 9.99768125e-01 -5.05948445e-03 -2.09307862e-02 3.35952807e+02] [ 5.05405159e-03 9.99987179e-01 -3.12454131e-04 -3.98024747e-01] [ 2.09320987e-02 2.06596408e-04 9.99780878e-01 -2.03992202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.88592 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:335.98, Y:-0.40, Z:-2.03 [[ 9.99747369e-01 -8.18995556e-03 -2.09313942e-02 3.35981051e+02] [ 8.18621660e-03 9.99966457e-01 -2.64308213e-04 -4.00996987e-01] [ 2.09328567e-02 9.28925146e-05 9.99780879e-01 -2.02939150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.91591999999997 meters Centerline goodness : 0.998360 Centerline is valid? [True, True] Translation: X:336.01, Y:-0.40, Z:-2.03 [[ 9.99755766e-01 -7.09406264e-03 -2.09304387e-02 3.36010136e+02] [ 7.08855311e-03 9.99974819e-01 -3.37411102e-04 -4.01934042e-01] [ 2.09323052e-02 1.88962169e-04 9.99780877e-01 -2.02722043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.94591999999994 meters Centerline goodness : 0.998951 Centerline is valid? [True, True] Translation: X:336.04, Y:-0.40, Z:-2.03 [[ 9.99754257e-01 -7.30314010e-03 -2.09305879e-02 3.36038042e+02] [ 7.29791285e-03 9.99973317e-01 -3.26115334e-04 -4.03578891e-01] [ 2.09324111e-02 1.73285587e-04 9.99780878e-01 -2.02618625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.97592 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:336.07, Y:-0.41, Z:-2.03 [[ 9.99757886e-01 -6.78925672e-03 -2.09302590e-02 3.36067348e+02] [ 6.78340929e-03 9.99976931e-01 -3.50361992e-04 -4.05008656e-01] [ 2.09321549e-02 2.08298651e-04 9.99780877e-01 -2.02551471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.00591999999995 meters Centerline goodness : 0.996972 Centerline is valid? [True, True] Translation: X:336.10, Y:-0.40, Z:-2.02 [[ 9.99763825e-01 -5.84853403e-03 -2.09305550e-02 3.36096865e+02] [ 5.84293106e-03 9.99982876e-01 -3.28838518e-04 -4.04850683e-01] [ 2.09321198e-02 2.06465065e-04 9.99780878e-01 -2.01906275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.03592 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:336.11, Y:-0.41, Z:-2.06 [[ 9.99555040e-01 2.12510878e-02 -2.09311475e-02 3.36111301e+02] [-2.12617414e-02 9.99773903e-01 -2.86547796e-04 -4.11514911e-01] [ 2.09203255e-02 7.31452938e-04 9.99780878e-01 -2.06462249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.06591999999995 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:336.16, Y:-0.40, Z:-2.03 [[ 9.99781184e-01 4.85382903e-04 -2.09129025e-02 3.36155579e+02] [-5.17936967e-04 9.99998663e-01 -1.55126151e-03 -4.03583714e-01] [ 2.09121216e-02 1.56175363e-03 9.99780098e-01 -2.03432073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.09592 meters Centerline goodness : 0.997866 Centerline is valid? [True, True] Translation: X:336.18, Y:-0.40, Z:-2.02 [[ 9.99778928e-01 -2.02113372e-03 -2.09286691e-02 3.36182610e+02] [ 2.01625739e-03 9.99997935e-01 -2.54096213e-04 -4.04477535e-01] [ 2.09291394e-02 2.11842456e-04 9.99780939e-01 -2.02068111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.12591999999995 meters Centerline goodness : 0.997023 Centerline is valid? [True, True] Translation: X:336.21, Y:-0.40, Z:-2.02 [[ 9.99779929e-01 -1.47101040e-03 -2.09267659e-02 3.36211896e+02] [ 1.46282936e-03 9.99998848e-01 -4.06239080e-04 -4.01865180e-01] [ 2.09273394e-02 3.75537391e-04 9.99780929e-01 -2.01917165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.15592 meters Centerline goodness : 0.997522 Centerline is valid? [True, True] Translation: X:336.24, Y:-0.40, Z:-2.02 [[ 9.99780997e-01 -2.13217035e-04 -2.09263709e-02 3.36242496e+02] [ 2.04101547e-04 9.99999883e-01 -4.37732935e-04 -4.00681190e-01] [ 2.09264618e-02 4.33365966e-04 9.99780924e-01 -2.02015410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.18591999999995 meters Centerline goodness : 0.997319 Centerline is valid? [True, True] Translation: X:336.27, Y:-0.40, Z:-2.02 [[ 9.99780699e-01 7.83782030e-04 -2.09270271e-02 3.36271450e+02] [-7.92029804e-04 9.99999612e-01 -3.85835261e-04 -3.99309180e-01] [ 2.09267165e-02 4.02325476e-04 9.99780931e-01 -2.02009864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.21592 meters Centerline goodness : 0.997322 Centerline is valid? [True, True] Translation: X:336.30, Y:-0.40, Z:-2.02 [[ 9.99780965e-01 2.84045803e-04 -2.09270476e-02 3.36300537e+02] [-2.92150554e-04 9.99999884e-01 -3.84229674e-04 -3.97719037e-01] [ 2.09269361e-02 3.90259363e-04 9.99780932e-01 -2.01981427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.24591999999996 meters Centerline goodness : 0.997866 Centerline is valid? [True, True] Translation: X:336.33, Y:-0.39, Z:-2.02 [[ 9.99779327e-01 1.83448013e-03 -2.09268417e-02 3.36328216e+02] [-1.84325811e-03 9.99998221e-01 -4.00178775e-04 -3.93748107e-01] [ 2.09260704e-02 4.38664037e-04 9.99780930e-01 -2.01698222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.27592 meters Centerline goodness : 0.819220 Centerline is valid? [True, False] Translation: X:336.33, Y:-0.39, Z:-2.02 [[ 9.99779268e-01 -2.38241512e-03 -2.08743600e-02 3.36328058e+02] [ 2.26182816e-03 9.99980631e-01 -5.79850484e-03 -3.88393971e-01] [ 2.08877701e-02 5.75001071e-03 9.99765292e-01 -2.01661034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.30591999999996 meters Centerline goodness : 0.998510 Centerline is valid? [False, True] Translation: X:336.33, Y:-0.38, Z:-2.02 [[ 9.99762327e-01 -6.47968633e-03 -2.08159181e-02 3.36327903e+02] [ 6.23790105e-03 9.99912570e-01 -1.16594106e-02 -3.80658768e-01] [ 2.08896475e-02 1.15267919e-02 9.99715337e-01 -2.01625915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.33592 meters Centerline goodness : 0.998413 Centerline is valid? [True, True] Translation: X:336.36, Y:-0.39, Z:-2.02 [[ 9.99762584e-01 -5.24372616e-03 -2.11489790e-02 3.36356018e+02] [ 5.23143284e-03 9.99986113e-01 -6.36557019e-04 -3.87302395e-01] [ 2.11520233e-02 5.25766427e-04 9.99776133e-01 -2.01648353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.36591999999996 meters Centerline goodness : 0.997621 Centerline is valid? [True, True] Translation: X:336.38, Y:-0.38, Z:-2.00 [[ 9.99745374e-01 -7.86907438e-03 -2.11486433e-02 3.36383533e+02] [ 7.85713621e-03 9.99968923e-01 -6.47523959e-04 -3.83503342e-01] [ 2.11530814e-02 4.81191312e-04 9.99776133e-01 -2.00405175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.39592 meters Centerline goodness : 0.998761 Centerline is valid? [True, True] Translation: X:336.41, Y:-0.38, Z:-2.01 [[ 9.99766806e-01 -4.39310497e-03 -2.11432008e-02 3.36414851e+02] [ 4.37667155e-03 9.99990083e-01 -8.23454913e-04 -3.80079593e-01] [ 2.11466086e-02 7.30726043e-04 9.99776118e-01 -2.01490359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.42591999999996 meters Centerline goodness : 0.996975 Centerline is valid? [True, True] Translation: X:336.44, Y:-0.38, Z:-2.01 [[ 9.99735168e-01 -9.07402986e-03 -2.11484140e-02 3.36442118e+02] [ 9.06219903e-03 9.99958723e-01 -6.55190290e-04 -3.75234706e-01] [ 2.11534863e-02 4.63365637e-04 9.99776133e-01 -2.00531496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.45592 meters Centerline goodness : 0.995238 Centerline is valid? [True, True] Translation: X:336.47, Y:-0.37, Z:-2.00 [[ 9.99735294e-01 -9.07979388e-03 -2.11399712e-02 3.36471393e+02] [ 9.06222717e-03 9.99958508e-01 -9.26623639e-04 -3.70789833e-01] [ 2.11475076e-02 7.34803136e-04 9.99776096e-01 -1.99856677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.48591999999996 meters Centerline goodness : 0.998315 Centerline is valid? [True, True] Translation: X:336.50, Y:-0.36, Z:-2.01 [[ 9.99733548e-01 -9.26388692e-03 -2.11426776e-02 3.36501334e+02] [ 9.24821221e-03 9.99956882e-01 -8.39036225e-04 -3.64133832e-01] [ 2.11495387e-02 6.43280693e-04 9.99776117e-01 -2.00550545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.51592 meters Centerline goodness : 0.998711 Centerline is valid? [True, True] Translation: X:336.53, Y:-0.36, Z:-2.01 [[ 9.99746789e-01 -7.70646134e-03 -2.11416153e-02 3.36533342e+02] [ 7.68971164e-03 9.99970052e-01 -8.73444290e-04 -3.60868121e-01] [ 2.11477134e-02 7.10650198e-04 9.99776110e-01 -2.01304479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.54591999999997 meters Centerline goodness : 0.997623 Centerline is valid? [True, True] Translation: X:336.56, Y:-0.36, Z:-2.00 [[ 9.99705641e-01 -1.18900476e-02 -2.11484830e-02 3.36559109e+02] [ 1.18789559e-02 9.99929231e-01 -6.50023578e-04 -3.58440200e-01] [ 2.11547151e-02 3.98610342e-04 9.99776135e-01 -2.00227572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.57592 meters Centerline goodness : 0.996878 Centerline is valid? [True, True] Translation: X:336.59, Y:-0.36, Z:-2.00 [[ 9.99698332e-01 -1.25029897e-02 -2.11404886e-02 3.36588480e+02] [ 1.24866191e-02 9.99921629e-01 -9.06201711e-04 -3.55043992e-01] [ 2.11501620e-02 6.41955111e-04 9.99776104e-01 -2.00258260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.60591999999997 meters Centerline goodness : 0.996974 Centerline is valid? [True, True] Translation: X:336.62, Y:-0.35, Z:-2.00 [[ 9.99704415e-01 -1.20055905e-02 -2.11411438e-02 3.36617790e+02] [ 1.19895565e-02 9.99927731e-01 -8.85021686e-04 -3.48550096e-01] [ 2.11502412e-02 6.31287149e-04 9.99776109e-01 -2.00194923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.63592 meters Centerline goodness : 0.998661 Centerline is valid? [True, True] Translation: X:336.65, Y:-0.35, Z:-2.01 [[ 9.99732636e-01 -9.36273128e-03 -2.11422861e-02 3.36650313e+02] [ 9.34688844e-03 9.99955957e-01 -8.48039823e-04 -3.45155828e-01] [ 2.11492949e-02 6.50198498e-04 9.99776117e-01 -2.01189805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.66591999999997 meters Centerline goodness : 0.997177 Centerline is valid? [True, True] Translation: X:336.68, Y:-0.34, Z:-2.00 [[ 9.99690115e-01 -1.31308239e-02 -2.11484146e-02 3.36676998e+02] [ 1.31200513e-02 9.99913718e-01 -6.48058278e-04 -3.38308515e-01] [ 2.11550994e-02 3.70389170e-04 9.99776137e-01 -2.00148715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.69591999999994 meters Centerline goodness : 0.995586 Centerline is valid? [True, True] Translation: X:336.71, Y:-0.33, Z:-2.00 [[ 9.99664016e-01 -1.49941852e-02 -2.11430768e-02 3.36705789e+02] [ 1.49801618e-02 9.99887454e-01 -8.21497841e-04 -3.33181869e-01] [ 2.11530149e-02 5.04495119e-04 9.99776123e-01 -1.99572853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.72592 meters Centerline goodness : 0.995394 Centerline is valid? [True, True] Translation: X:336.74, Y:-0.33, Z:-2.00 [[ 9.99662624e-01 -1.50915164e-02 -2.11396600e-02 3.36737290e+02] [ 1.50751369e-02 9.99885927e-01 -9.33975017e-04 -3.28003906e-01] [ 2.11513436e-02 6.14976647e-04 9.99776096e-01 -1.99600187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.75591999999995 meters Centerline goodness : 0.995394 Centerline is valid? [True, True] Translation: X:336.77, Y:-0.33, Z:-2.00 [[ 9.99664204e-01 -1.49823024e-02 -2.11426297e-02 3.36765618e+02] [ 1.49679734e-02 9.99887624e-01 -8.35826921e-04 -3.27185073e-01] [ 2.11527764e-02 5.19083935e-04 9.99776120e-01 -1.99542007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.78592 meters Centerline goodness : 0.995891 Centerline is valid? [True, True] Translation: X:336.79, Y:-0.32, Z:-2.00 [[ 9.99597410e-01 -1.89209791e-02 -2.11427275e-02 3.36792925e+02] [ 1.89075991e-02 9.99820889e-01 -8.32582871e-04 -3.22569637e-01] [ 2.11546939e-02 4.32489465e-04 9.99776121e-01 -1.99830082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.81591999999995 meters Centerline goodness : 0.994550 Centerline is valid? [True, True] Translation: X:336.82, Y:-0.32, Z:-1.99 [[ 9.99563798e-01 -2.06228175e-02 -2.11403219e-02 3.36821881e+02] [ 2.06081262e-02 9.99787214e-01 -9.12586208e-04 -3.19892861e-01] [ 2.11546437e-02 4.76525714e-04 9.99776102e-01 -1.99298966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.84592 meters Centerline goodness : 0.994652 Centerline is valid? [True, True] Translation: X:336.85, Y:-0.32, Z:-1.99 [[ 9.99485605e-01 -2.41146287e-02 -2.11426152e-02 3.36849906e+02] [ 2.41023455e-02 9.99709147e-01 -8.35632645e-04 -3.16107986e-01] [ 2.11566167e-02 3.25616183e-04 9.99776121e-01 -1.99279491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.87591999999995 meters Centerline goodness : 0.994747 Centerline is valid? [True, True] Translation: X:336.88, Y:-0.31, Z:-1.99 [[ 9.99426010e-01 -2.64734544e-02 -2.11377885e-02 3.36878435e+02] [ 2.64582288e-02 9.99649420e-01 -9.99691113e-04 -3.11997370e-01] [ 2.11568433e-02 4.39848855e-04 9.99776072e-01 -1.99251222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.90592 meters Centerline goodness : 0.994750 Centerline is valid? [True, True] Translation: X:336.91, Y:-0.31, Z:-1.99 [[ 9.99366936e-01 -2.86169725e-02 -2.11375565e-02 3.36910460e+02] [ 2.86020572e-02 9.99590370e-01 -1.00767651e-03 -3.06421349e-01] [ 2.11577346e-02 4.02460982e-04 9.99776069e-01 -1.99223969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.93591999999995 meters Centerline goodness : 0.994997 Centerline is valid? [True, True] Translation: X:336.94, Y:-0.30, Z:-1.99 [[ 9.99335293e-01 -2.96972200e-02 -2.11434952e-02 3.36939591e+02] [ 2.96869440e-02 9.99558926e-01 -7.99793793e-04 -3.04012510e-01] [ 2.11579210e-02 1.71576404e-04 9.99776131e-01 -1.99090781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.96592 meters Centerline goodness : 0.992269 Centerline is valid? [True, True] Translation: X:336.97, Y:-0.30, Z:-1.98 [[ 9.99257670e-01 -3.22030118e-02 -2.11441506e-02 3.36970287e+02] [ 3.21937834e-02 9.99481344e-01 -7.76788700e-04 -2.99062672e-01] [ 2.11581990e-02 9.55018645e-05 9.99776136e-01 -1.98350093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.99591999999996 meters Centerline goodness : 0.996138 Centerline is valid? [True, True] Translation: X:337.00, Y:-0.30, Z:-2.01 [[ 9.99192089e-01 -3.41741087e-02 -2.11494452e-02 3.37000174e+02] [ 3.41692820e-02 9.99415886e-01 -5.89651298e-04 -2.97821689e-01] [ 2.11572423e-02 -1.33486446e-04 9.99776152e-01 -2.00590420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.02592 meters Centerline goodness : 0.991524 Centerline is valid? [True, True] Translation: X:337.03, Y:-0.30, Z:-1.98 [[ 9.99084665e-01 -3.71825699e-02 -2.11491772e-02 3.37029797e+02] [ 3.71782169e-02 9.99308472e-01 -5.99113503e-04 -2.97264323e-01] [ 2.11568285e-02 -1.87723581e-04 9.99776152e-01 -1.98061006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.05591999999996 meters Centerline goodness : 0.994296 Centerline is valid? [True, True] Translation: X:337.06, Y:-0.30, Z:-1.99 [[ 9.98879559e-01 -4.23338988e-02 -2.11534203e-02 3.37056129e+02] [ 4.23338538e-02 9.99103419e-01 -4.50131617e-04 -2.98356348e-01] [ 2.11535104e-02 -4.45878530e-04 9.99776140e-01 -1.99012710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.08592 meters Centerline goodness : 0.994204 Centerline is valid? [True, True] Translation: X:337.09, Y:-0.30, Z:-1.99 [[ 9.98845042e-01 -4.31438912e-02 -2.11467747e-02 3.37085708e+02] [ 4.31391825e-02 9.99068841e-01 -6.79006989e-04 -2.97201238e-01] [ 2.11563788e-02 -2.34031811e-04 9.99776151e-01 -1.98895951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.11591999999996 meters Centerline goodness : 0.994998 Centerline is valid? [True, True] Translation: X:337.11, Y:-0.30, Z:-1.99 [[ 9.98704877e-01 -4.62741875e-02 -2.11487019e-02 3.37113959e+02] [ 4.62715825e-02 9.98928709e-01 -6.12765213e-04 -2.97362111e-01] [ 2.11544007e-02 -3.66612298e-04 9.99776153e-01 -1.99259250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.14592 meters Centerline goodness : 0.991466 Centerline is valid? [True, True] Translation: X:337.15, Y:-0.30, Z:-1.98 [[ 9.98763726e-01 -4.49875652e-02 -2.11456564e-02 3.37146067e+02] [ 4.49824747e-02 9.98987519e-01 -7.16557479e-04 -2.99878674e-01] [ 2.11564830e-02 -2.35512340e-04 9.99776149e-01 -1.98064819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.17591999999996 meters Centerline goodness : 0.994687 Centerline is valid? [True, True] Translation: X:337.17, Y:-0.30, Z:-1.99 [[ 9.98568440e-01 -4.91282603e-02 -2.11538332e-02 3.37172329e+02] [ 4.91299717e-02 9.98792297e-01 -4.39105781e-04 -3.03439524e-01] [ 2.11498582e-02 -6.00810051e-04 9.99776136e-01 -1.98867382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.20592 meters Centerline goodness : 0.996180 Centerline is valid? [True, True] Translation: X:337.20, Y:-0.30, Z:-2.00 [[ 9.98609886e-01 -4.82824819e-02 -2.11446632e-02 3.37204307e+02] [ 4.82775262e-02 9.98833683e-01 -7.45068929e-04 -3.03686149e-01] [ 2.11559756e-02 -2.76778833e-04 9.99776149e-01 -2.00345188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.23591999999996 meters Centerline goodness : 0.995535 Centerline is valid? [True, True] Translation: X:337.23, Y:-0.31, Z:-1.99 [[ 9.98587825e-01 -4.87351458e-02 -2.11480929e-02 3.37232288e+02] [ 4.87327290e-02 9.98811656e-01 -6.29931789e-04 -3.08707497e-01] [ 2.11536615e-02 -4.01562065e-04 9.99776156e-01 -1.98851126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.26592 meters Centerline goodness : 0.995936 Centerline is valid? [True, True] Translation: X:337.26, Y:-0.31, Z:-1.99 [[ 9.98532447e-01 -4.98588571e-02 -2.11435004e-02 3.37259390e+02] [ 4.98534590e-02 9.98756237e-01 -7.82658472e-04 -3.11607396e-01] [ 2.11562253e-02 -2.72566750e-04 9.99776145e-01 -1.99085652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.29591999999997 meters Centerline goodness : 0.996927 Centerline is valid? [True, True] Translation: X:337.29, Y:-0.31, Z:-2.00 [[ 9.98923892e-01 -4.12834521e-02 -2.11361108e-02 3.37291661e+02] [ 4.12709522e-02 9.99147463e-01 -1.02744625e-03 -3.13218711e-01] [ 2.11605080e-02 1.54033192e-04 9.99776080e-01 -2.00213896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.32592 meters Centerline goodness : 0.995883 Centerline is valid? [True, True] Translation: X:337.32, Y:-0.31, Z:-1.99 [[ 9.99036409e-01 -3.84579969e-02 -2.11479426e-02 3.37319373e+02] [ 3.84532568e-02 9.99260201e-01 -6.30894165e-04 -3.12549611e-01] [ 2.11565603e-02 -1.82921026e-04 9.99776158e-01 -1.98673377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.35591999999997 meters Centerline goodness : 0.995396 Centerline is valid? [True, True] Translation: X:337.35, Y:-0.31, Z:-1.99 [[ 9.99312747e-01 -3.04460451e-02 -2.11440794e-02 3.37347904e+02] [ 3.04367813e-02 9.99536405e-01 -7.59879534e-04 -3.11298254e-01] [ 2.11574125e-02 1.15799583e-04 9.99776150e-01 -1.98526958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.38592 meters Centerline goodness : 0.996387 Centerline is valid? [True, True] Translation: X:337.38, Y:-0.31, Z:-2.00 [[ 9.99468957e-01 -2.47933959e-02 -2.11445511e-02 3.37378613e+02] [ 2.47831989e-02 9.99692572e-01 -7.44199452e-04 -3.09283448e-01] [ 2.11565019e-02 2.19774634e-04 9.99776152e-01 -1.99830984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.41591999999997 meters Centerline goodness : 0.996182 Centerline is valid? [True, True] Translation: X:337.41, Y:-0.31, Z:-2.00 [[ 9.99543635e-01 -2.15706882e-02 -2.11477290e-02 3.37406523e+02] [ 2.15619948e-02 9.99767309e-01 -6.39037697e-04 -3.07318461e-01] [ 2.11565926e-02 1.82758840e-04 9.99776158e-01 -1.99750550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.44591999999994 meters Centerline goodness : 0.996228 Centerline is valid? [True, True] Translation: X:337.43, Y:-0.30, Z:-2.00 [[ 9.99623905e-01 -1.74595711e-02 -2.11473992e-02 3.37434475e+02] [ 1.74497309e-02 9.99847531e-01 -6.49769743e-04 -3.03725721e-01] [ 2.11555196e-02 2.80508941e-04 9.99776158e-01 -1.99590151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.47592 meters Centerline goodness : 0.994548 Centerline is valid? [True, True] Translation: X:337.46, Y:-0.30, Z:-1.98 [[ 9.99688238e-01 -1.32750899e-02 -2.11470655e-02 3.37462245e+02] [ 1.32640877e-02 9.99911810e-01 -6.60456796e-04 -2.96697813e-01] [ 2.11539681e-02 3.79754360e-04 9.99776158e-01 -1.98163291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.50591999999995 meters Centerline goodness : 0.994888 Centerline is valid? [True, True] Translation: X:337.49, Y:-0.29, Z:-1.98 [[ 9.99695780e-01 -1.26956372e-02 -2.11463307e-02 3.37489786e+02] [ 1.26840139e-02 9.99919321e-01 -6.83700833e-04 -2.93546376e-01] [ 2.11533047e-02 4.15272484e-04 9.99776158e-01 -1.98068684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.53592 meters Centerline goodness : 0.994056 Centerline is valid? [True, True] Translation: X:337.52, Y:-0.28, Z:-1.99 [[ 9.99647885e-01 1.60307687e-02 -2.11452364e-02 3.37523734e+02] [-1.60495328e-02 9.99870940e-01 -7.17974820e-04 -2.78656095e-01] [ 2.11309977e-02 1.05709317e-03 9.99776157e-01 -1.98963246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.56591999999995 meters Centerline goodness : 0.992763 Centerline is valid? [True, True] Translation: X:337.55, Y:-0.27, Z:-1.99 [[ 9.99486755e-01 2.40489382e-02 -2.11630843e-02 3.37550381e+02] [-2.40574792e-02 9.99710566e-01 -1.49040062e-04 -2.71057817e-01] [ 2.11533747e-02 6.58094029e-04 9.99776026e-01 -1.98991205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.59592 meters Centerline goodness : 0.994159 Centerline is valid? [True, True] Translation: X:337.58, Y:-0.27, Z:-1.99 [[ 9.99743968e-01 8.02957258e-03 -2.11547905e-02 3.37577852e+02] [-8.03991323e-03 9.99967598e-01 -4.03802042e-04 -2.69977070e-01] [ 2.11508627e-02 5.73781336e-04 9.99776131e-01 -1.98512399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.62591999999995 meters Centerline goodness : 0.995096 Centerline is valid? [True, True] Translation: X:337.60, Y:-0.27, Z:-1.98 [[ 9.99710048e-01 -1.15055625e-02 -2.11528275e-02 3.37603588e+02] [ 1.14983421e-02 9.99933785e-01 -4.62942282e-04 -2.74388914e-01] [ 2.11567533e-02 2.19585603e-04 9.99776147e-01 -1.97839840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.65592 meters Centerline goodness : 0.995440 Centerline is valid? [True, True] Translation: X:337.63, Y:-0.27, Z:-1.98 [[ 9.99736648e-01 -8.92489683e-03 -2.11419278e-02 3.37632987e+02] [ 8.91033160e-03 9.99959996e-01 -7.83029238e-04 -2.70134600e-01] [ 2.11480704e-02 5.94441439e-04 9.99776178e-01 -1.97954746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.68591999999995 meters Centerline goodness : 0.996634 Centerline is valid? [True, True] Translation: X:337.66, Y:-0.27, Z:-1.99 [[ 9.99748837e-01 -7.43164056e-03 -2.11431686e-02 3.37663617e+02] [ 7.41751082e-03 9.99972211e-01 -7.46634919e-04 -2.66538548e-01] [ 2.11481298e-02 5.89617710e-04 9.99776179e-01 -1.98758972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.71592 meters Centerline goodness : 0.995136 Centerline is valid? [True, True] Translation: X:337.69, Y:-0.26, Z:-1.98 [[ 9.99742177e-01 -8.27699768e-03 -2.11440464e-02 3.37692572e+02] [ 8.26360091e-03 9.99965596e-01 -7.20890842e-04 -2.62920155e-01] [ 2.11492857e-02 5.45979020e-04 9.99776180e-01 -1.97573442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.74591999999996 meters Centerline goodness : 0.994956 Centerline is valid? [True, True] Translation: X:337.72, Y:-0.26, Z:-1.97 [[ 9.99746441e-01 -7.74987864e-03 -2.11422020e-02 3.37721816e+02] [ 7.73522549e-03 9.99969783e-01 -7.74767977e-04 -2.57090046e-01] [ 2.11475675e-02 6.11031827e-04 9.99776178e-01 -1.97483938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.77592 meters Centerline goodness : 0.995240 Centerline is valid? [True, True] Translation: X:337.75, Y:-0.26, Z:-1.97 [[ 9.99738394e-01 -8.72635932e-03 -2.11422563e-02 3.37750344e+02] [ 8.71195785e-03 9.99961751e-01 -7.73181462e-04 -2.55251689e-01] [ 2.11481947e-02 5.88788747e-04 9.99776179e-01 -1.97474848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.80591999999996 meters Centerline goodness : 0.994889 Centerline is valid? [True, True] Translation: X:337.78, Y:-0.25, Z:-1.97 [[ 9.99732200e-01 -9.40858492e-03 -2.11425147e-02 3.37780985e+02] [ 9.39449489e-03 9.99955578e-01 -7.65657397e-04 -2.54134994e-01] [ 2.11487792e-02 5.66829109e-04 9.99776179e-01 -1.97419607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.83592 meters Centerline goodness : 0.996688 Centerline is valid? [True, True] Translation: X:337.81, Y:-0.25, Z:-1.99 [[ 9.99706978e-01 -1.17856039e-02 -2.11437558e-02 3.37811272e+02] [ 1.17728103e-02 9.99930432e-01 -7.29454524e-04 -2.52389885e-01] [ 2.11508819e-02 4.80319351e-04 9.99776180e-01 -1.98546947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.86591999999996 meters Centerline goodness : 0.995100 Centerline is valid? [True, True] Translation: X:337.84, Y:-0.25, Z:-1.97 [[ 9.99653309e-01 -1.56906813e-02 -2.11439064e-02 3.37840188e+02] [ 1.56788536e-02 9.99876816e-01 -7.25061790e-04 -2.51459846e-01] [ 2.11526786e-02 3.93298205e-04 9.99776180e-01 -1.97085459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.89592 meters Centerline goodness : 0.995691 Centerline is valid? [True, True] Translation: X:337.87, Y:-0.25, Z:-1.97 [[ 9.99584930e-01 -1.95717680e-02 -2.11403530e-02 3.37868161e+02] [ 1.95586228e-02 9.99808369e-01 -8.28406908e-04 -2.49810066e-01] [ 2.11525152e-02 4.14586871e-04 9.99776175e-01 -1.97031298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.92591999999996 meters Centerline goodness : 0.996390 Centerline is valid? [True, True] Translation: X:337.90, Y:-0.25, Z:-1.97 [[ 9.99502360e-01 -2.34132211e-02 -2.11388980e-02 3.37898112e+02] [ 2.34000417e-02 9.99725802e-01 -8.70634842e-04 -2.48783228e-01] [ 2.11534862e-02 3.75550483e-04 9.99776169e-01 -1.97088061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.95592 meters Centerline goodness : 0.998267 Centerline is valid? [True, True] Translation: X:337.93, Y:-0.25, Z:-1.98 [[ 9.99331881e-01 -2.98145891e-02 -2.11395914e-02 3.37928832e+02] [ 2.98032670e-02 9.99555422e-01 -8.50504240e-04 -2.49948430e-01] [ 2.11555506e-02 2.19907115e-04 9.99776172e-01 -1.98367741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.98591999999996 meters Centerline goodness : 0.996239 Centerline is valid? [True, True] Translation: X:337.96, Y:-0.25, Z:-1.97 [[ 9.99184424e-01 -3.44009237e-02 -2.11438704e-02 3.37955797e+02] [ 3.43932650e-02 9.99408113e-01 -7.25865501e-04 -2.50697484e-01] [ 2.11563260e-02 -1.93323343e-06 9.99776180e-01 -1.96722642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.01592 meters Centerline goodness : 0.997078 Centerline is valid? [True, True] Translation: X:337.98, Y:-0.25, Z:-1.96 [[ 9.98987265e-01 -3.97193283e-02 -2.11380934e-02 3.37983821e+02] [ 3.97093088e-02 9.99210875e-01 -8.93691426e-04 -2.48982285e-01] [ 2.11569096e-02 5.34072748e-05 9.99776166e-01 -1.96475384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.04591999999997 meters Centerline goodness : 0.996223 Centerline is valid? [True, True] Translation: X:338.01, Y:-0.25, Z:-1.96 [[ 9.98921383e-01 -4.13446315e-02 -2.11351069e-02 3.38012756e+02] [ 4.13331429e-02 9.99144940e-01 -9.80318336e-04 -2.48053999e-01] [ 2.11575660e-02 1.05680553e-04 9.99776148e-01 -1.96260395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.07592 meters Centerline goodness : 0.997422 Centerline is valid? [True, True] Translation: X:338.04, Y:-0.25, Z:-1.97 [[ 9.98878857e-01 -4.23586122e-02 -2.11370900e-02 3.38042126e+02] [ 4.23485750e-02 9.99102471e-01 -9.22449654e-04 -2.47672220e-01] [ 2.11571925e-02 2.62898144e-05 9.99776161e-01 -1.96694000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.10591999999997 meters Centerline goodness : 0.998811 Centerline is valid? [True, True] Translation: X:338.07, Y:-0.25, Z:-1.98 [[ 9.98841374e-01 -4.32327723e-02 -2.11385062e-02 3.38074290e+02] [ 4.32238103e-02 9.99065026e-01 -8.80892674e-04 -2.47162840e-01] [ 2.11568257e-02 -3.38147310e-05 9.99776169e-01 -1.97897631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.13592 meters Centerline goodness : 0.997227 Centerline is valid? [True, True] Translation: X:338.10, Y:-0.25, Z:-1.96 [[ 9.98658384e-01 -4.72689890e-02 -2.11441522e-02 3.38100343e+02] [ 4.72644717e-02 9.98882155e-01 -7.13612362e-04 -2.47412964e-01] [ 2.11542480e-02 -2.86712213e-04 9.99776183e-01 -1.96301928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.16591999999997 meters Centerline goodness : 0.997031 Centerline is valid? [True, True] Translation: X:338.13, Y:-0.25, Z:-1.96 [[ 9.98691719e-01 -4.65646839e-02 -2.11324479e-02 3.38131221e+02] [ 4.65526967e-02 9.98915274e-01 -1.05909717e-03 -2.46043668e-01] [ 2.11588415e-02 7.39391311e-05 9.99776124e-01 -1.96480646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.19591999999994 meters Centerline goodness : 0.997524 Centerline is valid? [True, True] Translation: X:338.16, Y:-0.25, Z:-1.97 [[ 9.98784401e-01 -4.45313045e-02 -2.11348612e-02 3.38162691e+02] [ 4.45203813e-02 9.99007988e-01 -9.87305674e-04 -2.48166098e-01] [ 2.11578611e-02 4.51734293e-05 9.99776146e-01 -1.96558659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.22592 meters Centerline goodness : 0.998961 Centerline is valid? [True, True] Translation: X:338.19, Y:-0.25, Z:-1.98 [[ 9.98804052e-01 -4.40849203e-02 -2.11420085e-02 3.38193576e+02] [ 4.40784170e-02 9.99027775e-01 -7.73732286e-04 -2.48185715e-01] [ 2.11555636e-02 -1.59099325e-04 9.99776183e-01 -1.97753004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.25591999999995 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:338.22, Y:-0.25, Z:-1.98 [[ 9.98803092e-01 -4.41056071e-02 -2.11442613e-02 3.38222569e+02] [ 4.41005360e-02 9.99026848e-01 -7.06292506e-04 -2.47345213e-01] [ 2.11548361e-02 -2.27026115e-04 9.99776186e-01 -1.97672742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.28592 meters Centerline goodness : 0.997076 Centerline is valid? [True, True] Translation: X:338.25, Y:-0.25, Z:-1.96 [[ 9.98761132e-01 -4.50458034e-02 -2.11441739e-02 3.38250767e+02] [ 4.50408877e-02 9.98984893e-01 -7.08899422e-04 -2.50046193e-01] [ 2.11546432e-02 -2.44331170e-04 9.99776186e-01 -1.96210322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.31591999999995 meters Centerline goodness : 0.998860 Centerline is valid? [True, True] Translation: X:338.28, Y:-0.25, Z:-1.98 [[ 9.98775968e-01 -4.47174361e-02 -2.11403922e-02 3.38281173e+02] [ 4.47100773e-02 9.98999667e-01 -8.20843056e-04 -2.51936699e-01] [ 2.11559507e-02 -1.25350250e-04 9.99776180e-01 -1.97647418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.34592 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:338.31, Y:-0.25, Z:-1.98 [[ 9.98777293e-01 -4.46860774e-02 -2.11440952e-02 3.38309043e+02] [ 4.46810436e-02 9.99001051e-01 -7.10671918e-04 -2.54191570e-01] [ 2.11547305e-02 -2.34937266e-04 9.99776186e-01 -1.97616899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.37591999999995 meters Centerline goodness : 0.996531 Centerline is valid? [True, True] Translation: X:338.34, Y:-0.26, Z:-1.96 [[ 9.98882361e-01 -4.22724679e-02 -2.11439639e-02 3.38337591e+02] [ 4.22668112e-02 9.99106104e-01 -7.14557919e-04 -2.56420573e-01] [ 2.11552695e-02 -1.79928628e-04 9.99776186e-01 -1.96081602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.40592 meters Centerline goodness : 0.996524 Centerline is valid? [True, True] Translation: X:338.37, Y:-0.26, Z:-1.96 [[ 9.98876044e-01 -4.24221115e-02 -2.11426650e-02 3.38365111e+02] [ 4.24156807e-02 9.99099767e-01 -7.52712226e-04 -2.56866318e-01] [ 2.11555634e-02 -1.44914319e-04 9.99776186e-01 -1.95821746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.43591999999995 meters Centerline goodness : 0.996882 Centerline is valid? [True, True] Translation: X:338.39, Y:-0.26, Z:-1.96 [[ 9.98949041e-01 -4.06682502e-02 -2.11401658e-02 3.38394615e+02] [ 4.06598770e-02 9.99172704e-01 -8.25933117e-04 -2.56763094e-01] [ 2.11562658e-02 -3.44914457e-05 9.99776181e-01 -1.96010738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.46592 meters Centerline goodness : 0.996481 Centerline is valid? [True, True] Translation: X:338.42, Y:-0.26, Z:-1.96 [[ 9.98958131e-01 -4.04424692e-02 -2.11437581e-02 3.38422596e+02] [ 4.04362609e-02 9.99181860e-01 -7.21250993e-04 -2.59663041e-01] [ 2.11556287e-02 -1.34474976e-04 9.99776186e-01 -1.95997158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.49591999999996 meters Centerline goodness : 0.995593 Centerline is valid? [True, True] Translation: X:338.45, Y:-0.26, Z:-1.96 [[ 9.98963542e-01 -4.03099324e-02 -2.11412080e-02 3.38451945e+02] [ 4.03021257e-02 9.99187223e-01 -7.95370577e-04 -2.60812283e-01] [ 2.11560863e-02 -5.74894150e-05 9.99776183e-01 -1.95592448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.52592 meters Centerline goodness : 0.996881 Centerline is valid? [True, True] Translation: X:338.48, Y:-0.26, Z:-1.96 [[ 9.98985121e-01 -3.97716123e-02 -2.11411155e-02 3.38481100e+02] [ 3.97636283e-02 9.99208795e-01 -7.98060100e-04 -2.61676917e-01] [ 2.11561287e-02 -4.33972928e-05 9.99776183e-01 -1.95822521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.55591999999996 meters Centerline goodness : 0.996035 Centerline is valid? [True, True] Translation: X:338.51, Y:-0.26, Z:-1.96 [[ 9.98921560e-01 -4.13373113e-02 -2.11410326e-02 3.38509696e+02] [ 4.13296267e-02 9.99145245e-01 -8.00474233e-04 -2.64601270e-01] [ 2.11560516e-02 -7.41400133e-05 9.99776183e-01 -1.95752619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.58592 meters Centerline goodness : 0.998960 Centerline is valid? [True, True] Translation: X:338.54, Y:-0.26, Z:-1.97 [[ 9.98996106e-01 -3.94964153e-02 -2.11379644e-02 3.38541328e+02] [ 3.94864260e-02 9.99219711e-01 -8.89906576e-04 -2.64816872e-01] [ 2.11566188e-02 5.43505375e-05 9.99776172e-01 -1.96982200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.61591999999996 meters Centerline goodness : 0.998414 Centerline is valid? [True, True] Translation: X:338.57, Y:-0.27, Z:-1.97 [[ 9.98916873e-01 -4.14490257e-02 -2.11437794e-02 3.38570224e+02] [ 4.14430929e-02 9.99140607e-01 -7.18885191e-04 -2.67876748e-01] [ 2.11554057e-02 -1.58157066e-04 9.99776187e-01 -1.96850889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.64592 meters Centerline goodness : 0.998414 Centerline is valid? [True, True] Translation: X:338.60, Y:-0.27, Z:-1.97 [[ 9.98908994e-01 -4.16385276e-02 -2.11436888e-02 3.38598655e+02] [ 4.16325810e-02 9.99132728e-01 -7.21539649e-04 -2.66958847e-01] [ 2.11553953e-02 -1.59513892e-04 9.99776187e-01 -1.96790645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.67591999999996 meters Centerline goodness : 0.995441 Centerline is valid? [True, True] Translation: X:338.63, Y:-0.27, Z:-1.95 [[ 9.98829115e-01 -4.35126287e-02 -2.11435512e-02 3.38627830e+02] [ 4.35070171e-02 9.99052858e-01 -7.25550461e-04 -2.68102393e-01] [ 2.11550958e-02 -1.95191917e-04 9.99776187e-01 -1.95300931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.70592 meters Centerline goodness : 0.995241 Centerline is valid? [True, True] Translation: X:338.66, Y:-0.27, Z:-1.95 [[ 9.98782397e-01 -4.45728346e-02 -2.11420485e-02 3.38658197e+02] [ 4.45665376e-02 9.99006122e-01 -7.69150845e-04 -2.69619285e-01] [ 2.11553191e-02 -1.74013576e-04 9.99776186e-01 -1.95088973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.73591999999996 meters Centerline goodness : 0.995094 Centerline is valid? [True, True] Translation: X:338.69, Y:-0.27, Z:-1.95 [[ 9.98638502e-01 -4.76876249e-02 -2.11431661e-02 3.38686871e+02] [ 4.76827090e-02 9.98862261e-01 -7.36873184e-04 -2.74582317e-01] [ 2.11542505e-02 -2.72293505e-04 9.99776187e-01 -1.95200576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.76592 meters Centerline goodness : 0.994551 Centerline is valid? [True, True] Translation: X:338.72, Y:-0.28, Z:-1.95 [[ 9.98558713e-01 -4.93321198e-02 -2.11385574e-02 3.38715555e+02] [ 4.93247612e-02 9.98782415e-01 -8.69674629e-04 -2.76604710e-01] [ 2.11557223e-02 -1.74233119e-04 9.99776177e-01 -1.94753174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.79591999999997 meters Centerline goodness : 0.995481 Centerline is valid? [True, True] Translation: X:338.75, Y:-0.28, Z:-1.95 [[ 9.98714576e-01 -4.60707123e-02 -2.11349054e-02 3.38747422e+02] [ 4.60603789e-02 9.98938181e-01 -9.75720847e-04 -2.76020162e-01] [ 2.11574161e-02 9.84883187e-07 9.99776157e-01 -1.94886294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.82592 meters Centerline goodness : 0.995187 Centerline is valid? [True, True] Translation: X:338.78, Y:-0.28, Z:-1.95 [[ 9.98722964e-01 -4.58847819e-02 -2.11430498e-02 3.38776113e+02] [ 4.58794437e-02 9.98946711e-01 -7.37737487e-04 -2.77364147e-01] [ 2.11546310e-02 -2.33235993e-04 9.99776189e-01 -1.94848809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.85591999999997 meters Centerline goodness : 0.998465 Centerline is valid? [True, True] Translation: X:338.81, Y:-0.28, Z:-1.96 [[ 9.98751583e-01 -4.52576349e-02 -2.11428971e-02 3.38806417e+02] [ 4.52520620e-02 9.98975325e-01 -7.42187354e-04 -2.81453590e-01] [ 2.11548222e-02 -2.15498896e-04 9.99776188e-01 -1.96371026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.88592 meters Centerline goodness : 0.998017 Centerline is valid? [True, True] Translation: X:338.84, Y:-0.28, Z:-1.96 [[ 9.98772309e-01 -4.47976765e-02 -2.11434002e-02 3.38835702e+02] [ 4.47923100e-02 9.98996056e-01 -7.27568847e-04 -2.82602584e-01] [ 2.11547668e-02 -2.20386118e-04 9.99776189e-01 -1.96223569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.91591999999997 meters Centerline goodness : 0.993858 Centerline is valid? [True, True] Translation: X:338.86, Y:-0.29, Z:-1.95 [[ 9.98769430e-01 -4.48618481e-02 -2.11433101e-02 3.38864024e+02] [ 4.48564407e-02 9.98993176e-01 -7.30177551e-04 -2.85095846e-01] [ 2.11547796e-02 -2.19134617e-04 9.99776189e-01 -1.94519433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.94591999999994 meters Centerline goodness : 0.994152 Centerline is valid? [True, True] Translation: X:338.89, Y:-0.29, Z:-1.95 [[ 9.98812265e-01 -4.38999723e-02 -2.11388573e-02 3.38894264e+02] [ 4.38916403e-02 9.99035929e-01 -8.58182716e-04 -2.86530908e-01] [ 2.11561521e-02 -7.06556977e-05 9.99776181e-01 -1.94612761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.97592 meters Centerline goodness : 0.994255 Centerline is valid? [True, True] Translation: X:338.92, Y:-0.29, Z:-1.95 [[ 9.98833923e-01 -4.34036639e-02 -2.11403825e-02 3.38923134e+02] [ 4.33961443e-02 9.99057612e-01 -8.14542667e-04 -2.89050402e-01] [ 2.11558142e-02 -1.03818240e-04 9.99776185e-01 -1.94634023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.00591999999995 meters Centerline goodness : 0.994287 Centerline is valid? [True, True] Translation: X:338.95, Y:-0.29, Z:-1.95 [[ 9.99002118e-01 -3.93432143e-02 -2.11395471e-02 3.38954621e+02] [ 3.93342828e-02 9.99225756e-01 -8.38296096e-04 -2.90072239e-01] [ 2.11561612e-02 5.95065176e-06 9.99776183e-01 -1.94520803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.03592 meters Centerline goodness : 0.993305 Centerline is valid? [True, True] Translation: X:338.98, Y:-0.29, Z:-1.94 [[ 9.99020258e-01 -3.88776226e-02 -2.11436749e-02 3.38984596e+02] [ 3.88710882e-02 9.99243974e-01 -7.20099735e-04 -2.89249587e-01] [ 2.11556855e-02 -1.02483429e-04 9.99776188e-01 -1.94348370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.06591999999995 meters Centerline goodness : 0.998114 Centerline is valid? [True, True] Translation: X:339.01, Y:-0.29, Z:-1.96 [[ 9.99030803e-01 -3.86048907e-02 -2.11451334e-02 3.39014294e+02] [ 3.85991698e-02 9.99254544e-01 -6.78776233e-04 -2.93504693e-01] [ 2.11555747e-02 -1.38066229e-04 9.99776186e-01 -1.95540513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.09592 meters Centerline goodness : 0.997965 Centerline is valid? [True, True] Translation: X:339.04, Y:-0.30, Z:-1.95 [[ 9.98994997e-01 -3.95219682e-02 -2.11426240e-02 3.39042466e+02] [ 3.95149545e-02 9.99218698e-01 -7.49560555e-04 -2.97367372e-01] [ 2.11557293e-02 -8.66425817e-05 9.99776189e-01 -1.95436557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.12591999999995 meters Centerline goodness : 0.991176 Centerline is valid? [True, True] Translation: X:339.07, Y:-0.30, Z:-1.94 [[ 9.99004149e-01 -3.92900267e-02 -2.11424798e-02 3.39073575e+02] [ 3.92828756e-02 9.99227846e-01 -7.53604200e-04 -2.99800134e-01] [ 2.11557637e-02 -7.76836835e-05 9.99776189e-01 -1.93503355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.15592 meters Centerline goodness : 0.998215 Centerline is valid? [True, True] Translation: X:339.10, Y:-0.30, Z:-1.95 [[ 9.98940610e-01 -4.08713160e-02 -2.11469478e-02 3.39103295e+02] [ 4.08671742e-02 9.99164391e-01 -6.28158993e-04 -3.00728501e-01] [ 2.11549509e-02 -2.36722471e-04 9.99776181e-01 -1.95235631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.18591999999995 meters Centerline goodness : 0.994343 Centerline is valid? [True, True] Translation: X:339.13, Y:-0.30, Z:-1.94 [[ 9.98989152e-01 -3.96695812e-02 -2.11423355e-02 3.39132994e+02] [ 3.96624435e-02 9.99212849e-01 -7.56983888e-04 -3.03603650e-01] [ 2.11557225e-02 -8.23379958e-05 9.99776189e-01 -1.93860250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.21592 meters Centerline goodness : 0.997911 Centerline is valid? [True, True] Translation: X:339.16, Y:-0.31, Z:-1.95 [[ 9.99061160e-01 -3.78135186e-02 -2.11408482e-02 3.39163720e+02] [ 3.78050896e-02 9.99284813e-01 -7.98369076e-04 -3.05931383e-01] [ 2.11559177e-02 -1.61212751e-06 9.99776189e-01 -1.95088880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.24591999999996 meters Centerline goodness : 0.997669 Centerline is valid? [True, True] Translation: X:339.19, Y:-0.31, Z:-1.95 [[ 9.99115114e-01 -3.63593172e-02 -2.11421052e-02 3.39193080e+02] [ 3.63512991e-02 9.99338781e-01 -7.63566243e-04 -3.08618500e-01] [ 2.11558884e-02 -5.65241623e-06 9.99776189e-01 -1.94930591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.27592 meters Centerline goodness : 0.997372 Centerline is valid? [True, True] Translation: X:339.22, Y:-0.31, Z:-1.95 [[ 9.99254777e-01 -3.22940559e-02 -2.11420056e-02 3.39221922e+02] [ 3.22850698e-02 9.99478407e-01 -7.66312667e-04 -3.11169510e-01] [ 2.11557255e-02 8.31704665e-05 9.99776189e-01 -1.94682177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.30591999999996 meters Centerline goodness : 0.997920 Centerline is valid? [True, True] Translation: X:339.25, Y:-0.31, Z:-1.95 [[ 9.99323112e-01 -3.01056087e-02 -2.11416798e-02 3.39251180e+02] [ 3.00959448e-02 9.99546714e-01 -7.75198215e-04 -3.10872460e-01] [ 2.11554344e-02 1.38394663e-04 9.99776189e-01 -1.94572688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.33592 meters Centerline goodness : 0.995170 Centerline is valid? [True, True] Translation: X:339.28, Y:-0.31, Z:-1.93 [[ 9.99281071e-01 -3.14702124e-02 -2.11415781e-02 3.39280779e+02] [ 3.14607954e-02 9.99504684e-01 -7.77963044e-04 -3.11862940e-01] [ 2.11555890e-02 1.12272882e-04 9.99776189e-01 -1.93459013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.36591999999996 meters Centerline goodness : 0.995340 Centerline is valid? [True, True] Translation: X:339.31, Y:-0.32, Z:-1.93 [[ 9.99285598e-01 -3.13282234e-02 -2.11384817e-02 3.39310012e+02] [ 3.13170095e-02 9.99509131e-01 -8.61407118e-04 -3.15982004e-01] [ 2.11550918e-02 1.98797697e-04 9.99776186e-01 -1.93358885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.39592 meters Centerline goodness : 0.997866 Centerline is valid? [True, True] Translation: X:339.34, Y:-0.32, Z:-1.94 [[ 9.99342337e-01 -2.94651701e-02 -2.11352246e-02 3.39342236e+02] [ 2.94516866e-02 9.99565754e-01 -9.49013829e-04 -3.16238537e-01] [ 2.11540096e-02 3.25921686e-04 9.99776176e-01 -1.94290802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.42591999999996 meters Centerline goodness : 0.993802 Centerline is valid? [True, True] Translation: X:339.37, Y:-0.32, Z:-1.93 [[ 9.99227696e-01 -3.31218220e-02 -2.11413367e-02 3.39369793e+02] [ 3.31126415e-02 9.99451318e-01 -7.84258220e-04 -3.17423795e-01] [ 2.11557129e-02 8.36070332e-05 9.99776189e-01 -1.92870807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.45592 meters Centerline goodness : 0.998068 Centerline is valid? [True, True] Translation: X:339.40, Y:-0.32, Z:-1.94 [[ 9.99289807e-01 -3.11957637e-02 -2.11354406e-02 3.39400783e+02] [ 3.11828204e-02 9.99513254e-01 -9.41765734e-04 -3.20044073e-01] [ 2.11545321e-02 2.82034250e-04 9.99776178e-01 -1.94183608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.48591999999996 meters Centerline goodness : 0.994044 Centerline is valid? [True, True] Translation: X:339.43, Y:-0.32, Z:-1.93 [[ 9.99227365e-01 -3.31319603e-02 -2.11410850e-02 3.39428958e+02] [ 3.31226416e-02 9.99450982e-01 -7.90892388e-04 -3.21626681e-01] [ 2.11556820e-02 9.00327334e-05 9.99776189e-01 -1.92902726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.51592 meters Centerline goodness : 0.993451 Centerline is valid? [True, True] Translation: X:339.46, Y:-0.32, Z:-1.93 [[ 9.99282599e-01 -3.14273967e-02 -2.11330401e-02 3.39459817e+02] [ 3.14131731e-02 9.99505979e-01 -1.00475947e-03 -3.21166541e-01] [ 2.11541770e-02 3.40182807e-04 9.99776167e-01 -1.92557134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.54591999999997 meters Centerline goodness : 0.993642 Centerline is valid? [True, True] Translation: X:339.49, Y:-0.32, Z:-1.93 [[ 9.99411268e-01 -2.70262180e-02 -2.11352773e-02 3.39490469e+02] [ 2.70122714e-02 9.99634655e-01 -9.45133748e-04 -3.19041058e-01] [ 2.11530990e-02 3.73665472e-04 9.99776178e-01 -1.92706542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.57592 meters Centerline goodness : 0.997618 Centerline is valid? [True, True] Translation: X:339.52, Y:-0.32, Z:-1.94 [[ 9.99547676e-01 -2.13947943e-02 -2.11354450e-02 3.39522002e+02] [ 2.13796838e-02 9.99770986e-01 -9.40659945e-04 -3.18877750e-01] [ 2.11507299e-02 4.88365329e-04 9.99776179e-01 -1.93674017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.60591999999997 meters Centerline goodness : 0.993948 Centerline is valid? [True, True] Translation: X:339.55, Y:-0.32, Z:-1.92 [[ 9.99617439e-01 -1.78334038e-02 -2.11410739e-02 3.39549003e+02] [ 1.78206815e-02 9.99840887e-01 -7.90040663e-04 -3.19847170e-01] [ 2.11517992e-02 4.12990080e-04 9.99776190e-01 -1.92372756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.63592 meters Centerline goodness : 0.995091 Centerline is valid? [True, True] Translation: X:339.58, Y:-0.32, Z:-1.92 [[ 9.99663578e-01 -1.50340935e-02 -2.11354215e-02 3.39577296e+02] [ 1.50175899e-02 9.99886788e-01 -9.39363411e-04 -3.17160725e-01] [ 2.11471512e-02 6.21644296e-04 9.99776181e-01 -1.92420474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.66591999999997 meters Centerline goodness : 0.994243 Centerline is valid? [True, True] Translation: X:339.61, Y:-0.31, Z:-1.92 [[ 9.99695364e-01 -1.27457973e-02 -2.11358398e-02 3.39606259e+02] [ 1.27290153e-02 9.99918552e-01 -9.28355734e-04 -3.13509380e-01] [ 2.11459510e-02 6.59034496e-04 9.99776182e-01 -1.92330799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.69591999999994 meters Centerline goodness : 0.995886 Centerline is valid? [True, True] Translation: X:339.64, Y:-0.31, Z:-1.92 [[ 9.99733257e-01 -9.31326125e-03 -2.11347484e-02 3.39636205e+02] [ 9.29510798e-03 9.99956342e-01 -9.57005818e-04 -3.10740917e-01] [ 2.11427385e-02 7.60300776e-04 9.99776178e-01 -1.92296557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.72592 meters Centerline goodness : 0.997717 Centerline is valid? [True, True] Translation: X:339.67, Y:-0.31, Z:-1.93 [[ 9.99771705e-01 -3.13116914e-03 -2.11360777e-02 3.39667344e+02] [ 3.11237160e-03 9.99994731e-01 -9.22194946e-04 -3.07290055e-01] [ 2.11388539e-02 8.56201085e-04 9.99776183e-01 -1.93002811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.75591999999995 meters Centerline goodness : 0.995536 Centerline is valid? [True, True] Translation: X:339.69, Y:-0.31, Z:-1.92 [[ 9.99758007e-01 -6.08371554e-03 -2.11403802e-02 3.39693759e+02] [ 6.06794852e-03 9.99981262e-01 -8.09891813e-04 -3.05124992e-01] [ 2.11449112e-02 6.81417087e-04 9.99776189e-01 -1.92168889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.78592 meters Centerline goodness : 0.995937 Centerline is valid? [True, True] Translation: X:339.72, Y:-0.30, Z:-1.92 [[ 9.99763732e-01 -5.09098231e-03 -2.11320219e-02 3.39723122e+02] [ 5.07044338e-03 9.99986619e-01 -1.02540123e-03 -3.01463573e-01] [ 2.11369595e-02 9.18010237e-04 9.99776168e-01 -1.92215953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.81591999999995 meters Centerline goodness : 0.996729 Centerline is valid? [True, True] Translation: X:339.75, Y:-0.30, Z:-1.92 [[ 9.99763569e-01 -5.11374864e-03 -2.11342527e-02 3.39751414e+02] [ 5.09442477e-03 9.99986555e-01 -9.68077957e-04 -2.95964282e-01] [ 2.11389190e-02 8.60182213e-04 9.99776178e-01 -1.92174124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.84592 meters Centerline goodness : 0.996482 Centerline is valid? [True, True] Translation: X:339.78, Y:-0.29, Z:-1.92 [[ 9.99759152e-01 -5.90600637e-03 -2.11366482e-02 3.39779641e+02] [ 5.88815009e-03 9.99982253e-01 -9.06937628e-04 -2.93675872e-01] [ 2.11416295e-02 7.82263436e-04 9.99776185e-01 -1.92181351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.87591999999995 meters Centerline goodness : 0.996228 Centerline is valid? [True, True] Translation: X:339.81, Y:-0.29, Z:-1.92 [[ 9.99742205e-01 -8.29465132e-03 -2.11358170e-02 3.39808787e+02] [ 8.27688395e-03 9.99965315e-01 -9.27970504e-04 -2.89340054e-01] [ 2.11427812e-02 7.52792572e-04 9.99776183e-01 -1.92185525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.90592 meters Centerline goodness : 0.996173 Centerline is valid? [True, True] Translation: X:339.84, Y:-0.29, Z:-1.92 [[ 9.99732489e-01 -9.39241029e-03 -2.11360553e-02 3.39837203e+02] [ 9.37501511e-03 9.99955629e-01 -9.21948046e-04 -2.86096768e-01] [ 2.11437768e-02 7.23550577e-04 9.99776184e-01 -1.92122898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.93591999999995 meters Centerline goodness : 0.995983 Centerline is valid? [True, True] Translation: X:339.87, Y:-0.28, Z:-1.92 [[ 9.99714145e-01 -1.11759507e-02 -2.11359090e-02 3.39865197e+02] [ 1.11588762e-02 9.99937309e-01 -9.25615417e-04 -2.83012386e-01] [ 2.11449286e-02 6.89497834e-04 9.99776183e-01 -1.91946550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.96592 meters Centerline goodness : 0.997019 Centerline is valid? [True, True] Translation: X:339.89, Y:-0.28, Z:-1.92 [[ 9.99709906e-01 -1.15535009e-02 -2.11333809e-02 3.39894725e+02] [ 1.15351846e-02 9.99932979e-01 -9.88399571e-04 -2.77839338e-01] [ 2.11433840e-02 7.44335393e-04 9.99776177e-01 -1.91813488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.99591999999996 meters Centerline goodness : 0.997073 Centerline is valid? [True, True] Translation: X:339.93, Y:-0.27, Z:-1.92 [[ 9.99711280e-01 -1.14375057e-02 -2.11314764e-02 3.39925341e+02] [ 1.14181663e-02 9.99934274e-01 -1.03562881e-03 -2.74332997e-01] [ 2.11419325e-02 7.94047094e-04 9.99776169e-01 -1.91748283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.02592 meters Centerline goodness : 0.997171 Centerline is valid? [True, True] Translation: X:339.95, Y:-0.27, Z:-1.92 [[ 9.99714769e-01 -1.11227624e-02 -2.11344344e-02 3.39954333e+02] [ 1.11049121e-02 9.99937876e-01 -9.61786906e-04 -2.70751652e-01] [ 2.11438192e-02 7.26816539e-04 9.99776180e-01 -1.91722175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.05591999999996 meters Centerline goodness : 0.997672 Centerline is valid? [True, True] Translation: X:339.98, Y:-0.26, Z:-1.92 [[ 9.99713897e-01 -1.12019986e-02 -2.11338360e-02 3.39982809e+02] [ 1.11838527e-02 9.99936982e-01 -9.76619752e-04 -2.64860665e-01] [ 2.11434443e-02 7.39982630e-04 9.99776179e-01 -1.91682554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.08592 meters Centerline goodness : 0.997968 Centerline is valid? [True, True] Translation: X:340.01, Y:-0.26, Z:-1.92 [[ 9.99700243e-01 -1.23580351e-02 -2.11353401e-02 3.40011509e+02] [ 1.23409317e-02 9.99923406e-01 -9.39474319e-04 -2.62261518e-01] [ 2.11453313e-02 6.78362917e-04 9.99776182e-01 -1.91615094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.11591999999996 meters Centerline goodness : 0.998216 Centerline is valid? [True, True] Translation: X:340.04, Y:-0.26, Z:-1.92 [[ 9.99680488e-01 -1.38648078e-02 -2.11350118e-02 3.40039704e+02] [ 1.38478710e-02 9.99903665e-01 -9.47512357e-04 -2.60498981e-01] [ 2.11461128e-02 6.54534698e-04 9.99776182e-01 -1.91538213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.14592 meters Centerline goodness : 0.998711 Centerline is valid? [True, True] Translation: X:340.07, Y:-0.26, Z:-1.91 [[ 9.99617181e-01 -1.78583552e-02 -2.11321977e-02 3.40068688e+02] [ 1.78408658e-02 9.99840323e-01 -1.01587524e-03 -2.56950249e-01] [ 2.11469652e-02 6.38469639e-04 9.99776174e-01 -1.91331672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.17591999999996 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:340.10, Y:-0.25, Z:-1.92 [[ 9.99612026e-01 -1.81437634e-02 -2.11329272e-02 3.40099087e+02] [ 1.81267126e-02 9.99835199e-01 -9.98130407e-04 -2.54508583e-01] [ 2.11475543e-02 6.14672661e-04 9.99776177e-01 -1.92140061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.20592 meters Centerline goodness : 0.998512 Centerline is valid? [True, True] Translation: X:340.13, Y:-0.25, Z:-1.91 [[ 9.99507072e-01 -2.32117488e-02 -2.11383017e-02 3.40128364e+02] [ 2.31985991e-02 9.99730500e-01 -8.67116781e-04 -2.52894395e-01] [ 2.11527322e-02 3.76310368e-04 9.99776185e-01 -1.91245301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.23591999999996 meters Centerline goodness : 0.998217 Centerline is valid? [True, True] Translation: X:340.16, Y:-0.25, Z:-1.91 [[ 9.99488918e-01 -2.39847910e-02 -2.11336999e-02 3.40158938e+02] [ 2.39694459e-02 9.99712212e-01 -9.79146271e-04 -2.50883829e-01] [ 2.11511025e-02 4.72082770e-04 9.99776179e-01 -1.91066614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.26592 meters Centerline goodness : 0.999257 Centerline is valid? [True, True] Translation: X:340.19, Y:-0.25, Z:-1.92 [[ 9.99491616e-01 -2.38697312e-02 -2.11363528e-02 3.40189229e+02] [ 2.38557305e-02 9.99714993e-01 -9.14327242e-04 -2.48381080e-01] [ 2.11521536e-02 4.09639275e-04 9.99776184e-01 -1.92212098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.29591999999997 meters Centerline goodness : 0.997820 Centerline is valid? [True, True] Translation: X:340.22, Y:-0.25, Z:-1.91 [[ 9.99424463e-01 -2.65315056e-02 -2.11381548e-02 3.40217725e+02] [ 2.65190250e-02 9.99647930e-01 -8.70574809e-04 -2.46920640e-01] [ 2.11538103e-02 3.09510506e-04 9.99776185e-01 -1.91015941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.32592 meters Centerline goodness : 0.997720 Centerline is valid? [True, True] Translation: X:340.25, Y:-0.25, Z:-1.91 [[ 9.99425377e-01 -2.64999943e-02 -2.11344937e-02 3.40246857e+02] [ 2.64856423e-02 9.99648734e-01 -9.58751744e-04 -2.46449057e-01] [ 2.11524768e-02 3.98440181e-04 9.99776182e-01 -1.90981588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.35591999999997 meters Centerline goodness : 0.997667 Centerline is valid? [True, True] Translation: X:340.27, Y:-0.25, Z:-1.91 [[ 9.99402045e-01 -2.73646195e-02 -2.11359975e-02 3.40274434e+02] [ 2.73512215e-02 9.99625459e-01 -9.22769356e-04 -2.46025433e-01] [ 2.11533324e-02 3.44122233e-04 9.99776184e-01 -1.90968599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.38592 meters Centerline goodness : 0.997030 Centerline is valid? [True, True] Translation: X:340.30, Y:-0.24, Z:-1.91 [[ 9.99439485e-01 -2.59618377e-02 -2.11352666e-02 3.40304165e+02] [ 2.59477603e-02 9.99662858e-01 -9.40074096e-04 -2.41899848e-01] [ 2.11525471e-02 3.91134337e-04 9.99776183e-01 -1.90873322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.41591999999997 meters Centerline goodness : 0.997123 Centerline is valid? [True, True] Translation: X:340.33, Y:-0.24, Z:-1.91 [[ 9.99425862e-01 -2.64790213e-02 -2.11378392e-02 3.40334334e+02] [ 2.64663466e-02 9.99649318e-01 -8.79197330e-04 -2.40258821e-01] [ 2.11537069e-02 3.19251170e-04 9.99776184e-01 -1.90812470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.44591999999994 meters Centerline goodness : 0.996827 Centerline is valid? [True, True] Translation: X:340.36, Y:-0.24, Z:-1.91 [[ 9.99422563e-01 -2.66024688e-02 -2.11388049e-02 3.40364214e+02] [ 2.65903027e-02 9.99646049e-01 -8.56448248e-04 -2.38239343e-01] [ 2.11541065e-02 2.93866481e-04 9.99776184e-01 -1.90677061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.47592 meters Centerline goodness : 0.996479 Centerline is valid? [True, True] Translation: X:340.39, Y:-0.24, Z:-1.91 [[ 9.99411504e-01 -2.70156037e-02 -2.11377034e-02 3.40392656e+02] [ 2.70029828e-02 9.99634964e-01 -8.82330653e-04 -2.35658156e-01] [ 2.11538241e-02 3.11030364e-04 9.99776184e-01 -1.90605564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.50591999999995 meters Centerline goodness : 0.997420 Centerline is valid? [True, True] Translation: X:340.42, Y:-0.23, Z:-1.92 [[ 9.99413993e-01 -2.69227203e-02 -2.11385215e-02 3.40422103e+02] [ 2.69104823e-02 9.99637475e-01 -8.63236419e-04 -2.32740875e-01] [ 2.11540990e-02 2.93882747e-04 9.99776184e-01 -1.91804531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.53592 meters Centerline goodness : 0.997423 Centerline is valid? [True, True] Translation: X:340.45, Y:-0.23, Z:-1.92 [[ 9.99405296e-01 -2.72452714e-02 -2.11364569e-02 3.40450518e+02] [ 2.72320927e-02 9.99628723e-01 -9.11133173e-04 -2.30058164e-01] [ 2.11534334e-02 3.35001366e-04 9.99776185e-01 -1.91781255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.56591999999995 meters Centerline goodness : 0.997423 Centerline is valid? [True, True] Translation: X:340.48, Y:-0.23, Z:-1.92 [[ 9.99400008e-01 -2.74386368e-02 -2.11363394e-02 3.40478944e+02] [ 2.74254439e-02 9.99623434e-01 -9.13849828e-04 -2.28874782e-01] [ 2.11534550e-02 3.33628034e-04 9.99776185e-01 -1.91721008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.59592 meters Centerline goodness : 0.994948 Centerline is valid? [True, True] Translation: X:340.51, Y:-0.23, Z:-1.91 [[ 9.99383980e-01 -2.80164789e-02 -2.11361618e-02 3.40508054e+02] [ 2.80033288e-02 9.99607408e-01 -9.17938974e-04 -2.25877793e-01] [ 2.11535814e-02 3.25490616e-04 9.99776185e-01 -1.90523301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.62591999999995 meters Centerline goodness : 0.994691 Centerline is valid? [True, True] Translation: X:340.54, Y:-0.22, Z:-1.90 [[ 9.99393360e-01 -2.76769109e-02 -2.11400044e-02 3.40536614e+02] [ 2.76655501e-02 9.99616891e-01 -8.29733298e-04 -2.22347544e-01] [ 2.11548700e-02 2.44380097e-04 9.99776181e-01 -1.90261533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.65592 meters Centerline goodness : 0.994292 Centerline is valid? [True, True] Translation: X:340.57, Y:-0.22, Z:-1.90 [[ 9.99434760e-01 -2.61394638e-02 -2.11397594e-02 3.40565745e+02] [ 2.61276408e-02 9.99658266e-01 -8.35326252e-04 -2.15519602e-01] [ 2.11543702e-02 2.82522052e-04 9.99776181e-01 -1.90335148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.68591999999995 meters Centerline goodness : 0.994994 Centerline is valid? [True, True] Translation: X:340.59, Y:-0.21, Z:-1.90 [[ 9.99433279e-01 -2.61954927e-02 -2.11404164e-02 3.40593722e+02] [ 2.61839966e-02 9.99656804e-01 -8.20459349e-04 -2.11413050e-01] [ 2.11546535e-02 2.66453785e-04 9.99776180e-01 -1.90213762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.71592 meters Centerline goodness : 0.994256 Centerline is valid? [True, True] Translation: X:340.62, Y:-0.21, Z:-1.90 [[ 9.99458851e-01 -2.52031082e-02 -2.11378291e-02 3.40622613e+02] [ 2.51901628e-02 9.99682291e-01 -8.78510780e-04 -2.07352248e-01] [ 2.11532546e-02 3.45570021e-04 9.99776185e-01 -1.89973328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.74591999999996 meters Centerline goodness : 0.995392 Centerline is valid? [True, True] Translation: X:340.65, Y:-0.20, Z:-1.91 [[ 9.99495576e-01 -2.37023205e-02 -2.11374808e-02 3.40651390e+02] [ 2.36888764e-02 9.99718986e-01 -8.86232047e-04 -2.00112062e-01] [ 2.11525466e-02 3.85061840e-04 9.99776186e-01 -1.91384661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.77592 meters Centerline goodness : 0.994193 Centerline is valid? [True, True] Translation: X:340.68, Y:-0.20, Z:-1.90 [[ 9.99484843e-01 -2.41534495e-02 -2.11343020e-02 3.40681636e+02] [ 2.41386214e-02 9.99708163e-01 -9.56472448e-04 -1.95393319e-01] [ 2.11512363e-02 4.45826801e-04 9.99776188e-01 -1.90240296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.80591999999996 meters Centerline goodness : 0.986671 Centerline is valid? [True, True] Translation: X:340.74, Y:-0.16, Z:-1.91 [[ 9.99257757e-01 3.22050269e-02 -2.11369714e-02 3.40743898e+02] [-3.22311710e-02 9.99480038e-01 -8.97294913e-04 -1.62706537e-01] [ 2.10970836e-02 1.57789824e-03 9.99776187e-01 -1.91317661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.83592 meters Centerline goodness : 0.993744 Centerline is valid? [True, True] Translation: X:340.73, Y:-0.19, Z:-1.90 [[ 9.99280679e-01 -3.13740531e-02 -2.13024450e-02 3.40734795e+02] [ 3.14405269e-02 9.99501723e-01 2.79267943e-03 -1.93341279e-01] [ 2.12042128e-02 -3.46043069e-03 9.99769177e-01 -1.89996651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.86591999999996 meters Centerline goodness : 0.993318 Centerline is valid? [True, True] Translation: X:340.76, Y:-0.18, Z:-1.90 [[ 9.99283493e-01 -3.14192009e-02 -2.11029395e-02 3.40762997e+02] [ 3.14042692e-02 9.99506225e-01 -1.03867228e-03 -1.83860204e-01] [ 2.11251536e-02 3.75205672e-04 9.99776769e-01 -1.89870539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.89592 meters Centerline goodness : 0.993849 Centerline is valid? [True, True] Translation: X:340.79, Y:-0.18, Z:-1.90 [[ 9.99276810e-01 -3.16302272e-02 -2.11041805e-02 3.40792011e+02] [ 3.16158411e-02 9.99499579e-01 -1.01505798e-03 -1.79113059e-01] [ 2.11257260e-02 3.47097485e-04 9.99776767e-01 -1.89757673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.92591999999996 meters Centerline goodness : 0.993716 Centerline is valid? [True, True] Translation: X:340.82, Y:-0.17, Z:-1.90 [[ 9.99271174e-01 -3.18069641e-02 -2.11054049e-02 3.40819682e+02] [ 3.17931054e-02 9.99493979e-01 -9.91943281e-04 -1.70580242e-01] [ 2.11262758e-02 3.20213965e-04 9.99776764e-01 -1.89766896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.95592 meters Centerline goodness : 0.992923 Centerline is valid? [True, True] Translation: X:340.85, Y:-0.17, Z:-1.90 [[ 9.99279541e-01 -3.15441193e-02 -2.11037148e-02 3.40848178e+02] [ 3.15295350e-02 9.99502297e-01 -1.02353188e-03 -1.65635017e-01] [ 2.11254979e-02 3.57404155e-04 9.99776768e-01 -1.89738758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.98591999999996 meters Centerline goodness : 0.993758 Centerline is valid? [True, True] Translation: X:340.88, Y:-0.16, Z:-1.90 [[ 9.99249139e-01 -3.24934735e-02 -2.11029126e-02 3.40875695e+02] [ 3.24787862e-02 9.99471886e-01 -1.03844241e-03 -1.58495858e-01] [ 2.11255104e-02 3.52265704e-04 9.99776769e-01 -1.89671839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.01592 meters Centerline goodness : 0.995047 Centerline is valid? [True, True] Translation: X:340.91, Y:-0.15, Z:-1.91 [[ 9.99246062e-01 -3.25904721e-02 -2.10990422e-02 3.40905216e+02] [ 3.25742965e-02 9.99468700e-01 -1.10996993e-03 -1.53200999e-01] [ 2.11240067e-02 4.21846631e-04 9.99776774e-01 -1.90998162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.04591999999997 meters Centerline goodness : 0.993519 Centerline is valid? [True, True] Translation: X:340.93, Y:-0.15, Z:-1.89 [[ 9.99165081e-01 -3.49865172e-02 -2.10970114e-02 3.40933972e+02] [ 3.49700873e-02 9.99387701e-01 -1.14731180e-03 -1.48883433e-01] [ 2.11242342e-02 4.08589556e-04 9.99776775e-01 -1.89488694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.07592 meters Centerline goodness : 0.993803 Centerline is valid? [True, True] Translation: X:340.96, Y:-0.15, Z:-1.90 [[ 9.99065052e-01 -3.77339499e-02 -2.10990563e-02 3.40962818e+02] [ 3.77189215e-02 9.99287772e-01 -1.10992763e-03 -1.45071540e-01] [ 2.11259109e-02 3.13056254e-04 9.99776774e-01 -1.89578593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.10591999999997 meters Centerline goodness : 0.995144 Centerline is valid? [True, True] Translation: X:340.99, Y:-0.14, Z:-1.91 [[ 9.98764062e-01 -4.50018661e-02 -2.10993062e-02 3.40991976e+02] [ 4.49885547e-02 9.98986891e-01 -1.10537928e-03 -1.40955796e-01] [ 2.11276744e-02 1.54785809e-04 9.99776774e-01 -1.90983373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.13592 meters Centerline goodness : 0.995104 Centerline is valid? [True, True] Translation: X:341.02, Y:-0.14, Z:-1.91 [[ 9.98549003e-01 -4.95463783e-02 -2.10960876e-02 3.41021003e+02] [ 4.95328483e-02 9.98771817e-01 -1.16372625e-03 -1.39209915e-01] [ 2.11278362e-02 1.17088382e-04 9.99776775e-01 -1.90931928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.16591999999997 meters Centerline goodness : 0.995589 Centerline is valid? [True, True] Translation: X:341.05, Y:-0.14, Z:-1.91 [[ 9.98071162e-01 -5.83859336e-02 -2.10959390e-02 3.41050159e+02] [ 5.83743201e-02 9.98294084e-01 -1.16641385e-03 -1.37904426e-01] [ 2.11280533e-02 -6.72970677e-05 9.99776776e-01 -1.90864362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.19591999999994 meters Centerline goodness : 0.995547 Centerline is valid? [True, True] Translation: X:341.08, Y:-0.14, Z:-1.91 [[ 9.97822478e-01 -6.24921535e-02 -2.10957915e-02 3.41078788e+02] [ 6.24814011e-02 9.98045444e-01 -1.16907553e-03 -1.37120231e-01] [ 2.11276167e-02 -1.51564765e-04 9.99776776e-01 -1.90891193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.22592 meters Centerline goodness : 0.993512 Centerline is valid? [True, True] Translation: X:341.11, Y:-0.14, Z:-1.89 [[ 9.97581102e-01 -6.62338179e-02 -2.10956458e-02 3.41107681e+02] [ 6.62238463e-02 9.97804104e-01 -1.17169927e-03 -1.37270341e-01] [ 2.11269281e-02 -2.28169757e-04 9.99776776e-01 -1.89331367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.25591999999995 meters Centerline goodness : 0.994243 Centerline is valid? [True, True] Translation: X:341.14, Y:-0.14, Z:-1.89 [[ 9.97259106e-01 -7.09192066e-02 -2.10888918e-02 3.41136322e+02] [ 7.09077118e-02 9.97482042e-01 -1.29327247e-03 -1.39025411e-01] [ 2.11275087e-02 -2.05637318e-04 9.99776768e-01 -1.89394352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.28592 meters Centerline goodness : 0.995503 Centerline is valid? [True, True] Translation: X:341.17, Y:-0.14, Z:-1.91 [[ 9.97380660e-01 -6.91905472e-02 -2.10828860e-02 3.41169624e+02] [ 6.91763803e-02 9.97603461e-01 -1.40140069e-03 -1.38233535e-01] [ 2.11293237e-02 -6.07077983e-05 9.99776749e-01 -1.90817923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.31591999999995 meters Centerline goodness : 0.993862 Centerline is valid? [True, True] Translation: X:341.20, Y:-0.14, Z:-1.89 [[ 9.97308956e-01 -7.02125742e-02 -2.10959680e-02 3.41197831e+02] [ 7.02036466e-02 9.97532001e-01 -1.16439825e-03 -1.41434663e-01] [ 2.11256586e-02 -3.19749083e-04 9.99776777e-01 -1.89007027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.34592 meters Centerline goodness : 0.994067 Centerline is valid? [True, True] Translation: X:341.23, Y:-0.14, Z:-1.89 [[ 9.97433670e-01 -6.84209936e-02 -2.10865417e-02 3.41228162e+02] [ 6.84080604e-02 9.97656532e-01 -1.33490329e-03 -1.41481321e-01] [ 2.11284615e-02 -1.11011934e-04 9.99776763e-01 -1.89216101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.37591999999995 meters Centerline goodness : 0.995154 Centerline is valid? [True, True] Translation: X:341.26, Y:-0.14, Z:-1.91 [[ 9.97534874e-01 -6.69281369e-02 -2.10902764e-02 3.41258425e+02] [ 6.69162990e-02 9.97757788e-01 -1.26731148e-03 -1.41652998e-01] [ 2.11278063e-02 -1.47095840e-04 9.99776772e-01 -1.90732959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.40592 meters Centerline goodness : 0.993816 Centerline is valid? [True, True] Translation: X:341.29, Y:-0.14, Z:-1.89 [[ 9.97561325e-01 -6.65308732e-02 -2.10960940e-02 3.41287795e+02] [ 6.65211802e-02 9.97784337e-01 -1.16166344e-03 -1.44307813e-01] [ 2.11266387e-02 -2.44506554e-04 9.99776778e-01 -1.89238338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.43591999999995 meters Centerline goodness : 0.994267 Centerline is valid? [True, True] Translation: X:341.32, Y:-0.14, Z:-1.89 [[ 9.97564133e-01 -6.64901698e-02 -2.10916756e-02 3.41316824e+02] [ 6.64787694e-02 9.97787067e-01 -1.24198489e-03 -1.44779579e-01] [ 2.11275809e-02 -1.63189058e-04 9.99776774e-01 -1.89105409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.46592 meters Centerline goodness : 0.994700 Centerline is valid? [True, True] Translation: X:341.35, Y:-0.15, Z:-1.89 [[ 9.97790195e-01 -6.30082890e-02 -2.10874994e-02 3.41347717e+02] [ 6.29945054e-02 9.98013004e-01 -1.31793488e-03 -1.46924470e-01] [ 2.11286395e-02 -1.33740926e-05 9.99776765e-01 -1.88913443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.49591999999996 meters Centerline goodness : 0.994701 Centerline is valid? [True, True] Translation: X:341.38, Y:-0.15, Z:-1.89 [[ 9.97633419e-01 -6.54394727e-02 -2.11006230e-02 3.41375011e+02] [ 6.54312924e-02 9.97856494e-01 -1.07858596e-03 -1.48162978e-01] [ 2.11259758e-02 -3.04607634e-04 9.99776775e-01 -1.88889798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.52592 meters Centerline goodness : 0.994355 Centerline is valid? [True, True] Translation: X:341.40, Y:-0.15, Z:-1.89 [[ 9.97573594e-01 -6.63479295e-02 -2.10921117e-02 3.41403988e+02] [ 6.63366763e-02 9.97796534e-01 -1.23351663e-03 -1.48434953e-01] [ 2.11274772e-02 -1.68656966e-04 9.99776776e-01 -1.88921081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.55591999999996 meters Centerline goodness : 0.995793 Centerline is valid? [True, True] Translation: X:341.44, Y:-0.15, Z:-1.90 [[ 9.97612819e-01 -6.57565159e-02 -2.10889389e-02 3.41435937e+02] [ 6.57439132e-02 9.97835693e-01 -1.29110635e-03 -1.48761706e-01] [ 2.11281946e-02 -9.84451277e-05 9.99776770e-01 -1.90387143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.58592 meters Centerline goodness : 0.993865 Centerline is valid? [True, True] Translation: X:341.46, Y:-0.15, Z:-1.89 [[ 9.97515413e-01 -6.72157079e-02 -2.10961970e-02 3.41464108e+02] [ 6.72062244e-02 9.97738433e-01 -1.15899737e-03 -1.53428791e-01] [ 2.11263894e-02 -2.61678009e-04 9.99776779e-01 -1.88523520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.61591999999996 meters Centerline goodness : 0.996487 Centerline is valid? [True, True] Translation: X:341.50, Y:-0.15, Z:-1.90 [[ 9.97591123e-01 -6.60860453e-02 -2.10851866e-02 3.41497104e+02] [ 6.60720787e-02 9.97813927e-01 -1.35911375e-03 -1.53268573e-01] [ 2.11289113e-02 -3.73022896e-05 9.99776759e-01 -1.90189202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.64592 meters Centerline goodness : 0.995699 Centerline is valid? [True, True] Translation: X:341.53, Y:-0.16, Z:-1.89 [[ 9.97597954e-01 -6.59792999e-02 -2.10963131e-02 3.41526941e+02] [ 6.59696015e-02 9.97820963e-01 -1.15608319e-03 -1.56915661e-01] [ 2.11266210e-02 -2.38409150e-04 9.99776780e-01 -1.88688700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.67591999999996 meters Centerline goodness : 0.997577 Centerline is valid? [True, True] Translation: X:341.56, Y:-0.16, Z:-1.90 [[ 9.97588432e-01 -6.61233427e-02 -2.10955692e-02 3.41557472e+02] [ 6.61133892e-02 9.97811431e-01 -1.16967283e-03 -1.57621614e-01] [ 2.11267428e-02 -2.27847496e-04 9.99776779e-01 -1.90075429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.70592 meters Centerline goodness : 0.996621 Centerline is valid? [True, True] Translation: X:341.59, Y:-0.16, Z:-1.88 [[ 9.97562832e-01 -6.65082141e-02 -2.10963178e-02 3.41585511e+02] [ 6.64986355e-02 9.97785846e-01 -1.15601167e-03 -1.57972179e-01] [ 2.11264916e-02 -2.49682072e-04 9.99776780e-01 -1.88323008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.73591999999996 meters Centerline goodness : 0.998710 Centerline is valid? [True, True] Translation: X:341.62, Y:-0.16, Z:-1.90 [[ 9.97665718e-01 -6.49488072e-02 -2.10894992e-02 3.41616911e+02] [ 6.49362510e-02 9.97888593e-01 -1.28036520e-03 -1.57623249e-01] [ 2.11281289e-02 -9.20965486e-05 9.99776772e-01 -1.89959014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.76592 meters Centerline goodness : 0.997668 Centerline is valid? [True, True] Translation: X:341.65, Y:-0.16, Z:-1.88 [[ 9.97901995e-01 -6.12090761e-02 -2.10964042e-02 3.41646964e+02] [ 6.11983524e-02 9.98124957e-01 -1.15415447e-03 -1.58824183e-01] [ 2.11274922e-02 -1.39332126e-04 9.99776780e-01 -1.88266687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.79591999999997 meters Centerline goodness : 0.996476 Centerline is valid? [True, True] Translation: X:341.67, Y:-0.16, Z:-1.88 [[ 9.97877376e-01 -6.16083732e-02 -2.10985806e-02 3.41674887e+02] [ 6.15985811e-02 9.98100382e-01 -1.11430768e-03 -1.58510682e-01] [ 2.11271520e-02 -1.87700202e-04 9.99776779e-01 -1.87687778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.82592 meters Centerline goodness : 0.997721 Centerline is valid? [True, True] Translation: X:341.70, Y:-0.16, Z:-1.88 [[ 9.98225606e-01 -5.56856225e-02 -2.10891410e-02 3.41704352e+02] [ 5.56708772e-02 9.98448346e-01 -1.28609097e-03 -1.55395951e-01] [ 2.11280347e-02 1.09757960e-04 9.99776772e-01 -1.88083126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.85591999999997 meters Centerline goodness : 0.997821 Centerline is valid? [True, True] Translation: X:341.73, Y:-0.15, Z:-1.88 [[ 9.98368484e-01 -5.30621966e-02 -2.10896547e-02 3.41733778e+02] [ 5.30470636e-02 9.98591197e-01 -1.27673510e-03 -1.53698475e-01] [ 2.11276899e-02 1.55907836e-04 9.99776773e-01 -1.87875726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.88592 meters Centerline goodness : 0.998316 Centerline is valid? [True, True] Translation: X:341.76, Y:-0.15, Z:-1.88 [[ 9.98574310e-01 -4.90359014e-02 -2.10909621e-02 3.41762861e+02] [ 4.90203723e-02 9.98796993e-01 -1.25297190e-03 -1.50198324e-01] [ 2.11270302e-02 2.17298737e-04 9.99776776e-01 -1.87940852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.91591999999997 meters Centerline goodness : 0.997474 Centerline is valid? [True, True] Translation: X:341.79, Y:-0.14, Z:-1.88 [[ 9.98898512e-01 -4.19174336e-02 -2.10876868e-02 3.41792790e+02] [ 4.18990634e-02 9.99120987e-01 -1.31240290e-03 -1.43097604e-01] [ 2.11241630e-02 4.27402972e-04 9.99776769e-01 -1.87704695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.94591999999994 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:341.82, Y:-0.14, Z:-1.89 [[ 9.99095689e-01 -3.69195389e-02 -2.10891515e-02 3.41824219e+02] [ 3.69006165e-02 9.99318113e-01 -1.28582924e-03 -1.38386261e-01] [ 2.11222433e-02 5.06463763e-04 9.99776772e-01 -1.89234315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.97592 meters Centerline goodness : 0.997573 Centerline is valid? [True, True] Translation: X:341.85, Y:-0.13, Z:-1.87 [[ 9.99095814e-01 -3.69121735e-02 -2.10960990e-02 3.41851985e+02] [ 3.68959171e-02 9.99318441e-01 -1.15942081e-03 -1.29883493e-01] [ 2.11245175e-02 3.80012559e-04 9.99776780e-01 -1.87471958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.00591999999995 meters Centerline goodness : 0.849198 Centerline is valid? [True, False] Translation: X:341.85, Y:-0.12, Z:-1.87 [[ 9.99587098e-01 -2.45849911e-02 -1.48732204e-02 3.41845659e+02] [ 2.44472027e-02 9.99657152e-01 -9.37616950e-03 -1.17116459e-01] [ 1.50986342e-02 9.00868942e-03 9.99845425e-01 -1.87238636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.03592 meters Centerline goodness : 0.997577 Centerline is valid? [False, True] Translation: X:341.84, Y:-0.10, Z:-1.87 [[ 9.99870013e-01 -1.38820502e-02 -8.20033986e-03 3.41840398e+02] [ 1.37216530e-02 9.99719525e-01 -1.93025246e-02 -1.02842411e-01] [ 8.46599849e-03 1.91874933e-02 9.99780059e-01 -1.87088643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.06591999999995 meters Centerline goodness : 0.998071 Centerline is valid? [True, True] Translation: X:341.87, Y:-0.11, Z:-1.87 [[ 9.99853016e-01 -1.46999876e-02 -8.82367200e-03 3.41869563e+02] [ 1.46970408e-02 9.99891913e-01 -3.98710851e-04 -1.13880203e-01] [ 8.82857933e-03 2.68970379e-04 9.99960991e-01 -1.87462455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.09592 meters Centerline goodness : 0.997769 Centerline is valid? [True, True] Translation: X:341.90, Y:-0.10, Z:-1.87 [[ 9.99842972e-01 -1.53672222e-02 -8.82497145e-03 3.41899160e+02] [ 1.53646490e-02 9.99881892e-01 -3.59307331e-04 -1.03313891e-01] [ 8.82945071e-03 2.23658321e-04 9.99960995e-01 -1.87479394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.12591999999995 meters Centerline goodness : 0.998221 Centerline is valid? [True, True] Translation: X:341.93, Y:-0.09, Z:-1.87 [[ 9.99919766e-01 -9.08710435e-03 -8.82529287e-03 3.41930961e+02] [ 9.08437273e-03 9.99958675e-01 -3.49559563e-04 -9.49680736e-02] [ 8.82810465e-03 2.69359266e-04 9.99960995e-01 -1.87478799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.15592 meters Centerline goodness : 0.999009 Centerline is valid? [True, True] Translation: X:341.96, Y:-0.09, Z:-1.88 [[ 9.99799095e-01 -1.79943602e-02 -8.83026243e-03 3.41956175e+02] [ 1.79933062e-02 9.99838088e-01 -1.98802638e-04 -8.93953414e-02] [ 8.83241003e-03 3.98770817e-05 9.99960993e-01 -1.87601456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.18591999999995 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:341.99, Y:-0.09, Z:-1.89 [[ 9.99813525e-01 -1.71766879e-02 -8.82480905e-03 3.41988473e+02] [ 1.71741605e-02 9.99852448e-01 -3.62106072e-04 -8.50230001e-02] [ 8.82972671e-03 2.10479861e-04 9.99960995e-01 -1.89302782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.21592 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:342.02, Y:-0.08, Z:-1.88 [[ 9.99717345e-01 -2.20751602e-02 -8.82713667e-03 3.42016935e+02] [ 2.20734453e-02 9.99756309e-01 -2.91661131e-04 -8.15121891e-02] [ 8.83142405e-03 9.67333726e-05 9.99960998e-01 -1.87874949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.24591999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.05, Y:-0.07, Z:-1.89 [[ 9.99683033e-01 -2.35789016e-02 -8.82431978e-03 3.42048829e+02] [ 2.35764868e-02 9.99721965e-01 -3.77593320e-04 -7.45286979e-02] [ 8.83076955e-03 1.69427177e-04 9.99960994e-01 -1.89484673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.27592 meters Centerline goodness : 0.998220 Centerline is valid? [True, True] Translation: X:342.08, Y:-0.07, Z:-1.88 [[ 9.99572880e-01 -2.78592227e-02 -8.82729638e-03 3.42076823e+02] [ 2.78577869e-02 9.99611856e-01 -2.85591382e-04 -7.12984128e-02] [ 8.83182647e-03 3.95604587e-05 9.99960998e-01 -1.87550745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.30591999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.11, Y:-0.07, Z:-1.90 [[ 9.99595039e-01 -2.70536179e-02 -8.82377098e-03 3.42109791e+02] [ 2.70511766e-02 9.99633972e-01 -3.95933127e-04 -6.71322533e-02] [ 8.83125265e-03 1.57079403e-04 9.99960991e-01 -1.89598429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.33592 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:342.14, Y:-0.06, Z:-1.88 [[ 9.99463661e-01 -3.15351440e-02 -8.82749434e-03 3.42138794e+02] [ 3.15339231e-02 9.99502644e-01 -2.77486116e-04 -6.22497987e-02] [ 8.83185450e-03 -1.02823815e-06 9.99960998e-01 -1.87732862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.36591999999996 meters Centerline goodness : 0.999258 Centerline is valid? [True, True] Translation: X:342.17, Y:-0.06, Z:-1.88 [[ 9.99403613e-01 -3.33844692e-02 -8.82583598e-03 3.42169589e+02] [ 3.33828506e-02 9.99442583e-01 -3.30690667e-04 -5.96801938e-02] [ 8.83195623e-03 3.58618838e-05 9.99960997e-01 -1.87740851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.39592 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.20, Y:-0.06, Z:-1.90 [[ 9.99250877e-01 -3.76803131e-02 -8.82488321e-03 3.42202446e+02] [ 3.76785922e-02 9.99289844e-01 -3.61243103e-04 -5.80053980e-02] [ 8.83222792e-03 2.84633116e-05 9.99960995e-01 -1.89595923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.42591999999996 meters Centerline goodness : 0.999259 Centerline is valid? [True, True] Translation: X:342.23, Y:-0.06, Z:-1.88 [[ 9.99031903e-01 -4.30967477e-02 -8.82762986e-03 3.42230443e+02] [ 4.30960251e-02 9.99070898e-01 -2.72152881e-04 -5.94302248e-02] [ 8.83115700e-03 -1.08546348e-04 9.99960999e-01 -1.87859762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.45592 meters Centerline goodness : 0.999259 Centerline is valid? [True, True] Translation: X:342.26, Y:-0.06, Z:-1.88 [[ 9.99073562e-01 -4.21208219e-02 -8.82352632e-03 3.42263165e+02] [ 4.21188247e-02 9.99112524e-01 -4.12125689e-04 -5.77556853e-02] [ 8.83305472e-03 4.01073218e-05 9.99960987e-01 -1.87827374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.48591999999996 meters Centerline goodness : 0.999753 Centerline is valid? [True, True] Translation: X:342.30, Y:-0.06, Z:-1.90 [[ 9.99143894e-01 -4.04181208e-02 -8.82356537e-03 3.42296576e+02] [ 4.04160693e-02 9.99182852e-01 -4.10764154e-04 -5.62915105e-02] [ 8.83295753e-03 5.37986669e-05 9.99960987e-01 -1.89966343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.51592 meters Centerline goodness : 0.998558 Centerline is valid? [True, True] Translation: X:342.32, Y:-0.06, Z:-1.87 [[ 9.98769727e-01 -4.87964875e-02 -8.82814315e-03 3.42321473e+02] [ 4.87962056e-02 9.98808725e-01 -2.47448290e-04 -5.79390030e-02] [ 8.82970101e-03 -1.83636027e-04 9.99961001e-01 -1.87382250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.54591999999997 meters Centerline goodness : 0.998711 Centerline is valid? [True, True] Translation: X:342.35, Y:-0.06, Z:-1.88 [[ 9.98419040e-01 -5.55121463e-02 -8.82170112e-03 3.42352411e+02] [ 5.55100549e-02 9.98458012e-01 -4.81934710e-04 -5.97941845e-02] [ 8.83485139e-03 -8.52032230e-06 9.99960972e-01 -1.88120959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.57592 meters Centerline goodness : 0.998022 Centerline is valid? [True, True] Translation: X:342.39, Y:-0.06, Z:-1.90 [[ 9.98678916e-01 -5.06225356e-02 -8.81941914e-03 3.42389920e+02] [ 5.06194942e-02 9.98717850e-01 -5.67876849e-04 -5.87274217e-02] [ 8.83685869e-03 1.20692100e-04 9.99960947e-01 -1.90384912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.60591999999997 meters Centerline goodness : 0.997128 Centerline is valid? [True, True] Translation: X:342.42, Y:-0.06, Z:-1.91 [[ 9.98426152e-01 -5.53830531e-02 -8.82813355e-03 3.42421945e+02] [ 5.53832428e-02 9.98465145e-01 -2.23163261e-04 -6.45746887e-02] [ 8.82694312e-03 -2.66118628e-04 9.99961006e-01 -1.90615985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.63592 meters Centerline goodness : 0.996187 Centerline is valid? [True, True] Translation: X:342.45, Y:-0.07, Z:-1.91 [[ 9.98402582e-01 -5.58063364e-02 -8.82815222e-03 3.42453990e+02] [ 5.58065493e-02 9.98441575e-01 -2.22422194e-04 -6.62913388e-02] [ 8.82680678e-03 -2.70601819e-04 9.99961006e-01 -1.90624435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.66591999999997 meters Centerline goodness : 0.995332 Centerline is valid? [True, True] Translation: X:342.49, Y:-0.07, Z:-1.91 [[ 9.98490305e-01 -5.42141418e-02 -8.82823606e-03 3.42485227e+02] [ 5.42143223e-02 9.98529298e-01 -2.19043130e-04 -6.99090882e-02] [ 8.82712760e-03 -2.59904393e-04 9.99961006e-01 -1.90780084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.69591999999994 meters Centerline goodness : 0.995143 Centerline is valid? [True, True] Translation: X:342.52, Y:-0.07, Z:-1.91 [[ 9.98629325e-01 -5.15900483e-02 -8.82824812e-03 3.42517217e+02] [ 5.15901306e-02 9.98668319e-01 -2.18556070e-04 -6.98153915e-02] [ 8.82776703e-03 -2.37193973e-04 9.99961006e-01 -1.90717550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.72592 meters Centerline goodness : 0.994596 Centerline is valid? [True, True] Translation: X:342.55, Y:-0.07, Z:-1.91 [[ 9.98761598e-01 -4.89625547e-02 -8.82833088e-03 3.42549519e+02] [ 4.89625645e-02 9.98800591e-01 -2.15160435e-04 -6.92147022e-02] [ 8.82827691e-03 -2.17363740e-04 9.99961006e-01 -1.90786454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.75591999999995 meters Centerline goodness : 0.993694 Centerline is valid? [True, True] Translation: X:342.58, Y:-0.07, Z:-1.91 [[ 9.98894911e-01 -4.61629261e-02 -8.82841324e-03 3.42580653e+02] [ 4.61628569e-02 9.98933905e-01 -2.11726298e-04 -6.78445396e-02] [ 8.82877521e-03 -1.96052455e-04 9.99961006e-01 -1.90873701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.78592 meters Centerline goodness : 0.993189 Centerline is valid? [True, True] Translation: X:342.61, Y:-0.07, Z:-1.91 [[ 9.99095863e-01 -4.15874385e-02 -8.82842509e-03 3.42611240e+02] [ 4.15871951e-02 9.99134856e-01 -2.11230972e-04 -6.66376932e-02] [ 8.82957179e-03 -1.56109447e-04 9.99961006e-01 -1.90941167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.81591999999995 meters Centerline goodness : 0.991334 Centerline is valid? [True, True] Translation: X:342.64, Y:-0.07, Z:-1.91 [[ 9.99119432e-01 -4.10173047e-02 -8.82842509e-03 3.42643022e+02] [ 4.10170390e-02 9.99158425e-01 -2.11230972e-04 -6.63637602e-02] [ 8.82965943e-03 -1.51070888e-04 9.99961006e-01 -1.91031744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.84592 meters Centerline goodness : 0.743437 Centerline is valid? [True, False] Translation: X:342.64, Y:-0.06, Z:-1.91 [[ 9.99574905e-01 -2.91197303e-02 -1.43229707e-03 3.42638308e+02] [ 2.91084471e-02 9.99549220e-01 -7.35218035e-03 -5.85266872e-02] [ 1.64574493e-03 7.30736303e-03 9.99971947e-01 -1.91045957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.87591999999995 meters Centerline goodness : 0.987068 Centerline is valid? [False, True] Translation: X:342.64, Y:-0.05, Z:-1.91 [[ 9.99882435e-01 -1.50996696e-02 2.66755179e-03 3.42636458e+02] [ 1.51336511e-02 9.99798156e-01 -1.32143903e-02 -4.98261297e-02] [-2.46748043e-03 1.32532066e-02 9.99909128e-01 -1.91096096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.90592 meters Centerline goodness : 0.984942 Centerline is valid? [True, True] Translation: X:342.67, Y:-0.06, Z:-1.92 [[ 9.99907243e-01 -1.33643854e-02 2.62670125e-03 3.42667457e+02] [ 1.33644101e-02 9.99910692e-01 8.16070642e-06 -6.04560441e-02] [-2.62657573e-03 2.69443632e-05 9.99996550e-01 -1.91591845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.93591999999995 meters Centerline goodness : 0.981530 Centerline is valid? [True, True] Translation: X:342.70, Y:-0.06, Z:-1.92 [[ 9.99969478e-01 -7.35821801e-03 2.62670148e-03 3.42698514e+02] [ 7.35822216e-03 9.99972928e-01 8.08657644e-06 -5.72406858e-02] [-2.62668987e-03 1.12415234e-05 9.99996550e-01 -1.91819867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.96592 meters Centerline goodness : 0.979286 Centerline is valid? [True, True] Translation: X:342.73, Y:-0.06, Z:-1.92 [[ 9.99984390e-01 -4.93157885e-03 2.62670170e-03 3.42729071e+02] [ 4.93157482e-03 9.99987840e-01 8.01260594e-06 -5.50748155e-02] [-2.62670927e-03 4.94129509e-06 9.99996550e-01 -1.91957790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.99591999999996 meters Centerline goodness : 0.528831 Centerline is valid? [True, False] Translation: X:342.73, Y:-0.05, Z:-1.92 [[ 9.99985341e-01 -4.73875007e-03 2.61953581e-03 3.42729224e+02] [ 4.74106194e-03 9.99988376e-01 -8.77046517e-04 -5.05012501e-02] [-2.61534926e-03 8.89453042e-04 9.99996184e-01 -1.91969622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.02592 meters Centerline goodness : 0.541114 Centerline is valid? [False, False] Translation: X:342.73, Y:-0.05, Z:-1.92 [[ 9.99985457e-01 -4.65018293e-03 2.73168115e-03 3.42729054e+02] [ 4.65350220e-03 9.99988440e-01 -1.21000756e-03 -4.87420651e-02] [-2.72602282e-03 1.22270184e-03 9.99995537e-01 -1.91954357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.05591999999996 meters Centerline goodness : 0.970880 Centerline is valid? [False, True] Translation: X:342.73, Y:-0.05, Z:-1.92 [[ 9.99985362e-01 -4.59770506e-03 2.85264915e-03 3.42728938e+02] [ 4.60164235e-03 9.99988467e-01 -1.37519654e-03 -4.78051468e-02] [-2.84629350e-03 1.38830328e-03 9.99994986e-01 -1.91974257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.08592 meters Centerline goodness : 0.969506 Centerline is valid? [True, True] Translation: X:342.76, Y:-0.05, Z:-1.92 [[ 9.99989678e-01 -3.54419822e-03 2.84294383e-03 3.42759689e+02] [ 3.54415630e-03 9.99993719e-01 1.97848770e-05 -4.50685333e-02] [-2.84299610e-03 -9.70883549e-06 9.99995959e-01 -1.91987088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.11591999999996 meters Centerline goodness : 0.963387 Centerline is valid? [True, True] Translation: X:342.79, Y:-0.04, Z:-1.93 [[ 9.99963064e-01 -8.11104817e-03 2.84294439e-03 3.42790398e+02] [ 8.11102493e-03 9.99967105e-01 1.97050944e-05 -4.18704591e-02] [-2.84301070e-03 3.35482619e-06 9.99995959e-01 -1.92596207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.14592 meters Centerline goodness : 0.940012 Centerline is valid? [True, False] Translation: X:342.79, Y:-0.04, Z:-1.93 [[ 9.99988002e-01 -3.95166741e-03 2.89479015e-03 3.42790269e+02] [ 3.94041394e-03 9.99984698e-01 3.88293368e-03 -4.03930731e-02] [-2.91008991e-03 -3.87148042e-03 9.99988271e-01 -1.92657157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.17591999999996 meters Centerline goodness : 0.292390 Centerline is valid? [False, False] Translation: X:342.81, Y:-0.03, Z:-1.92 [[ 9.99997539e-01 -1.71899404e-03 -1.40252125e-03 3.42811406e+02] [ 1.71360865e-03 9.99991190e-01 -3.83199979e-03 -3.13787292e-02] [ 1.40909608e-03 3.82958698e-03 9.99991674e-01 -1.92157866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.20592 meters Centerline goodness : 0.354807 Centerline is valid? [False, False] Translation: X:342.81, Y:-0.03, Z:-1.92 [[ 9.99997900e-01 -1.66429493e-03 -1.19555681e-03 3.42811020e+02] [ 1.65927055e-03 9.99989840e-01 -4.19131095e-03 -2.95944062e-02] [ 1.20252024e-03 4.18931839e-03 9.99990502e-01 -1.92174753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.23591999999996 meters Centerline goodness : 0.250835 Centerline is valid? [False, False] Translation: X:342.81, Y:-0.03, Z:-1.92 [[ 9.99998114e-01 -1.56268861e-03 -1.15293022e-03 3.42811065e+02] [ 1.55740556e-03 9.99988349e-01 -4.56903594e-03 -2.75278468e-02] [ 1.16005676e-03 4.56723175e-03 9.99988897e-01 -1.92200976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.26592 meters Centerline goodness : 0.417692 Centerline is valid? [False, False] Translation: X:342.82, Y:-0.02, Z:-1.93 [[ 9.99990880e-01 -3.83573930e-03 -1.87791491e-03 3.42815806e+02] [ 3.82085587e-03 9.99961763e-01 -7.86596629e-03 -2.23692802e-02] [ 1.90801490e-03 7.85871931e-03 9.99967299e-01 -1.92592702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.29591999999997 meters Centerline goodness : 0.399820 Centerline is valid? [False, False] Translation: X:342.81, Y:-0.02, Z:-1.92 [[ 9.99998241e-01 -1.60512819e-03 -9.69838651e-04 3.42810946e+02] [ 1.59995043e-03 9.99984589e-01 -5.31617173e-03 -2.46859453e-02] [ 9.78356842e-04 5.31461069e-03 9.99985399e-01 -1.92232857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.32592 meters Centerline goodness : 0.264895 Centerline is valid? [False, False] Translation: X:342.81, Y:-0.02, Z:-1.92 [[ 9.99998412e-01 -1.58544148e-03 -8.13995256e-04 3.42810890e+02] [ 1.58104131e-03 9.99984288e-01 -5.37812926e-03 -2.44466921e-02] [ 8.22509176e-04 5.37683375e-03 9.99985206e-01 -1.92318099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.35591999999997 meters Centerline goodness : 0.316089 Centerline is valid? [False, False] Translation: X:342.81, Y:-0.02, Z:-1.92 [[ 9.99998610e-01 -1.50583916e-03 -7.16313861e-04 3.42810821e+02] [ 1.50182174e-03 9.99983324e-01 -5.57632413e-03 -2.32022028e-02] [ 7.24698963e-04 5.57524060e-03 9.99984196e-01 -1.92360028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.38592 meters Centerline goodness : 0.494626 Centerline is valid? [False, False] Translation: X:342.82, Y:-0.02, Z:-1.93 [[ 9.99998923e-01 1.73954377e-04 -1.45745213e-03 3.42815476e+02] [-1.79636559e-04 9.99992381e-01 -3.89948592e-03 -2.35049257e-02] [ 1.45676269e-03 3.89974353e-03 9.99991335e-01 -1.92820959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.41591999999997 meters Centerline goodness : 0.414524 Centerline is valid? [False, False] Translation: X:342.82, Y:-0.02, Z:-1.93 [[ 9.99968431e-01 -7.78984291e-03 -1.56686162e-03 3.42816311e+02] [ 7.76746538e-03 9.99874414e-01 -1.38138827e-02 -1.65837212e-02] [ 1.67427282e-03 1.38012760e-02 9.99903356e-01 -1.92730016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.44591999999994 meters Centerline goodness : 0.405845 Centerline is valid? [False, False] Translation: X:342.81, Y:-0.02, Z:-1.92 [[ 9.99984794e-01 -5.45930235e-03 -7.80180199e-04 3.42812116e+02] [ 5.45028360e-03 9.99923219e-01 -1.11287931e-02 -1.91639077e-02] [ 8.40875742e-04 1.11243717e-02 9.99937769e-01 -1.92440621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.47592 meters Centerline goodness : 0.444606 Centerline is valid? [False, False] Translation: X:342.81, Y:-0.02, Z:-1.93 [[ 9.99998833e-01 -1.27312682e-03 -8.44136601e-04 3.42812473e+02] [ 1.26813952e-03 9.99981893e-01 -5.88261192e-03 -2.37171725e-02] [ 8.51610627e-04 5.88153457e-03 9.99982341e-01 -1.92570581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.50591999999995 meters Centerline goodness : 0.401281 Centerline is valid? [False, False] Translation: X:342.81, Y:-0.02, Z:-1.93 [[ 9.99987094e-01 -5.00065548e-03 -8.97264572e-04 3.42813670e+02] [ 4.99127722e-03 9.99935864e-01 -1.01664098e-02 -2.32031966e-02] [ 9.48045738e-04 1.01618001e-02 9.99947918e-01 -1.92619908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.53592 meters Centerline goodness : 0.834662 Centerline is valid? [False, False] Translation: X:342.81, Y:-0.03, Z:-1.93 [[ 9.99999207e-01 -8.42877684e-04 -9.35996740e-04 3.42813955e+02] [ 8.38117964e-04 9.99986776e-01 -5.07399078e-03 -2.73293818e-02] [ 9.40261116e-04 5.07320228e-03 9.99986689e-01 -1.92735321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.56591999999995 meters Centerline goodness : 0.801619 Centerline is valid? [False, False] Translation: X:342.81, Y:-0.03, Z:-1.93 [[ 9.99999355e-01 -7.55187734e-04 -8.48386228e-04 3.42814040e+02] [ 7.51004981e-04 9.99987616e-01 -4.91979384e-03 -2.81491718e-02] [ 8.52091089e-04 4.91915352e-03 9.99987538e-01 -1.92778443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.59592 meters Centerline goodness : 0.382690 Centerline is valid? [False, False] Translation: X:342.81, Y:-0.03, Z:-1.92 [[ 9.99997216e-01 -2.35937423e-03 -4.78109407e-05 3.42810318e+02] [ 2.35903054e-03 9.99977806e-01 -6.23071499e-03 -3.12249061e-02] [ 6.25104680e-05 6.23058486e-03 9.99980588e-01 -1.92478714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.62591999999995 meters Centerline goodness : 0.354460 Centerline is valid? [False, False] Translation: X:342.81, Y:-0.03, Z:-1.93 [[ 9.99997434e-01 -2.26475111e-03 5.60514525e-05 3.42810467e+02] [ 2.26502161e-03 9.99982752e-01 -5.41907300e-03 -3.47818586e-02] [-4.37776341e-05 5.41918605e-03 9.99985315e-01 -1.92557654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.65592 meters Centerline goodness : 0.133290 Centerline is valid? [False, False] Translation: X:342.81, Y:-0.04, Z:-1.93 [[ 9.99997950e-01 -2.01875516e-03 1.56443325e-04 3.42811175e+02] [ 2.01941509e-03 9.99988544e-01 -4.33971624e-03 -3.95845776e-02] [-1.47680708e-04 4.34002326e-03 9.99990571e-01 -1.92705815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.68591999999995 meters Centerline goodness : 0.615848 Centerline is valid? [False, False] Translation: X:342.81, Y:-0.04, Z:-1.93 [[ 9.99998132e-01 -1.92261773e-03 1.96515126e-04 3.42811403e+02] [ 1.92339009e-03 9.99990115e-01 -4.00868452e-03 -4.07149619e-02] [-1.88806016e-04 4.00905501e-03 9.99991946e-01 -1.92800445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.71592 meters Centerline goodness : 0.612175 Centerline is valid? [False, False] Translation: X:342.81, Y:-0.04, Z:-1.93 [[ 9.99998327e-01 -1.81877621e-03 1.96808427e-04 3.42811866e+02] [ 1.81950039e-03 9.99991335e-01 -3.74425363e-03 -4.19622258e-02] [-1.89996762e-04 3.74460545e-03 9.99992971e-01 -1.92894629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.74591999999996 meters Centerline goodness : 0.608644 Centerline is valid? [False, False] Translation: X:342.81, Y:-0.04, Z:-1.93 [[ 9.99998780e-01 -1.55762297e-03 1.21424968e-04 3.42812969e+02] [ 1.55800810e-03 9.99993541e-01 -3.23897151e-03 -4.44400948e-02] [-1.16379088e-04 3.23915674e-03 9.99994747e-01 -1.93022585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.77592 meters Centerline goodness : 0.591741 Centerline is valid? [False, False] Translation: X:342.81, Y:-0.04, Z:-1.93 [[ 9.99986369e-01 -5.22105723e-03 4.27451504e-05 3.42814176e+02] [ 5.22123113e-03 9.99957914e-01 -7.54378742e-03 -4.30196413e-02] [-3.35680557e-06 7.54390778e-03 9.99971544e-01 -1.93113877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.80591999999996 meters Centerline goodness : 0.604349 Centerline is valid? [False, False] Translation: X:342.83, Y:-0.04, Z:-1.93 [[ 9.99984332e-01 -5.38892351e-04 -5.57174635e-03 3.42834803e+02] [ 4.90710136e-04 9.99962508e-01 -8.64535036e-03 -4.30060532e-02] [ 5.57619636e-03 8.64248080e-03 9.99947105e-01 -1.92919123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.83592 meters Centerline goodness : 0.151945 Centerline is valid? [False, False] Translation: X:342.84, Y:-0.04, Z:-1.93 [[ 9.99976583e-01 -2.57798061e-03 -6.33936232e-03 3.42840565e+02] [ 2.50943786e-03 9.99938567e-01 -1.07965334e-02 -4.35740954e-02] [ 6.36680613e-03 1.07803724e-02 9.99921621e-01 -1.93462629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.86591999999996 meters Centerline goodness : 0.609237 Centerline is valid? [False, False] Translation: X:342.84, Y:-0.05, Z:-1.94 [[ 9.99979092e-01 1.49279424e-03 -6.29183778e-03 3.42841307e+02] [-1.52578259e-03 9.99985099e-01 -5.24150517e-03 -5.05645402e-02] [ 6.28391954e-03 5.25099556e-03 9.99966469e-01 -1.93658639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.89592 meters Centerline goodness : 0.168851 Centerline is valid? [False, False] Translation: X:342.84, Y:-0.05, Z:-1.94 [[ 9.99980132e-01 1.62906057e-03 -6.08946098e-03 3.42841672e+02] [-1.65645035e-03 9.99988523e-01 -4.49556481e-03 -5.40712425e-02] [ 6.08206755e-03 4.50556238e-03 9.99971354e-01 -1.93791254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.92591999999996 meters Centerline goodness : 0.159619 Centerline is valid? [False, False] Translation: X:342.84, Y:-0.06, Z:-1.94 [[ 9.99981073e-01 2.03829088e-03 -5.80506593e-03 3.42843199e+02] [-2.05623123e-03 9.99993124e-01 -3.08617471e-03 -6.12633548e-02] [ 5.79873549e-03 3.09805286e-03 9.99978388e-01 -1.93955313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.95592 meters Centerline goodness : 0.153251 Centerline is valid? [False, False] Translation: X:342.84, Y:-0.06, Z:-1.94 [[ 9.99981587e-01 2.24920279e-03 -5.63612685e-03 3.42843864e+02] [-2.26232987e-03 9.99994741e-01 -2.32380346e-03 -6.49757382e-02] [ 5.63087050e-03 2.33651145e-03 9.99981417e-01 -1.94083123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.98591999999996 meters Centerline goodness : 0.103119 Centerline is valid? [False, False] Translation: X:342.85, Y:-0.07, Z:-1.95 [[ 9.99978268e-01 1.41155413e-03 -6.43975170e-03 3.42853065e+02] [-1.42739447e-03 9.99995966e-01 -2.45584281e-03 -7.16307116e-02] [ 6.43625917e-03 2.46498150e-03 9.99976249e-01 -1.94965717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.01592 meters Centerline goodness : 0.106087 Centerline is valid? [False, False] Translation: X:342.88, Y:-0.07, Z:-1.95 [[ 9.99951206e-01 5.21273605e-03 -8.39126681e-03 3.42875755e+02] [-5.27319119e-03 9.99960186e-01 -7.19860071e-03 -7.03327629e-02] [ 8.35340832e-03 7.24249821e-03 9.99938882e-01 -1.94827694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.04591999999997 meters Centerline goodness : 0.113678 Centerline is valid? [False, False] Translation: X:342.88, Y:-0.08, Z:-1.95 [[ 9.99949104e-01 5.46567398e-03 -8.48037574e-03 3.42877065e+02] [-5.51800708e-03 9.99965802e-01 -6.16000544e-03 -7.55540726e-02] [ 8.44641715e-03 6.20648669e-03 9.99945067e-01 -1.94979812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.07592 meters Centerline goodness : 0.272841 Centerline is valid? [False, False] Translation: X:342.88, Y:-0.09, Z:-1.96 [[ 9.99937730e-01 7.39713477e-03 -8.35574315e-03 3.42883003e+02] [-7.42425954e-03 9.99967256e-01 -3.21990296e-03 -8.55013319e-02] [ 8.33165150e-03 3.28173766e-03 9.99959906e-01 -1.95553820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.10591999999997 meters Centerline goodness : 0.292480 Centerline is valid? [False, False] Translation: X:342.89, Y:-0.09, Z:-1.96 [[ 9.99940692e-01 5.74583807e-03 -9.25186550e-03 3.42889476e+02] [-5.78835495e-03 9.99972780e-01 -4.57529182e-03 -8.69665804e-02] [ 9.22532479e-03 4.62857356e-03 9.99946733e-01 -1.96169619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.13592 meters Centerline goodness : 0.111232 Centerline is valid? [False, False] Translation: X:342.91, Y:-0.10, Z:-1.96 [[ 9.99921463e-01 -3.06415562e-03 -1.21522985e-02 3.42914958e+02] [ 3.02892968e-03 9.99991161e-01 -2.91605286e-03 -9.50792057e-02] [ 1.21611263e-02 2.87901538e-03 9.99921906e-01 -1.96147780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.16591999999997 meters Centerline goodness : 0.105546 Centerline is valid? [False, False] Translation: X:342.92, Y:-0.10, Z:-1.96 [[ 9.99929896e-01 -2.20341557e-03 -1.16339483e-02 3.42917401e+02] [ 2.18369815e-03 9.99996158e-01 -1.70724901e-03 -1.00480786e-01] [ 1.16376654e-02 1.68172429e-03 9.99930866e-01 -1.96389185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.19591999999994 meters Centerline goodness : 0.106444 Centerline is valid? [False, False] Translation: X:342.92, Y:-0.10, Z:-1.97 [[ 9.99923798e-01 -1.01422089e-03 -1.23032267e-02 3.42922072e+02] [ 1.01087092e-03 9.99999450e-01 -2.78499624e-04 -1.04155883e-01] [ 1.23035024e-02 2.66041428e-04 9.99924274e-01 -1.96828630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.22592 meters Centerline goodness : 0.228690 Centerline is valid? [False, False] Translation: X:342.92, Y:-0.11, Z:-1.97 [[ 9.99925933e-01 -4.21223702e-04 -1.21635265e-02 3.42924908e+02] [ 4.29502383e-04 9.99999678e-01 6.78010999e-04 -1.09309528e-01] [ 1.21632370e-02 -6.83185045e-04 9.99925792e-01 -1.97052123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.25591999999995 meters Centerline goodness : 0.358304 Centerline is valid? [False, False] Translation: X:342.93, Y:-0.11, Z:-1.98 [[ 9.99941311e-01 1.30932910e-03 -1.07545092e-02 3.42928335e+02] [-1.28020256e-03 9.99995496e-01 2.71474721e-03 -1.13645334e-01] [ 1.07580153e-02 -2.70081994e-03 9.99938483e-01 -1.97642587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.28592 meters Centerline goodness : 0.113285 Centerline is valid? [False, False] Translation: X:342.95, Y:-0.11, Z:-1.97 [[ 9.99885705e-01 7.66360505e-03 -1.30325143e-02 3.42948458e+02] [-7.64972783e-03 9.99970120e-01 1.11433192e-03 -1.10513426e-01] [ 1.30406647e-02 -1.01450937e-03 9.99914452e-01 -1.97220337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.31591999999995 meters Centerline goodness : 0.154099 Centerline is valid? [False, False] Translation: X:342.95, Y:-0.11, Z:-1.98 [[ 9.99875762e-01 1.03510705e-02 -1.18876620e-02 3.42954566e+02] [-1.03151046e-02 9.99942046e-01 3.08281646e-03 -1.11718703e-01] [ 1.19188835e-02 -2.95981098e-03 9.99924587e-01 -1.97868478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.34592 meters Centerline goodness : 0.069329 Centerline is valid? [False, False] Translation: X:342.96, Y:-0.11, Z:-1.98 [[ 9.99875873e-01 9.11809497e-03 -1.28490592e-02 3.42961280e+02] [-9.09779801e-03 9.99957274e-01 1.63721367e-03 -1.09682705e-01] [ 1.28634384e-02 -1.52011230e-03 9.99916107e-01 -1.98437215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.37591999999995 meters Centerline goodness : 0.069329 Centerline is valid? [False, False] Translation: X:342.96, Y:-0.11, Z:-1.98 [[ 9.99875873e-01 9.11809497e-03 -1.28490592e-02 3.42961280e+02] [-9.09779801e-03 9.99957274e-01 1.63721367e-03 -1.09682705e-01] [ 1.28634384e-02 -1.52011230e-03 9.99916107e-01 -1.98437215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.40592 meters Centerline goodness : 0.072237 Centerline is valid? [False, False] Translation: X:342.99, Y:-0.12, Z:-1.99 [[ 9.99852396e-01 1.93481946e-03 -1.70716992e-02 3.42993674e+02] [-1.87862109e-03 9.99992766e-01 3.30732558e-03 -1.15002600e-01] [ 1.70779748e-02 -3.27476615e-03 9.99848798e-01 -1.98843947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.43591999999995 meters Centerline goodness : 0.074381 Centerline is valid? [False, False] Translation: X:343.01, Y:-0.11, Z:-1.98 [[ 9.99779791e-01 8.53167929e-03 -1.91723811e-02 3.43014325e+02] [-8.50313609e-03 9.99962616e-01 1.56979554e-03 -1.09407027e-01] [ 1.91850573e-02 -1.40642449e-03 9.99814961e-01 -1.98429642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.46592 meters Centerline goodness : 0.075044 Centerline is valid? [False, False] Translation: X:343.02, Y:-0.11, Z:-1.99 [[ 9.99771241e-01 9.02422103e-03 -1.93914866e-02 3.43016670e+02] [-8.99194657e-03 9.99958039e-01 1.75091188e-03 -1.08950673e-01] [ 1.94064735e-02 -1.57614413e-03 9.99810434e-01 -1.98647675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.49591999999996 meters Centerline goodness : 0.079629 Centerline is valid? [False, False] Translation: X:343.01, Y:-0.11, Z:-1.99 [[ 9.99912238e-01 1.08360439e-02 -7.62207730e-03 3.43008654e+02] [-1.08199897e-02 9.99939163e-01 2.14437837e-03 -1.08149918e-01] [ 7.64485017e-03 -2.06171938e-03 9.99968652e-01 -1.98810103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.52592 meters Centerline goodness : 0.129717 Centerline is valid? [False, False] Translation: X:343.03, Y:-0.11, Z:-1.99 [[ 9.99938389e-01 2.54026133e-03 -1.08058009e-02 3.43033734e+02] [-2.50206112e-03 9.99990578e-01 3.54720829e-03 -1.13156703e-01] [ 1.08147099e-02 -3.51995297e-03 9.99935324e-01 -1.98655991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.55591999999996 meters Centerline goodness : 0.128906 Centerline is valid? [False, False] Translation: X:343.04, Y:-0.11, Z:-1.99 [[ 9.99930333e-01 1.02253354e-03 -1.17593996e-02 3.43040048e+02] [-9.98933552e-04 9.99997476e-01 2.01260282e-03 -1.11411241e-01] [ 1.17614279e-02 -2.00071575e-03 9.99928830e-01 -1.99249475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.58592 meters Centerline goodness : 0.080103 Centerline is valid? [False, False] Translation: X:343.06, Y:-0.11, Z:-1.99 [[ 9.99870977e-01 8.13869238e-03 -1.38488496e-02 3.43061969e+02] [-8.12713401e-03 9.99966578e-01 8.90683293e-04 -1.08083921e-01] [ 1.38556357e-02 -7.78016918e-04 9.99903703e-01 -1.98926047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.61591999999996 meters Centerline goodness : 0.202575 Centerline is valid? [False, False] Translation: X:343.06, Y:-0.11, Z:-1.99 [[ 9.99867707e-01 8.32555243e-03 -1.39732905e-02 3.43062669e+02] [-8.31300264e-03 9.99964989e-01 9.55970110e-04 -1.07813758e-01] [ 1.39807602e-02 -8.39683642e-04 9.99901912e-01 -1.98965162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.64592 meters Centerline goodness : 0.076895 Centerline is valid? [False, False] Translation: X:343.07, Y:-0.11, Z:-2.00 [[ 9.99850061e-01 8.04714973e-03 -1.53329171e-02 3.43073779e+02] [-8.03254202e-03 9.99967224e-01 1.01405023e-03 -1.10265016e-01] [ 1.53405748e-02 -8.90735883e-04 9.99881930e-01 -2.00007574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.67591999999996 meters Centerline goodness : 0.109993 Centerline is valid? [False, False] Translation: X:343.08, Y:-0.11, Z:-2.01 [[ 9.99846476e-01 6.46906820e-03 -1.62842377e-02 3.43079727e+02] [-6.46965932e-03 9.99979071e-01 1.63806332e-05 -1.11459042e-01] [ 1.62840029e-02 8.89753518e-05 9.99867403e-01 -2.00552952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.70592 meters Centerline goodness : 0.083964 Centerline is valid? [False, False] Translation: X:343.07, Y:-0.11, Z:-2.00 [[ 9.99865549e-01 6.87040065e-03 -1.48889450e-02 3.43070502e+02] [-6.86188027e-03 9.99976263e-01 6.23273188e-04 -1.14038717e-01] [ 1.48928737e-02 -5.21023231e-04 9.99888959e-01 -1.99632679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.73591999999996 meters Centerline goodness : 0.130539 Centerline is valid? [False, False] Translation: X:343.08, Y:-0.12, Z:-2.01 [[ 9.99842412e-01 6.67096350e-03 -1.64514407e-02 3.43081841e+02] [-6.65753820e-03 9.99977459e-01 8.70688950e-04 -1.17176000e-01] [ 1.64568782e-02 -7.61025645e-04 9.99864287e-01 -2.00676344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.76592 meters Centerline goodness : 0.130604 Centerline is valid? [False, False] Translation: X:343.11, Y:-0.13, Z:-2.00 [[ 9.99815856e-01 -1.83496267e-03 -1.91019963e-02 3.43105417e+02] [ 1.88868781e-03 9.99994311e-01 2.79488036e-03 -1.25546763e-01] [ 1.90967591e-02 -2.83044341e-03 9.99813634e-01 -2.00406273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.79591999999997 meters Centerline goodness : 0.196905 Centerline is valid? [False, False] Translation: X:343.09, Y:-0.13, Z:-2.01 [[ 9.99835538e-01 5.88885961e-03 -1.71527672e-02 3.43086238e+02] [-5.85733888e-03 9.99981065e-01 1.88730627e-03 -1.29635493e-01] [ 1.71635565e-02 -1.78652631e-03 9.99851099e-01 -2.01110924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.82592 meters Centerline goodness : 0.171341 Centerline is valid? [False, False] Translation: X:343.09, Y:-0.13, Z:-2.02 [[ 9.99827833e-01 4.23886984e-03 -1.80647675e-02 3.43092364e+02] [-4.22369570e-03 9.99990695e-01 8.78055895e-04 -1.31242520e-01] [ 1.80683214e-02 -8.01604642e-04 9.99836433e-01 -2.01699440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.85591999999997 meters Centerline goodness : 0.175725 Centerline is valid? [False, False] Translation: X:343.12, Y:-0.14, Z:-2.01 [[ 9.99773292e-01 -4.01373703e-03 -2.09106092e-02 3.43116220e+02] [ 4.06847907e-03 9.99988406e-01 2.57602354e-03 -1.38140123e-01] [ 2.09000273e-02 -2.66051391e-03 9.99778031e-01 -2.01452247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.88592 meters Centerline goodness : 0.220534 Centerline is valid? [False, False] Translation: X:343.12, Y:-0.14, Z:-2.02 [[ 9.99769551e-01 -4.00178595e-03 -2.10910274e-02 3.43116948e+02] [ 4.07118780e-03 9.99986436e-01 3.24867674e-03 -1.42262555e-01] [ 2.10777409e-02 -3.33379362e-03 9.99772281e-01 -2.01502823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.91591999999997 meters Centerline goodness : 0.079596 Centerline is valid? [False, False] Translation: X:343.12, Y:-0.15, Z:-2.02 [[ 9.99767571e-01 -4.10330454e-03 -2.11652266e-02 3.43117400e+02] [ 4.18089325e-03 9.99984697e-01 3.62291125e-03 -1.45125983e-01] [ 2.11500368e-02 -3.71055873e-03 9.99769427e-01 -2.01528876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.94591999999994 meters Centerline goodness : 0.139084 Centerline is valid? [False, False] Translation: X:343.13, Y:-0.15, Z:-2.02 [[ 9.99729127e-01 -4.85037196e-03 -2.27628218e-02 3.43127703e+02] [ 4.92946920e-03 9.99982002e-01 3.42001862e-03 -1.47806582e-01] [ 2.27458237e-02 -3.53130086e-03 9.99735044e-01 -2.02493050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.97592 meters Centerline goodness : 0.143521 Centerline is valid? [False, False] Translation: X:343.13, Y:-0.15, Z:-2.03 [[ 9.99726361e-01 -5.06622343e-03 -2.28371734e-02 3.43128426e+02] [ 5.16375746e-03 9.99977789e-01 4.21389935e-03 -1.54057819e-01] [ 2.28153176e-02 -4.33067189e-03 9.99730317e-01 -2.02578142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.00591999999995 meters Centerline goodness : 0.136422 Centerline is valid? [False, False] Translation: X:343.14, Y:-0.15, Z:-2.01 [[ 9.99715297e-01 2.14723923e-03 -2.37637200e-02 3.43141592e+02] [-2.06226594e-03 9.99991395e-01 3.59968655e-03 -1.53436381e-01] [ 2.37712449e-02 -3.54965459e-03 9.99711122e-01 -2.01406353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.03592 meters Centerline goodness : 0.140385 Centerline is valid? [False, False] Translation: X:343.15, Y:-0.16, Z:-2.02 [[ 9.99694932e-01 3.52491952e-04 -2.46965226e-02 3.43148053e+02] [-2.82529224e-04 9.99995938e-01 2.83632994e-03 -1.57707598e-01] [ 2.46974221e-02 -2.82848718e-03 9.99690971e-01 -2.01998536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.06591999999995 meters Centerline goodness : 0.126908 Centerline is valid? [False, False] Translation: X:343.15, Y:-0.16, Z:-2.02 [[ 9.99693099e-01 2.18865142e-04 -2.47721535e-02 3.43148253e+02] [-1.36900084e-04 9.99994511e-01 3.31040542e-03 -1.61178321e-01] [ 2.47727421e-02 -3.30599815e-03 9.99687642e-01 -2.02020478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.09592 meters Centerline goodness : 0.084942 Centerline is valid? [False, False] Translation: X:343.15, Y:-0.16, Z:-2.02 [[ 9.99692340e-01 8.80272763e-05 -2.48035935e-02 3.43148358e+02] [ 6.69333153e-06 9.99992709e-01 3.81871711e-03 -1.64679738e-01] [ 2.48037488e-02 -3.81770826e-03 9.99685050e-01 -2.02053478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.12591999999995 meters Centerline goodness : 0.096054 Centerline is valid? [False, False] Translation: X:343.14, Y:-0.17, Z:-2.01 [[ 9.99725433e-01 -1.40285544e-05 -2.34320149e-02 3.43138845e+02] [ 1.13289170e-04 9.99991027e-01 4.23478887e-03 -1.68016890e-01] [ 2.34317453e-02 -4.23628073e-03 9.99716463e-01 -2.01149847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.15592 meters Centerline goodness : 0.123051 Centerline is valid? [False, False] Translation: X:343.18, Y:-0.18, Z:-2.01 [[ 9.99825231e-01 -2.27032362e-03 -1.85567274e-02 3.43175306e+02] [ 2.35646845e-03 9.99986543e-01 4.62169530e-03 -1.76772522e-01] [ 1.85459850e-02 -4.66461591e-03 9.99817127e-01 -2.00588718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.18591999999995 meters Centerline goodness : 0.091373 Centerline is valid? [False, False] Translation: X:343.18, Y:-0.18, Z:-2.02 [[ 9.99809301e-01 -2.94186579e-03 -1.93056251e-02 3.43184739e+02] [ 3.03282773e-03 9.99984430e-01 4.68409522e-03 -1.80160053e-01] [ 1.92915445e-02 -4.74175261e-03 9.99802657e-01 -2.01599471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.21592 meters Centerline goodness : 0.094070 Centerline is valid? [False, False] Translation: X:343.21, Y:-0.19, Z:-2.01 [[ 9.99766970e-01 4.23076489e-03 -2.11685438e-02 3.43206826e+02] [-4.13330015e-03 9.99980666e-01 4.64586163e-03 -1.85413823e-01] [ 2.11877901e-02 -4.55728306e-03 9.99765127e-01 -2.01227991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.24591999999996 meters Centerline goodness : 0.123787 Centerline is valid? [False, False] Translation: X:343.20, Y:-0.19, Z:-2.01 [[ 9.99784662e-01 2.52120989e-03 -2.05978857e-02 3.43201981e+02] [-2.44673155e-03 9.99990381e-01 3.64022627e-03 -1.87751985e-01] [ 2.06068653e-02 -3.58904490e-03 9.99781214e-01 -2.00730874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.27592 meters Centerline goodness : 0.111288 Centerline is valid? [False, False] Translation: X:343.21, Y:-0.19, Z:-2.01 [[ 9.99771941e-01 4.53170051e-04 -2.13508755e-02 3.43207621e+02] [-4.04814930e-04 9.99997344e-01 2.26905163e-03 -1.89834614e-01] [ 2.13518471e-02 -2.25989100e-03 9.99769469e-01 -2.01317257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.30591999999996 meters Centerline goodness : 0.111280 Centerline is valid? [False, False] Translation: X:343.21, Y:-0.20, Z:-2.02 [[ 9.99752586e-01 -1.84607906e-03 -2.21666221e-02 3.43213309e+02] [ 1.88364176e-03 9.99996825e-01 1.67380143e-03 -1.97301758e-01] [ 2.21634618e-02 -1.71514128e-03 9.99752889e-01 -2.01902146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.33592 meters Centerline goodness : 0.803669 Centerline is valid? [False, False] Translation: X:343.20, Y:-0.20, Z:-2.01 [[ 9.99782401e-01 -2.19437663e-03 -2.07445179e-02 3.43203045e+02] [ 2.24184609e-03 9.99994921e-01 2.26531120e-03 -2.02776171e-01] [ 2.07394416e-02 -2.31132429e-03 9.99782243e-01 -2.00845055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.36591999999996 meters Centerline goodness : 0.108341 Centerline is valid? [False, False] Translation: X:343.18, Y:-0.21, Z:-2.02 [[ 9.99799781e-01 4.51946879e-03 -1.94928912e-02 3.43184507e+02] [-4.51038944e-03 9.99989698e-01 5.09716804e-04 -2.06796235e-01] [ 1.94949941e-02 -4.21694218e-04 9.99809866e-01 -2.01687488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.39592 meters Centerline goodness : 0.124318 Centerline is valid? [False, False] Translation: X:343.18, Y:-0.21, Z:-2.01 [[ 9.99817832e-01 2.86601458e-03 -1.88703090e-02 3.43179543e+02] [-2.87480361e-03 9.99995772e-01 -4.38649280e-04 -2.08879962e-01] [ 1.88689720e-02 4.92817805e-04 9.99821844e-01 -2.01207312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.42591999999996 meters Centerline goodness : 0.102506 Centerline is valid? [False, False] Translation: X:343.18, Y:-0.21, Z:-2.01 [[ 9.99817208e-01 2.72235675e-03 -1.89245647e-02 3.43179730e+02] [-2.71985482e-03 9.99996289e-01 1.57942354e-04 -2.12873892e-01] [ 1.89249244e-02 -1.06441415e-04 9.99820902e-01 -2.01234362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.45592 meters Centerline goodness : 0.209726 Centerline is valid? [False, False] Translation: X:343.22, Y:-0.22, Z:-2.01 [[ 9.99889482e-01 9.70883362e-04 -1.48351286e-02 3.43216007e+02] [-9.63511160e-04 9.99999409e-01 5.04081475e-04 -2.22738161e-01] [ 1.48356092e-02 -4.89731954e-04 9.99889826e-01 -2.00519602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.48591999999996 meters Centerline goodness : 0.132519 Centerline is valid? [False, False] Translation: X:343.23, Y:-0.23, Z:-2.01 [[ 9.99866352e-01 -1.39034343e-05 -1.63486315e-02 3.43225530e+02] [ 2.21780986e-05 9.99999872e-01 5.05956846e-04 -2.27788738e-01] [ 1.63486224e-02 -5.06251807e-04 9.99866224e-01 -2.01468700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.51592 meters Centerline goodness : 0.104363 Centerline is valid? [False, False] Translation: X:343.25, Y:-0.23, Z:-2.01 [[ 9.99827625e-01 7.46440990e-03 -1.70001066e-02 3.43245340e+02] [-7.47407250e-03 9.99971941e-01 -5.04920320e-04 -2.28999766e-01] [ 1.69958607e-02 6.31893314e-04 9.99855360e-01 -2.00923948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.54591999999997 meters Centerline goodness : 0.146799 Centerline is valid? [False, False] Translation: X:343.25, Y:-0.24, Z:-2.02 [[ 9.99822083e-01 6.87734120e-03 -1.75642877e-02 3.43254665e+02] [-6.87298955e-03 9.99976333e-01 3.08108135e-04 -2.36377260e-01] [ 1.75659910e-02 -1.87334151e-04 9.99845689e-01 -2.01990669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.57592 meters Centerline goodness : 0.727948 Centerline is valid? [False, False] Translation: X:343.25, Y:-0.24, Z:-2.02 [[ 9.99821482e-01 6.78994260e-03 -1.76323851e-02 3.43254828e+02] [-6.77899354e-03 9.99976791e-01 6.80658790e-04 -2.38931866e-01] [ 1.76365975e-02 -5.61007455e-04 9.99844306e-01 -2.01993483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.60591999999997 meters Centerline goodness : 0.253473 Centerline is valid? [False, False] Translation: X:343.25, Y:-0.24, Z:-2.02 [[ 9.99820710e-01 6.64060533e-03 -1.77327357e-02 3.43254966e+02] [-6.61587890e-03 9.99977060e-01 1.45269468e-03 -2.43837512e-01] [ 1.77419757e-02 -1.33511660e-03 9.99841707e-01 -2.02025741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.63592 meters Centerline goodness : 0.229006 Centerline is valid? [False, False] Translation: X:343.29, Y:-0.25, Z:-2.01 [[ 9.99888015e-01 6.36622842e-03 -1.35435537e-02 3.43289308e+02] [-6.34238110e-03 9.99978261e-01 1.80301148e-03 -2.46966933e-01] [ 1.35547376e-02 -1.71691119e-03 9.99906656e-01 -2.01100535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.66591999999997 meters Centerline goodness : 0.461477 Centerline is valid? [False, False] Translation: X:343.30, Y:-0.25, Z:-2.02 [[ 9.99868115e-01 5.66811616e-03 -1.52192571e-02 3.43299621e+02] [-5.63986521e-03 9.99982294e-01 1.89854230e-03 -2.51500111e-01] [ 1.52297488e-02 -1.81245735e-03 9.99882378e-01 -2.02132574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.69591999999994 meters Centerline goodness : 0.257685 Centerline is valid? [False, False] Translation: X:343.29, Y:-0.25, Z:-2.02 [[ 9.99884330e-01 4.01336484e-03 -1.46703862e-02 3.43294699e+02] [-4.01056608e-03 9.99991933e-01 2.20191406e-04 -2.49847551e-01] [ 1.46711516e-02 -1.61329383e-04 9.99892360e-01 -2.01636141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.72592 meters Centerline goodness : 0.775142 Centerline is valid? [False, False] Translation: X:343.31, Y:-0.25, Z:-2.03 [[ 9.99860719e-01 4.01364478e-03 -1.61997712e-02 3.43305325e+02] [-4.00969636e-03 9.99991923e-01 2.76206421e-04 -2.49923444e-01] [ 1.62007489e-02 -2.11211787e-04 9.99868737e-01 -2.02720762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.75591999999995 meters Centerline goodness : 0.865985 Centerline is valid? [False, False] Translation: X:343.29, Y:-0.25, Z:-2.02 [[ 9.99882312e-01 4.09338962e-03 -1.47853481e-02 3.43294638e+02] [-4.08796947e-03 9.99991565e-01 3.96793408e-04 -2.50360076e-01] [ 1.47868476e-02 -3.36304658e-04 9.99890612e-01 -2.01608339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.78592 meters Centerline goodness : 0.090527 Centerline is valid? [False, False] Translation: X:343.30, Y:-0.25, Z:-2.03 [[ 9.99897580e-01 4.11759586e-03 -1.37067835e-02 3.43302056e+02] [-4.11309294e-03 9.99991478e-01 3.56691356e-04 -2.49692789e-01] [ 1.37081353e-02 -3.00277549e-04 9.99905994e-01 -2.02691958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 9343.91 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%| | 0/12375 [00:00